EP1614083A2 - Method and arrangement for controlling a driving aid - Google Patents

Method and arrangement for controlling a driving aid

Info

Publication number
EP1614083A2
EP1614083A2 EP04723508A EP04723508A EP1614083A2 EP 1614083 A2 EP1614083 A2 EP 1614083A2 EP 04723508 A EP04723508 A EP 04723508A EP 04723508 A EP04723508 A EP 04723508A EP 1614083 A2 EP1614083 A2 EP 1614083A2
Authority
EP
European Patent Office
Prior art keywords
time
reaction
sensors
measured variables
measurement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04723508A
Other languages
German (de)
French (fr)
Inventor
Michael Weilkes
Fred Oechsle
Ulf Wilhelm
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1614083A2 publication Critical patent/EP1614083A2/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/005—Sampling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

Definitions

  • the invention relates to a method and an arrangement for controlling a driver assistance device, in which measurement variables to be recorded by sensors are evaluated to trigger a reaction, and measurement times are determined by essentially repeating cycles for recording and evaluating the measurement variables.
  • Driver assistance systems are devices in motor vehicles that evaluate information (measured variables) from the vehicle environment, for example with radar, lidar and / or video sensors. These measured variables to be recorded by sensors come in particular from the vehicle environment. Distance, direction and size to other vehicles or to fixed objects and road edges and markings come into question here. Further measured variables to be recorded by sensors relate to the vehicle, for example the respective speed or the steering angle. Depending on the complexity of the Depending on the evaluation and the available computing capacity, such systems sometimes have considerable cycle times. The systems therefore do not provide a continuous picture of the environment, but only snapshots at individual measurement times.
  • reactions such as, for example, the actuation of the brake, can be triggered by the evaluation of the measurement data, or the driver's attention can be drawn to a required reaction by warning signals.
  • a further difficulty when evaluating the measurement data is the fact that a faulty triggering must be avoided with a very high degree of certainty, which in turn requires correspondingly complex evaluation algorithms. If, for example, a situation that requires braking can only be recognized at a point in time shortly after a measurement, the measurement and the evaluation can only trigger a cycle time later. The cycle time at this phase position between the measurement times and the earliest possible time starts from the time in which a reaction can be carried out.
  • the object of the present invention is to trigger a reaction as early as possible.
  • the measuring times are controlled in such a way that one of the measuring times follows as soon as possible after a point in time at which measured variables likely to trigger are available. It is preferably provided that the measurement times are controlled as a function of a prediction of the time.
  • phase position of the measurement time is suitably set on the basis of an estimate of the most likely scenario.
  • An advantageous embodiment of the invention is that faster algorithms are used to predict the time than to trigger the reaction.
  • estimates of the point in time can be made at an early stage, the security required to trigger the reaction not having to be present.
  • only the advantage which can be achieved with the invention is reduced, namely if the phase position is not optimally adjusted.
  • Extension or reduction of the cycle time required can preferably be done by controlling the measurement times by changing the run length of computer programs for evaluating the measurement data, in particular by changing the run length over the number of refresh cycles. There is no shortening or simplification of the program for evaluating the measurement data for triggering the reaction and thus reducing the Security required. A possibly short-term, too small number of refresh cycles can be compensated for in the presence of another situation in which the cycle time is extended.
  • a number of further measures are available to the person skilled in the art for controlling the measurement times or extending or shortening the cycle time.
  • a microcomputer not only evaluates the measured variables for the purpose of triggering a reaction, but also a number of other measures, the safety relevance of which, at least in the short term, is significantly lower than that of triggering the reaction.
  • comfort functions such as adaptive cruise control or service functions.
  • reaction consists of an intervention in the guidance of the vehicle and / or that the reaction comprises warning signals and / or that the reaction includes occupant restraint measures.
  • the invention further comprises an arrangement for controlling the driver assistance device is characterized in that means are provided which control the measurement times in such a way that one of the measurement times follows as soon as possible after a time at which measurement variables likely to trigger are available, preferably provided is that the measurement times are controlled depending on a prediction of the time.
  • the arrangement according to the invention can be designed such that at least one of the sensors is a radar sensor and / or a video sensor and / or a lidar sensor. Different combinations of these or other sensors are possible.
  • Fig. 2 shows an arrangement according to the invention and 3 shows a schematic representation of vehicles and measurement times when the method according to the invention is carried out.
