DE102024002120A1 - Procedures for warning of overtaking maneuvers and systems - Google Patents

Abstract

The invention relates to a method for warning the driver of a first motor vehicle (A) operating on a road about overtaking maneuvers, in which traffic information from the first motor vehicle (A) and from at least one further motor vehicle (B) is transmitted to a backend device (18) coupled to the motor vehicles (A, B). The backend device is configured to evaluate at least one overtaking information for the driver from all the traffic information and, depending on the overtaking information, to generate at least one warning signal for the driver. The respective traffic information of the motor vehicles (A, B) consists of GPS position data assigned to the respective motor vehicles (A, B). The backend device (18) relates this traffic information to each other and calculates the overtaking information, generating the warning signal when a potential collision is detected during the calculation. The invention further relates to a system (10).

Description

The invention relates to a method for warning of overtaking maneuvers according to the preamble of claim 1. Furthermore, the invention relates to a system.

In the DE 10 2017 209 370 A1 A method for determining overtaking information for the driver of a first motor vehicle operating on a road is disclosed. The method is based on the evaluation of sensor data from at least one sensor to determine and output overtaking information that indicates whether or not an overtaking maneuver should be carried out.

Traffic sensor data is collected on a central backend system that communicates with several vehicles operating on the road. This backend system collects communication information from other vehicles equipped with sensors to record sensor data. This collected sensor data is then analyzed to determine, at least in part, overtaking information.

The object of the invention is to create a method for warning of overtaking maneuvers that offers a particularly high level of safety.

This problem is solved by means of a method with the features of claim 1 and by means of a system according to the invention. Advantageous embodiments and further developments can be found in the dependent claims and in the description.

One aspect of the invention relates to a method for warning the driver of a first motor vehicle, in particular a passenger car, operating on a road about overtaking maneuvers, in which traffic information is transmitted from the first motor vehicle and from at least one other motor vehicle or from a fleet of vehicles to a backend device or a cloud connected to the motor vehicles. This backend device is configured to evaluate at least one overtaking information signal for the driver from all traffic information and, depending on the overtaking information, to generate at least one warning signal for the driver.

The respective traffic information for each vehicle consists of GPS position data assigned to that vehicle. The backend system compares this traffic information and calculates overtaking information. A warning signal is generated when a potential collision is calculated. This process (and therefore also an overtaking warning system) requires an overtaking driver, another vehicle or a fleet of vehicles, data transmission via satellite (GPS system), and the backend system, a cloud, or a central processing unit (internal or external to the vehicle). Drivers of a fleet of vehicles transmitting GPS data in real time at high frequency exchange GPS data with the backend system via satellite communication. The size and resolution of the grid elements are selected based on the speed limit of the respective road and the GPS position acquisition frequency. A sufficient buffer factor can be included. The width/diameter of the grid elements then corresponds to the resolution. $$\text{Ausfl}\ddot{\text{o}}\text{sung}=\text{Geschwindigkeit}\left(\text{km/h}\right)/3.6*\text{Frequenz}\left(\text{in Sekunden}\right)*\text{Puffer}.$$

Example at 100 km/h: Resolution = 100 km/h / 3.6 * 1s * 4 = 111 meters.

When a motor vehicle (vehicle of the system) approaches a slow-moving object/vehicle on the road, the speed of the obstacle is calculated (own speed - approach distance / time) primarily using the vehicle's own speed, camera and lidar sensors and control feedback from the driver.

Based on the speed difference and the vehicle's own speed, the required distance for an overtaking maneuver is calculated and mapped to grid elements. These are transmitted via satellite to the backend system. The backend system then checks the grid elements traversed by the other vehicles in the fleet.

If there is oncoming traffic nearby, the trajectories of the respective vehicles are compared in detail. Oncoming traffic then travels at a constant speed on the grid elements. If no grid elements overlap, no warning (generating the warning signal) is transmitted. If the grid elements of the overtaking lane overlap with the grid elements of the oncoming traffic, a warning signal is generated and transmitted to the motor vehicle, or a warning is transmitted to the potentially overtaking vehicle.

If the driver of a motor vehicle initiates an overtaking maneuver, they will be visually warned of the potential hazard on the vehicle's display. In other words, continuous GPS data transmission for a fleet of vehicles is proposed. It is possible to expand this system by using an unmanned drone.

This system allows a vehicle to check for oncoming traffic in the opposite lane. The fleet of vehicles sends GPS signals to the backend system. When approaching a potential obstacle, object, or other vehicle on the road, a possible overtaking maneuver is assessed. The drone takes off and scans the road for the duration of the overtaking maneuver. If oncoming traffic (a potential collision) is detected based on the overflight or the GPS signals from the fleet of vehicles, the driver of the vehicle receives a warning before overtaking. If the road is clear, this is also indicated, enabling a safe overtaking maneuver. Particularly advantageous are the avoidance of critical traffic situations during overtaking maneuvers and the ability to overtake in areas with limited visibility.

