JP-2021507330-A5 -

Dates

Publication Date

20221216

Application Date

20181108

Description

The present invention relates to a method for avoiding a lateral collision with a vehicle and a system for carrying out said method. For example, methods for monitoring the space directly to the sides and behind a vehicle, and issuing alarms if necessary, are known from conventional technology . Generally, such methods are also called AoLC ( Avoidance of Lateral Collision) functions. For example, WO2014/095104A1 discloses a method for monitoring the space behind and beside a vehicle using radar. In this method, a warning signal is output to the driver when a vehicle enters the area behind or a warning area. A second area, located close to the side of the vehicle, is used to monitor the movement of the detected vehicle. The warning signal is maintained until the detected vehicle leaves the area beside the vehicle. Furthermore, a method for monitoring the lateral and rear spaces is known from DE102006010275A. A drawback of conventional technologies is that incorrect interventions can occur due to misrecognized object attributes of the target vehicle, such as its lateral or longitudinal speed. This has led to a decline in the quality and maturity of such methods. WO2014/095104A1DE102006010275A The vehicle and monitoring area are shown in general terms .This is a schematic flowchart of the algorithm for data analysis .This diagram provides a general overview of the vehicle intending to change lanes and the target vehicle.This is a schematic flowchart of the algorithm for further data analysis . Figure 1 schematically shows a vehicle 1 and the monitoring area. Vehicle 1, which is the vehicle in this invention, is moving along lane F1 in direction R1. Here, the monitoring area is divided into three pre-warning areas V1, V2, and V3 and one trigger area T, although the number of pre-warning areas may be less than three or more than three . In the illustrated example, it is assigned to the left of vehicle 1, on the adjacent lane F2. A third lane F3 is also depicted. Here, the monitoring area is shown on the left as an example. However, the system is configured so that monitoring areas exist on both sides. This ensures that the area around the vehicle is reliably captured and monitored in all situations . These areas are rectangular in this depiction. However, other geometric shapes, such as semicircles, are also possible. Figure 2 shows a schematic flowchart of the algorithm for data analysis . Here, the algorithm is used to check whether the conditions are met and whether control S or control intervention is necessary. In order for control S of vehicle 1 to be activated, target vehicle 2 must satisfy one of the pre-warning area conditions VB1-VB3 for a specific minimum time t1-t3 or longer. In other words, target vehicle 2 must first stay in one of the pre-warning areas V1-V3 shown in Figure 1 for a specific time t1-t3 or longer. Furthermore, target vehicle 2 must also satisfy the trigger area condition TB. Here, target vehicle 2 must be within the trigger area T. For at least one of the pre-warning area conditions VB1-VB3 to be satisfied, in addition to the position and minimum time of target vehicle 2 in the pre-warning areas V1-V3, further conditions are imposed. These conditions include the minimum and maximum longitudinal and lateral relative speeds of target vehicle 2. Furthermore, it is possible to independently impose specific conditions on each of the pre-warning areas V1-V3. These conditions can be set according to the situation or adaptively. The conditions under which the trigger area condition TB is met can also be set to the minimum, maximum longitudinal and lateral relative speeds of the target vehicle 2. Furthermore, another specific condition B must also be met. Such conditions include a specific speed of the vehicle 1 and / or the target vehicle 2 , or a specific lateral acceleration of the vehicle 1 and / or the target vehicle 2. If all of these conditions are met simultaneously, the algorithm instructs the vehicle to be controlled S. Figure 3 schematically shows a vehicle 1 intending to change lanes and a target vehicle 2. In this case , vehicle 1 is moving in direction R1, which will lead to lane F2. Target vehicle 2 is also moving in direction R2, which will lead to lane F2. Based on vehicle 1's intention to change lanes, the monitoring area is determined to be on the third lane F3. At this time, the target vehicle 2 enters the pre-warning area V and the trigger area T, and based on this, vehicle 1 is controlled to avoid a collision through corresponding control intervention. Figure 4 shows a schematic flowchart of the algorithm for further data analysis . In addition to the pre-warning area condition VB and the trigger area condition TB, in this case , the conditions that the lane change DS1 of vehicle 1 has been detected and the lane change DS2 of target vehicle 2 have also been detected must be met. Furthermore, as already mentioned in relation to Figure 2, in order to activate the control