  • FIG. 1 The illustration of the method according to the invention made in FIG. 1 also shows a program for a microcomputer present in the driver assistance system with its components required to explain the invention.
  • a first step 1 the sensor signals are preprocessed, which, for example, causes signals of different types of sensors to be available in an evaluable form as measurement data for later evaluation.
  • the measurement data are transferred to a program 3 for evaluating the measurement data.
  • the three sections or programs 1 to 3 each require a processing time that add up to a total cycle time.
  • a branch is made at 4 depending on whether a triggering criterion has been reached. If this is the case, the respective reaction, for example braking, is triggered at 5 and the measuring cycle is repeated at 1.
  • a triggering time is then predicted at 6. If one of the trigger points is then the one previously set
  • Cycle time tz expected measurement times favorable for the predicted trigger time, tz remains unchanged and the program is repeated at 1. However, is the time of measurement not favorable, the cycle time is extended or shortened at 8 and the program is repeated with the changed cycle time.
  • FIG. 2 shows a block diagram of an arrangement according to the invention with a microcomputer 11 which performs all the functions required to operate the arrangement, in particular the sequence of the programs shown in FIG. 1.
  • Various sensors are connected to the microcomputer, in the case of the exemplary embodiment according to FIG. 2 a video sensor 12 and a radar sensor 13.
  • the sensors 12, 13 can be controlled by the microcomputer 11 with regard to their function, including the speed of preprocessing.
  • the results of the evaluation of the microcomputer 11 can be output via an output interface 14, for example to the brake system 15 or to a signal transmitter 16.
  • the programs required for operating the arrangement are stored in a read-only memory 17, while a read / write memory 18 is stored in the microcomputer Main memory serves and among other things also saves the respectively set cycle time.
  • FIGS. 3a and 3b show a first vehicle 21, which is followed by a second vehicle 22 in the direction of the arrow.
  • the lines 23 indicate a location at which the driver assistance system can recognize that a release is necessary if, for example, the vehicle 22 approaches the vehicle 21 too much due to the higher speed. In the time plane, these are times at which measured variables likely to cause tripping can be detected by the sensors. Places - or taking into account the movement times - at which measurements are made are marked by circles. Locations 24 at which triggering takes place after a measurement due to the computing time are shown as circular disks 24, 24 ".
  • the locations 24, 24 ' lie between the previous measuring location 26, 27 and the subsequent measuring location.
  • the invention is not limited to this, but can also be carried out in an advantageous manner if a computer program only performs the functions required to trigger the reaction according to the invention. It is even possible to distribute the functions to several microcomputers, for example the preprocessing of the sensor data and the further evaluation that leads to the triggering, so that the measuring cycle can be shorter than the evaluation time.
  • FIG. 3a shows the process without measures according to the invention, whereby it happens by chance that a measuring location 25 is just before the line 23.
  • the driver assistance system cannot yet recognize the need for triggering. This is only the case at the measuring location 26, so that the triggering takes place at 24.
  • the cycle time tz is controlled in such a way that a measurement time or measurement location 27 is as close as possible to the ideal location 23 for triggering. After the system-related delay time is then triggered at 24 '. It can be seen from the figures that the method according to the invention achieves a time difference td or a distance gain.

Abstract

Disclosed are a method and an arrangement for controlling a driving aid in which measurable variables that are to be picked up by sensors in order for a reaction to be triggered are evaluated, measuring times being determined by substantially repetitive cycles for detecting and evaluating the measurable variables. According to the inventive method and arrangement, the measuring times are controlled in such a way that one of the measuring times follows as closely as possible a point in time when measurable variables are provided which are expected to result in triggering.

Description

Verfahren und Anordnung zur Steuerung einer Fahrerassistenz- EinrichtungMethod and arrangement for controlling a driver assistance device
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren und eine Anordnung zur Steuerung einer Fahrerassistenz-Einrichtung, bei welcher von Sensoren aufzunehmende Messgrößen zum Auslösen einer Reaktion ausgewertet werden und wobei Messzeitpunkte durch sich im Wesentlichen wiederholende Zyklen zur Erfassung und Auswertung der Messgrößen bestimmt sind.The invention relates to a method and an arrangement for controlling a driver assistance device, in which measurement variables to be recorded by sensors are evaluated to trigger a reaction, and measurement times are determined by essentially repeating cycles for recording and evaluating the measurement variables.