In an advantageous embodiment of the invention, an unmanned drone is used which autonomously launches upon approaching a potential obstacle, scans the road for oncoming traffic, and transmits the collected data in real time to a backend device to support the calculation of overtaking information and enable more precise warnings of potential collisions. In another advantageous embodiment of the invention, the drone is autonomously controlled and/or connected to the motor vehicles via a wireless communication network to, for example, scan the road for oncoming traffic upon approaching a potential obstacle/object or vehicle and transmit the collected data in real time to the backend device, thereby expanding the calculation of overtaking information with more data and enabling more accurate warnings of potential collisions.

In a further advantageous embodiment of the invention, it is provided that weather data and road condition information, as well as time of day and darkness information, are included in the calculation of the overtaking information by means of the backend device in order to further increase the safety and accuracy of the warning of overtaking maneuvers, especially in bad weather conditions.

In a further advantageous embodiment of the invention, it is provided that, in addition to GPS position data, speed and acceleration data, in particular transmitted directly by the vehicles, are added to the traffic information of the motor vehicles. This is intended to enable a more precise estimation in order to calculate more accurate overtaking information.

In a further advantageous embodiment of the invention, it is provided that a trajectory to be followed, for example also a proposed overtaking maneuver, is displayed on a display device in the first motor vehicle during the overtaking maneuver, as long as it is classified as safe, in order to offer the driver visual support and additional safety when carrying out the overtaking maneuver.

In a further advantageous embodiment of the invention, it is provided that an acoustic (sounds, spoken warnings), visual (color signals, light signals) and/or haptic (vibrations) pre-warning is issued by means of the warning signal in order to alert the driver to a potential dangerous situation and thus shorten the reaction time.

In a further advantageous embodiment of the invention, it is provided that in the event of a failure of the GPS signals, the system switches to alternative location technologies such as mobile phone data or radar signals in order to maintain the position determination and to continue to reliably enable the calculation of overtaking information, especially during overtaking.

A further aspect of the invention relates to a system for carrying out a method as described in the previous aspect, comprising at least the backend device and corresponding communication modules for communication with motor vehicles and with a GPS system. The system is thus configured to collect, record, and evaluate traffic information from multiple motor vehicles by means of a backend device or a central processing unit, which in turn informs algorithms. The system may utilize AI, neural networks, etc., to calculate overtaking information based on the collected data. It includes modules or communication modules for wireless communication with the vehicles to receive GPS position, speed, and acceleration data, as well as modules for communication with a GPS system to obtain precise vehicle location data. Sensors integrated into the vehicles, such as cameras and lidar sensors, capture the environment and assist in calculating the overtaking information.

Furthermore, an unmanned drone can be integrated, which can be launched as needed to check or scan the road for oncoming traffic and transmit the data to the backend system in real time. Displays in the vehicles visualize the calculated overtaking trajectory for the driver, while warning systems issue acoustic, visual, and/or haptic pre-warnings when a potential hazard is detected. In the event of GPS signal failure, the system switches to alternative positioning technologies such as mobile network data or radar signals to maintain position determination and the calculation of overtaking information. The backend system is also designed to incorporate weather data and road condition information into the calculation of overtaking information to increase the safety and accuracy of the warnings. This design creates a comprehensive and, in particular, safe system that offers a high level of safety during overtaking maneuvers on roads by providing consistently reliable information and warning the driver of potential hazards in a timely manner.

Further advantages, features, and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and combinations of features mentioned above in the description, as well as those mentioned below in the figure description and/or shown in the figure alone, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention.

• 1 Bilddiagramm zur Veranschaulichung eines Verfahrens zur Warnung vor Überholvorgängen für einen Fahrer eines auf einer Straße betriebenen ersten Kraftwagens mittels eines dafür vorgesehenen Systems.

This shows:

• 1 A diagram illustrating a procedure for warning the driver of a first motor vehicle operating on a road of overtaking maneuvers by means of a system provided for this purpose.

In the figures, identical or functionally equivalent elements are provided with the same reference symbols.

1 Figure 10 shows a diagram illustrating a procedure for warning a driver of a first motor vehicle A operating on a road of overtaking maneuvers by means of a system provided for this purpose.

The overtaking warning system 10 requires an overtaking driver in the first vehicle A, a fleet of vehicles represented by at least the first vehicle A and a second vehicle B as oncoming traffic, data transmission 16 via satellites 14 and a backend device 18 or a central computing unit or a cloud.

In a first step, the drivers exchange GPS data, traffic information, and position data with the backend unit 18 via satellite communication from a fleet of vehicles (consisting of cars A and B) transmitting GPS data in real time at high frequency.

In a second step, the size and resolution of grid elements 1 to 8 are selected based on the speed limit of the respective road and the GPS position acquisition frequency. A sufficient buffer factor is included. The width or diameter of the grid elements is then calculated as follows: Resolution = Speed (km/h) / 3.6 * Frequency (in seconds) * Buffer. Example at 100 km/h: $$\text{Aufl}\ddot{\text{o}}\text{sung}=100\text{ km/h/3}\text{.6*1s}*4=111\text{ Meter}$$

In a third step, the first vehicle A approaches a slow-moving object/vehicle C. The speed of the obstacle is calculated using the vehicle's own speed, at least one sensor device such as a camera and lidar sensors, and the driver's control feedback. (Vehicle's speed - approach distance / time)

In a fourth step, the distance required for an overtaking maneuver is calculated based on the speed difference and the vehicle's own speed and assigned to grid elements, specifically grid elements 1 to 4. These are transmitted via satellites 14 to the backend device 18.