Fahrerassistenz-Systeme sind Einrichtungen in Kraftfahrzeugen, die Informationen (Messgrößen) aus der Fahrzeugumgebung auswerten, beispielsweise mit Radar, Lidar und/oder Videosensoren. Diese von Sensoren jeweils aufzunehmenden Messgrößen stammen insbesondere von der Fahrzeugumgebung. Hier kommen Abstand, Richtung und Größe zu anderen Fahrzeugen oder zu feststehenden Gegenständen und Fahrbahnränder und -markierungen in Frage. Weitere von Sensoren aufzunehmende Messgrößen beziehen sich auf das Fahrzeug, beispielsweise die jeweilige Geschwindigkeit oder der Lenkeinschlag. Abhängig von der Komplexität der jeweiligen Auswertung und der zur Verfügung stehenden Rechenkapazität weisen solche Systeme teilweise erhebliche Zykluszeiten auf. Die Systeme liefern also kein kontinuierliches Bild der Umwelt, sondern nur jeweils Momentaufnahmen zu einzelnen Messzeitpunkten.Driver assistance systems are devices in motor vehicles that evaluate information (measured variables) from the vehicle environment, for example with radar, lidar and / or video sensors. These measured variables to be recorded by sensors come in particular from the vehicle environment. Distance, direction and size to other vehicles or to fixed objects and road edges and markings come into question here. Further measured variables to be recorded by sensors relate to the vehicle, for example the respective speed or the steering angle. Depending on the complexity of the Depending on the evaluation and the available computing capacity, such systems sometimes have considerable cycle times. The systems therefore do not provide a continuous picture of the environment, but only snapshots at individual measurement times.
Je nach Ausführung der Fahrerassistenz-Systeme im Einzelnen können durch die Auswertung der Messdaten unmittelbar Reaktionen hervorgerufen werden, wie beispielsweise die Betätigung der Bremse, oder durch Warnsignale der Kraftfahrzeugführer auf eine erforderliche Reaktion aufmerksam gemacht werden.Depending on the design of the driver assistance systems in detail, reactions such as, for example, the actuation of the brake, can be triggered by the evaluation of the measurement data, or the driver's attention can be drawn to a required reaction by warning signals.
Eine weitere Erschwernis bei der Auswertung der Messdaten ist der Umstand, dass eine fehlerhafte Auslösung mit sehr großer Sicherheit vermieden werden muss, wozu wiederum entsprechend komplexe Auswerte-Algorithmen erforderlich sind. Kann beispielsweise eine Situation, die eine Bremsung erfordert, erst zu einem Zeitpunkt erkannt werden, der kurz nach einer Messung liegt, so können die Messung und die Auswertung erst um eine Zykluszeit später eine Auslösung bewirken. Die Zykluszeit geht also bei dieser Phasenlage zwischen Messzeitpunkten und frühstmöglichem Zeitpunkt von derjenigen Zeit ab, in welcher eine Reaktion durchführbar ist.A further difficulty when evaluating the measurement data is the fact that a faulty triggering must be avoided with a very high degree of certainty, which in turn requires correspondingly complex evaluation algorithms. If, for example, a situation that requires braking can only be recognized at a point in time shortly after a measurement, the measurement and the evaluation can only trigger a cycle time later. The cycle time at this phase position between the measurement times and the earliest possible time starts from the time in which a reaction can be carried out.
Aufgabe der vorliegenden Erfindung ist es, das Auslösen einer Reaktion möglichst frühzeitig zu bewirken.The object of the present invention is to trigger a reaction as early as possible.
Vorteile der Erfindung Diese Aufgabe wird mit dem erfindungsgemäßen Verfahren dadurch gelöst, dass die Messzeitpunkte derart gesteuert werden, dass einer der Messzeitpunkte möglichst unmittelbar auf einen Zeitpunkt folgt, zu welchem voraussichtlich ein Auslösen bewirkende Messgrößen vorliegen. Vorzugsweise ist dabei vorgesehen, dass die Steuerung der Messzeitpunkte in Abhängigkeit von einer Prädiktion des Zeitpunktes erfolgt.Advantages of the invention This object is achieved with the method according to the invention in that the measuring times are controlled in such a way that one of the measuring times follows as soon as possible after a point in time at which measured variables likely to trigger are available. It is preferably provided that the measurement times are controlled as a function of a prediction of the time.
Mit der Erfindung wird erreicht, dass bereits in einer Annäherungsphase an eine kritische Situation, in der berechtigter Weise noch keine Reaktion erfolgen darf, die Phasenlage des Messzeitpunktes aufgrund einer Schätzung des wahrscheinlichsten Szenarios geeignet eingestellt wird.With the invention it is achieved that already in an approximation phase to a critical situation in which no reaction may legitimately take place, the phase position of the measurement time is suitably set on the basis of an estimate of the most likely scenario.
Eine vorteilhafte Ausgestaltung der Erfindung besteht darin, dass zur Prädiktion des Zeitpunktes schnellere Algorithmen angewendet werden als zum Auslösen der Reaktion. Hierbei können Schätzungen des Zeitpunktes bereits frühzeitig vorgenommen werden, wobei nicht die zur Auslösung der Reaktion erforderliche Sicherheit vorzuliegen braucht. Bei einer Fehleinschätzung wird lediglich der mit der Erfindung erzielbare Vorteil verringert, wenn nämlich die Anpassung der Phasenlage nicht optimal gelingt.An advantageous embodiment of the invention is that faster algorithms are used to predict the time than to trigger the reaction. Here, estimates of the point in time can be made at an early stage, the security required to trigger the reaction not having to be present. In the event of a misjudgment, only the advantage which can be achieved with the invention is reduced, namely if the phase position is not optimally adjusted.
Zum Anpassen der Phasenlage ist eine entsprechendeTo adjust the phase position there is a corresponding one
Verlängerung oder Verkürzung der Zykluszeit erforderlich. Dies kann vorzugsweise dadurch geschehen, dass die Steuerung der Messzeitpunkte durch Veränderung der Lauflänge von Computerprogrammen zur Auswertung der Messdaten erfolgt, insbesondere dass die Lauflänge über die Anzahl von Refresh- Zyklen verändert wird. Hierbei ist keine Verkürzung bzw. Vereinfachung des Programms zum Auswerten der Messdaten für das Auslösen der Reaktion und damit eine Verringerung der Sicherheit erforderlich. Eine möglicherweise kurzfristige zu geringe Zahl von Refresh-Zyklen kann bei Vorliegen einer anderen Situation, in der eine Verlängerung der Zykluszeit vorgenommen wird, ausgeglichen werden.Extension or reduction of the cycle time required. This can preferably be done by controlling the measurement times by changing the run length of computer programs for evaluating the measurement data, in particular by changing the run length over the number of refresh cycles. There is no shortening or simplification of the program for evaluating the measurement data for triggering the reaction and thus reducing the Security required. A possibly short-term, too small number of refresh cycles can be compensated for in the presence of another situation in which the cycle time is extended.
Je nach Ausführung der Erfindung im Einzelnen stehen dem Fachmann eine Reihe weiterer Maßnahmen zur Steuerung der Messzeitpunkte bzw. Verlängerung oder Verkürzung der Zykluszeit zur Verfügung. Bei praktisch ausgeführten Fahrerassistenz-Systemen wird von einem Mikrocomputer nicht nur die Auswertung der Messgrößen zum Zwecke der Auslösung einer Reaktion vorgenommen, sondern noch eine Reihe anderer Maßnahmen, deren Sicherheitsrelevanz mindestens kurzfristig wesentlich unter derjenigen der Auslösung der Reaktion liegt. Dies sind beispielsweise Komfortfunktionen, wie eine adaptive Geschwindigkeitsregelung (adaptive cruise control) oder Service-Funktionen.Depending on the embodiment of the invention in detail, a number of further measures are available to the person skilled in the art for controlling the measurement times or extending or shortening the cycle time. In practical driver assistance systems, a microcomputer not only evaluates the measured variables for the purpose of triggering a reaction, but also a number of other measures, the safety relevance of which, at least in the short term, is significantly lower than that of triggering the reaction. These include comfort functions such as adaptive cruise control or service functions.