In a fifth step, a drone 20, attached to one of the vehicles, in particular the overtaking vehicle A, detaches itself, flies over the obstacle or object/vehicle C to be overtaken, and flies along the road according to the expected distance of the overtaking maneuver. During this process, motion vectors are transmitted to vehicle A and backend device 18 via communication.

In a sixth step, the backend device 18 checks the grid elements driven over by the other vehicles and thus by the further motor vehicle B of the vehicle fleet.

• Gibt es in der Nähe Gegenverkehr bzw. ist der Kraftwagen B in der Nähe und auf den ersten Kraftwagen A zufahrend, erfolgt ein Detailabgleich der Trajektorien. Der Gegenverkehr (Kraftwagen B) fährt auf den Rasterelementen 6, 5, 4 mit gleichbleibender Geschwindigkeit.
  • - Überschneiden sich keine Rasterelemente, wird keine Warnung übertragen.
  • - Überschneiden sich die Rasterelemente 3 der Überholspur mit den Rasterelementen 4, 5 oder 6 des Gegenverkehrs sendet der Satellit 18 eine Warnung an den potentiell überholenden Kraftwagen A.
  • - Leitet der Fahrer des Kraftwagens A nun einen Überholvorgang ein, so wird dieser Visuell auf dem Fahrzeugdisplay vor der potentiellen Gefahrensituation gewarnt.
• Gibt es weder Gegenverkehr registriert durch GPS-Signal + ohne Sicht durch Drohnen 20, kann im Kraftwagen A die gefahrlose Überholmöglichkeit visualisiert werden, gegebenenfalls Überholmanöver vorgeschlagen werden.

Accordingly, a seventh step distinguishes between:

• If there is oncoming traffic nearby, or if vehicle B is nearby and approaching the first vehicle A, a detailed comparison of the trajectories is performed. The oncoming traffic (vehicle B) travels at a constant speed on grid elements 6, 5, and 4.
  • If no grid elements overlap, no warning is transmitted.
  • - If the grid elements 3 of the overtaking lane overlap with the grid elements 4, 5 or 6 of the oncoming traffic, satellite 18 sends a warning to the potentially overtaking vehicle A.
  • - If the driver of vehicle A now initiates an overtaking maneuver, he will be visually warned of the potential danger on the vehicle display.
• If there is no oncoming traffic registered by GPS signal + without visibility by drones 20, the safe overtaking opportunity can be visualized in the motor vehicle A, and overtaking maneuvers can be suggested if necessary.

In summary, the invention proposes a method for warning of overtaking maneuvers based on GPS data and the use of a vehicle-drone system.

Reference symbol list

1

Grid element

10

system

14

satellite

16

Data transmission

18

backend device

20

drone

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• DE 10 2017 209 370 A1 [0002]

Claims (9)

Method for warning a driver of a first motor vehicle (A) operating on a road of overtaking maneuvers, wherein traffic information from the first motor vehicle (A) and from at least one further motor vehicle (B) is transmitted to a backend device (18) coupled to the motor vehicles (A, B), which is configured to evaluate at least one overtaking information for the driver from all traffic information and to generate at least one warning signal for the driver depending on the overtaking information, characterized in that the respective traffic information of the motor vehicles (A, B) consists of GPS position data assigned to the respective motor vehicles (A, B), wherein the backend device (18) relates this traffic information to each other and calculates the overtaking information, and generates the warning signal when a possible collision is detected in the calculation. Procedure according to Claim 1 , characterized in that an unmanned drone (20) is used, by means of which the road is checked and the collected data is transmitted to the backend device (18). Procedure according to Claim 2 , characterized in that the drone (20) is autonomously controlled and/or is connected to the motor vehicles via a wireless communication network. Method according to one of the preceding claims, characterized in that weather data and road condition information are included in the calculation of the overtaking information by means of the backend device (18). Method according to one of the preceding claims, characterized in that speed and acceleration data are added to the traffic information of the motor vehicles (A, B) in addition to the GPS position data. Method according to one of the preceding claims, characterized in that the trajectory to be followed is displayed on a display device in the first motor vehicle (A) during the overtaking maneuver, as long as it is classified as safe. Method according to one of the preceding claims, characterized in that an acoustic, visual and/or haptic pre-warning is issued by means of the warning signal. Method according to one of the preceding claims, characterized in that, in the event of GPS signal failure, the system switches to alternative location technologies such as mobile phone data or radar signals to maintain position determination. System (10) for carrying out a procedure according to one of the preceding Claims 1 until 8 , which includes at least the backend device (18) and corresponding communication modules for communication with the motor vehicles and with a GPS system.