Somit besteht eine Möglichkeit zur Verkürzung oder Verlängerung der Zykluszeit, beispielsweise in derThere is thus a possibility of shortening or lengthening the cycle time, for example in the
Verringerung bzw. Erweiterung der Messgrößenauflösung oder des Sichtbereichs der Sensoren oder der Anzahl der Objekte, welchen Aufmerksamkeit geschenkt wirdReduction or expansion of the measurement variable resolution or the field of view of the sensors or the number of objects to which attention is paid
(Aufmerksamkeitssteuerung) . Dabei wird der Fachmann im Wesentlichen diejenigen Funktionen zur Steuerung der Zykluszeit benutzen, die lediglich dem Komfort dienen. Funktionen, die nicht zeitkritisch sind, können wie die oben genannten Refresh-Zyklen entsprechend häufiger oder seltener, beispielsweise bei jedem zehnten Zyklus, in das Programm des Mikrocomputers eingefügt werden.(Attention control). The person skilled in the art will essentially use those functions for controlling the cycle time which are only for convenience. Functions that are not time-critical can, like the refresh cycles mentioned above, be inserted into the program of the microcomputer correspondingly more frequently or less frequently, for example every tenth cycle.
Mit dem erfindungsgemäßen Verfahren können verschiedene Reaktionen ausgelöst werden, insbesondere kann dabei vorgesehen sein, dass die Reaktion aus einem Eingriff in die Führung des Fahrzeugs besteht und/oder dass die Reaktion Warnsignale und/oder dass die Reaktion Insassen- Rückhaltemaßnahmen umfasst.Various reactions can be triggered with the method according to the invention, in particular can it may be provided that the reaction consists of an intervention in the guidance of the vehicle and / or that the reaction comprises warning signals and / or that the reaction includes occupant restraint measures.
Die Erfindung umfasst ferner eine Anordnung zur Steuerung der Fahrerassistenz-Einrichtung ist dadurch gekennzeichnet, dass Mittel vorgesehen sind, welche die Messzeitpunkte derart steuern, dass einer der Messzeitpunkte möglichst unmittelbar auf einen Zeitpunkt folgt, zu welchem voraussichtlich ein Auslösen bewirkende Messgrößen vorliegen, wobei vorzugsweise vorgesehen ist, dass die Steuerung der Messzeitpunkte in Abhängigkeit von einer Prädiktion des Zeitpunktes erfolgt.The invention further comprises an arrangement for controlling the driver assistance device is characterized in that means are provided which control the measurement times in such a way that one of the measurement times follows as soon as possible after a time at which measurement variables likely to trigger are available, preferably provided is that the measurement times are controlled depending on a prediction of the time.
Die erfindungsgemäße Anordnung kann derart ausgebildet sein, dass mindestens einer der Sensoren ein Radarsensor und/oder ein Videosensor und/oder ein Lidarsensor ist. Dabei sind verschiedene Kombinationen dieser oder anderer Sensoren möglich.The arrangement according to the invention can be designed such that at least one of the sensors is a radar sensor and / or a video sensor and / or a lidar sensor. Different combinations of these or other sensors are possible.
Zeichnungdrawing
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung anhand mehrerer Figuren dargestellt und in der nachfolgenden Beschreibung näher erläutert. Es zeigt:An embodiment of the invention is shown in the drawing using several figures and explained in more detail in the following description. It shows:
Fig. 1 ein Ablaufdiagramm zur Darstellung des erfindungsgemäßen Verfahrens,1 is a flowchart showing the method according to the invention,
Fig. 2 eine erfindungsgemäße Anordnung und Fig. 3 eine schematische Darstellung von Fahrzeugen und MessZeitpunkten bei der Durchführung des erfindungsgemäßen Verfahrens .Fig. 2 shows an arrangement according to the invention and 3 shows a schematic representation of vehicles and measurement times when the method according to the invention is carried out.
Beschreibung des AusführungsbeispielsDescription of the embodiment
Die in Fig. 1 vorgenommene Darstellung des erfindungsgemäßen Verfahrens gibt gleichzeitig ein Programm für einen im Fahrerassistenz-System vorhandenen Mikrocomputer mit seinen zur Erläuterung der Erfindung erforderlichen Komponenten wieder.The illustration of the method according to the invention made in FIG. 1 also shows a program for a microcomputer present in the driver assistance system with its components required to explain the invention.
In einem ersten Schritt 1 erfolgt die Vorverarbeitung der Sensorsignale, die beispielsweise bewirkt, dass Signale verschiedenartiger Sensoren jeweils in einer auswertbaren Form als Messdaten für die spätere Auswertung vorliegen. Die Messdaten werden bei 2 an ein Programm 3 zur Auswertung der Messdaten übergeben. Die drei Abschnitte bzw. Programme 1 bis 3 benötigen jeweils eine Verarbeitungsdauer, die sich insgesamt zu einer Zykluszeit addieren. Zum Abschluss der Auswertung bei 3 erfolgt bei 4 eine Verzweigung in Abhängigkeit davon, ob ein Auslösekriterium erreicht ist. Ist dieses der Fall, wird bei 5 die jeweilige Reaktion, beispielsweise eine Bremsung, ausgelöst und der Messzyklus bei 1 wiederholt.In a first step 1, the sensor signals are preprocessed, which, for example, causes signals of different types of sensors to be available in an evaluable form as measurement data for later evaluation. At 2, the measurement data are transferred to a program 3 for evaluating the measurement data. The three sections or programs 1 to 3 each require a processing time that add up to a total cycle time. At the end of the evaluation at 3, a branch is made at 4 depending on whether a triggering criterion has been reached. If this is the case, the respective reaction, for example braking, is triggered at 5 and the measuring cycle is repeated at 1.
Ist jedoch das Auslösekriterium bei 4 noch nicht erreicht, erfolgt daraufhin eine Vorhersage von Auslösezeitpunkten bei 6. Liegt dann einer der mit der bisher eingestelltenHowever, if the triggering criterion at 4 has not yet been reached, a triggering time is then predicted at 6. If one of the trigger points is then the one previously set
Zykluszeit tz zu erwartenden Messzeitpunkte günstig für den prädizierten Auslösezeitpunkt, bleibt tz unverändert und das Programm wird bei 1 wiederholt. Ist jedoch der Messzeitpunkt nicht günstig, wird je nach Erfordernis bei 8 eine Verlängerung oder Verkürzung der Zykluszeit vorgenommen und mit der veränderten Zykluszeit das Programm wiederholt.Cycle time tz expected measurement times favorable for the predicted trigger time, tz remains unchanged and the program is repeated at 1. However, is the time of measurement not favorable, the cycle time is extended or shortened at 8 and the program is repeated with the changed cycle time.
Fig. 2 zeigt ein Blockschaltbild einer erfindungsgemäßen Anordnung mit einem Mikrocomputer 11, der alle zum Betrieb der Anordnung erforderlichen Funktionen vornimmt, insbesondere den Ablauf der in Fig. 1 dargestellten Programme. An den Mikrocomputer sind verschiedene Sensoren angeschlossen, im Falle des Ausführungsbeispiels nach Fig. 2 ein Videosensor 12 und ein Radarsensor 13. Die Sensoren 12, 13 können bezüglich ihrer Funktion einschließlich der Geschwindigkeit der Vorverarbeitung vom Mikrocomputer 11 gesteuert werden. Über eine Ausgangsschnittstelle 14 können die Ergebnisse der Auswertung des Mikrocomputers 11 ausgegeben werden, beispielsweise zur Bremsanlage 15 oder zu einem Signalgeber 16. In einem Nur-Lesespeicher 17 sind die zum Betrieb der Anordnung erforderlichen Programme abgelegt, während ein Schreib/Lesespeicher 18 dem Mikrocomputer als Arbeitsspeicher dient und unter anderem auch die jeweils eingestellte Zykluszeit speichert.FIG. 2 shows a block diagram of an arrangement according to the invention with a microcomputer 11 which performs all the functions required to operate the arrangement, in particular the sequence of the programs shown in FIG. 1. Various sensors are connected to the microcomputer, in the case of the exemplary embodiment according to FIG. 2 a video sensor 12 and a radar sensor 13. The sensors 12, 13 can be controlled by the microcomputer 11 with regard to their function, including the speed of preprocessing. The results of the evaluation of the microcomputer 11 can be output via an output interface 14, for example to the brake system 15 or to a signal transmitter 16. The programs required for operating the arrangement are stored in a read-only memory 17, while a read / write memory 18 is stored in the microcomputer Main memory serves and among other things also saves the respectively set cycle time.
Die Figuren 3a und 3b zeigen ein erstes Fahrzeug 21, dem ein zweites Fahrzeug 22 in Pfeilrichtung folgt. Die Linien 23 kennzeichnen einen Ort, bei dem das Fahrerassistenz-System erkennen kann, dass eine Auslösung erforderlich ist, wenn beispielsweise das Fahrzeug 22 sich wegen höherer Geschwindigkeit dem Fahrzeug 21 zu sehr nähert. In der Zeitebene sind dies Zeitpunkte, zu welchen voraussichtlich ein Auslösen bewirkende Messgrößen für die Sensoren erfassbar sind. Orte - bzw. unter Berücksichtigung der Bewegung Zeitpunkte - , an denen Messungen vorgenommen werden, sind durch Kreise gekennzeichnet. Orte 24, bei denen aufgrund der Rechenzeit nach einer Messung eine Auslösung erfolgt, sind als Kreisscheiben 24, 24" dargestellt.FIGS. 3a and 3b show a first vehicle 21, which is followed by a second vehicle 22 in the direction of the arrow. The lines 23 indicate a location at which the driver assistance system can recognize that a release is necessary if, for example, the vehicle 22 approaches the vehicle 21 too much due to the higher speed. In the time plane, these are times at which measured variables likely to cause tripping can be detected by the sensors. Places - or taking into account the movement times - at which measurements are made are marked by circles. Locations 24 at which triggering takes place after a measurement due to the computing time are shown as circular disks 24, 24 ".
Bei dem in den Figuren 3a und 3b dargestellten Ausführungsbeispiel wird vorausgesetzt, dass in einem Mikrocomputer neben der Auswertung noch andere Funktionen ablaufen. Deshalb liegen die Orte 24, 24' zwischen dem vorangegangenen Messort 26, 27 und dem darauf folgenden Messort. Die Erfindung ist jedoch nicht darauf beschränkt, sondern kann in vorteilhafter Weise auch ausgeführt werden, wenn ein Computerprogramm lediglich die zur Auslösung der Reaktion gemäß der Erfindung erforderlichen Funktionen durchführt. Es ist sogar möglich, die Funktionen auf mehrere Mikrocomputer aufzuteilen, beispielsweise die Vorverarbeitung der Sensordaten und die weitere Auswertung, die zur Auslösung führt, so dass der Messzyklus kürzer als die Auswertezeit sein kann.In the exemplary embodiment illustrated in FIGS. 3a and 3b, it is assumed that other functions run in addition to the evaluation in a microcomputer. Therefore, the locations 24, 24 'lie between the previous measuring location 26, 27 and the subsequent measuring location. However, the invention is not limited to this, but can also be carried out in an advantageous manner if a computer program only performs the functions required to trigger the reaction according to the invention. It is even possible to distribute the functions to several microcomputers, for example the preprocessing of the sensor data and the further evaluation that leads to the triggering, so that the measuring cycle can be shorter than the evaluation time.
Fig. 3a stellt den Vorgang ohne erfindungsgemäße Maßnahmen dar, wobei es sich zufällig ergibt, dass ein Messort 25 kurz vor der Linie 23 liegt. Hier kann das Fahrerassistenz-System noch nicht die Notwendigkeit einer Auslösung erkennen. Erst bei dem Messort 26 ist dies der Fall, so dass bei 24 die Auslösung erfolgt.FIG. 3a shows the process without measures according to the invention, whereby it happens by chance that a measuring location 25 is just before the line 23. Here, the driver assistance system cannot yet recognize the need for triggering. This is only the case at the measuring location 26, so that the triggering takes place at 24.
Bei der in Fig. 3b dargestellten Anwendung des erfindungsgemäßen Verfahrens wird die Zykluszeit tz derart gesteuert, dass ein Messzeitpunkt bzw. Messort 27 möglichst unmittelbar nach dem idealen Ort 23 für eine Auslösung liegt. Nach der systembedingten Verzögerungszeit wird dann bei 24' die Auslösung vorgenommen. Aus den Figuren ist erkennbar, dass durch das erfindungsgemäße Verfahren eine Zeitdifferenz td bzw. ein Distanzgewinn erzielt wird. In the application of the method according to the invention shown in FIG. 3b, the cycle time tz is controlled in such a way that a measurement time or measurement location 27 is as close as possible to the ideal location 23 for triggering. After the system-related delay time is then triggered at 24 '. It can be seen from the figures that the method according to the invention achieves a time difference td or a distance gain.

Claims

Patentansprüche claims
1. Verfahren zur Steuerung einer Fahrerassistenz- Einrichtung, bei welcher von Sensoren aufzunehmende Messgrößen zum Auslösen einer Reaktion ausgewertet werden und wobei Messzeitpunkte durch sich im Wesentlichen wiederholende Zyklen zur Erfassung und Auswertung der Messgrößen bestimmt sind, dadurch gekennzeichnet, dass die Messzeitpunkte derart gesteuert werden, dass einer der Messzeitpunkte möglichst unmittelbar auf einen Zeitpunkt folgt, zu welchem voraussichtlich ein Auslösen bewirkende Messgrößen vorliegen.1. A method for controlling a driver assistance device, in which measured variables to be recorded by sensors for triggering a reaction are evaluated and wherein measuring times are determined by essentially repeating cycles for recording and evaluating the measured variables, characterized in that the measuring times are controlled in such a way that that one of the measuring times follows as immediately as possible at a point in time at which measured variables likely to trigger are available.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Steuerung der Messzeitpunkte in Abhängigkeit von einer Prädiktion des Zeitpunktes erfolgt.2. The method according to claim 1, characterized in that the measurement times are controlled as a function of a prediction of the time.
3. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass zur Prädiktion des Zeitpunktes schnellere Algorithmen angewendet werden als zum Auslösen der Reaktion.3. The method according to any one of claims 1 or 2, characterized in that faster algorithms are used to predict the time than to trigger the reaction.
4. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Steuerung der Messzeitpunkte durch Veränderung der Lauflänge von Computerprogrammen zur Auswertung der Messdaten erfolgt. 4. The method according to any one of the preceding claims, characterized in that the measurement times are controlled by changing the run length of computer programs for evaluating the measurement data.
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass die Lauflänge über die Anzahl von Refresh-Zyklen verändert wird.5. The method according to claim 4, characterized in that the run length is changed over the number of refresh cycles.
6. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Reaktion aus einem Eingriff in die Führung des Fahrzeugs besteht.6. The method according to any one of claims 1 to 5, characterized in that the reaction consists of an intervention in the guidance of the vehicle.
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Reaktion Warnsignale umfasst .7. The method according to any one of the preceding claims, characterized in that the reaction comprises warning signals.
8. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Reaktion Insassen- Rückhaltemaßnahmen umfasst.8. The method according to any one of the preceding claims, characterized in that the reaction comprises occupant restraint measures.
9. Anordnung zur Steuerung einer Fahrerassistenz- Einrichtung, bei welcher von Sensoren (12, 13) erfasste Messgrößen zum Auslösen einer Reaktion ausgewertet werden und wobei Messzeitpunkte durch sich im Wesentlichen wiederholende Zyklen zur Erfassung und Auswertung der Messgrößen bestimmt sind, dadurch gekennzeichnet, dass Mittel (11) vorgesehen sind, welche die Messzeitpunkte derart steuern, dass einer der Messzeitpunkte möglichst unmittelbar auf einen Zeitpunkt folgt, zu welchem voraussichtlich ein Auslösen bewirkende Messgrößen vorliegen.9. Arrangement for controlling a driver assistance device, in which measured variables detected by sensors (12, 13) are evaluated to trigger a reaction and wherein measuring times are determined by essentially repeating cycles for detecting and evaluating the measured variables, characterized in that means (11) are provided which control the measurement times in such a way that one of the measurement times follows as soon as possible after a time at which measured variables which are likely to trigger are available.
10. Anordnung nach Anspruch 9, dadurch gekennzeichnet, dass die Steuerung der Messzeitpunkte in Abhängigkeit von einer10. The arrangement according to claim 9, characterized in that the control of the measuring times in dependence on one
Prädiktion des Zeitpunktes erfolgt. Prediction of the point in time.
11. Anordnung nach einem der Ansprüche 9 oder 10, dadurch gekennzeichnet, dass mindestens einer der Sensoren ein Radarsensor (13) ist.11. Arrangement according to one of claims 9 or 10, characterized in that at least one of the sensors is a radar sensor (13).
12. Anordnung nach einem der Ansprüche 9 oder 10, dadurch gekennzeichnet, dass mindestens einer der Sensoren ein Videosensor (12) ist.12. Arrangement according to one of claims 9 or 10, characterized in that at least one of the sensors is a video sensor (12).
13. Anordnung nach einem der Ansprüche 9 oder 10, dadurch gekennzeichnet, dass mindestens einer der Sensoren ein Lidarsensor ist. 13. Arrangement according to one of claims 9 or 10, characterized in that at least one of the sensors is a lidar sensor.
EP04723508A 2003-04-07 2004-03-26 Method and arrangement for controlling a driving aid Withdrawn EP1614083A2 (en)

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US20070185634A1 (en) 2007-08-09
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