• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
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    • 专利摘要:
    The present invention relates to a method for risk assessing (S1) lane change when driving a vehicle on a roadway with at least two adjacent lanes, comprising the step of: detecting (S2) the presence of objects in lanes adjacent to the lane in which said vehicle is driven, comprising the steps of: determining, on the basis of indications concerning the distance of a particular lane in which the vehicle is driven, the distance of at least one adjacent lane based on continuously determined reference positions of the vehicle relative to said adjacent lane to determine an action zone running in said adjacent lane. The present invention also relates to a system for assessing the risk of changing lanes when driving a vehicle on a roadway with at least two adjacent lanes, and a motor vehicle comprising: they such a system. The present invention also relates to a computer program and a computer program product (Fig. 6).
    公开号:SE1450385A1
    申请号:SE1450385
    申请日:2014-04-01
    公开日:2015-10-02
    发明作者:Jonny Andersson；Linus Bredberg
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    1 PROCEDURE AND SYSTEM FOR REPLACING RISK ASSESSMENT IN THE EVENT OF REPLACEMENT OF A LEADING VEHICLE ON A ROAD WITH ATMINSTONE TWO ADJACENT CORFALT TECHNICAL FIELD The invention relates to a procedure for reducing the risk of at least one vehicle. to the invention 1. The invention also relates to a system for risking coral change when driving a conductive vehicle on a lane with at least two adjacent corphts. The invention also relates to a motor vehicle. The invention also relates to a computer program and a computer program product.
    BACKGROUND When driving a vehicle on a lane with at least two adjacent corphal medic & corphalt replacement, there is a risk in the event that a vehicle behind approaches in the adjacent lane to which the change is to take place. From a traffic safety point of view, there is therefore a need for the risk factors to change corphalt in the event of a leading vehicle approaching from behind.
    For this breath, a so-called blind-spot warning system is used according to a variant. Such a system warns or intervenes in another way when the own vehicle is about to steer out into an adjacent coral where an object such as another vehicle is located. This is normally accomplished by means of a radar directed along the vehicle which detects objects / vehicles in adjacent coral, where it is assumed that the vehicle is driven substantially straight out of the carriage. The assumption that the vehicle will chase straight ahead can lead to false or no warnings. On carriages with several corphals, the curvature of the carriageway can cause such a blind-spot warning system to intervene unnecessarily when driving vehicles with slack as a truck with a tractor and a trailer as illustrated in Fig. 1.
    A warning system such as a so-called blind-spot warning system assumes that a vehicle detected in the detection area and determined to be in a zone running straight back at a distance corresponding to a distance Than the vehicle / vehicle's tractor to the adjacent corphthal poses a threat whereby warning is activated a change of coral when the slap / trailer, which is in the vehicle's own coral, due to the curvature of the lane poses a threat whereby the blind-spot warning system intervenes as the vehicle intends to perform a coral change and consequently gives an unnecessary yarning. Fig. 1 illustrates this problem.
    US2003025597 discloses a system for assisting with coral change where the position markings of the line markings are memorized, whereby the coral position history is determined to determine the position of the vehicle.
    OBJECT OF THE INVENTION An object of the present invention is to provide a method and a system for risk assessing coral change when driving a vehicle on a carriageway with at least two adjacent corals which minimizes the risk of incorrect yarning as there is no risk of coral change.
    SUMMARY OF THE INVENTION These and other objects, which will be apparent from the following description, are accomplished by a method, system, motor vehicle, computer program, and computer program product of the kind initially indicated and further having the features set forth in the characterizing portion of the appended independent patent. Preferred embodiments of the method and system are defined in the appended dependent claims.
    According to the invention, the objects are achieved with a method for assessing the risk of coral change when driving a vehicle on a lane with at least two adjacent corphals, comprising the step of: detecting the presence of objects in corphal adjacent to the corphalt in which said vehicle is driven, comprising the steps of: Relating stretching of a particular corphalt in which the vehicle is driven Determining the stretching of at least one adjacent corphalt based on continuously established reference positions of the vehicle relative to said adjacent corphthal to determine an action zone running in said adjacent corphthal. objects in the said access zone take action in connection with coral exchange. By thus establishing relevant action zones, the risk of incorrect yarning is minimized as there is no risk of coral replacement. This consequently eliminates the risk of incorrect yarning when cornering with a slack vehicle such as a truck with a trailer, as the well-established action zone will not be able to inspect its own slack.
    According to one embodiment of the method, the reference positions are determined consecutively at predetermined intervals. This enables efficient and predictable determination of the action zone.
    According to one embodiment of the method, the intervals are stretch intervals along the vehicle's route. This enables efficient and predictable determination of the action zone regardless of the speed of the vehicle.
    According to one embodiment of the method, the intervals are time intervals. This enables efficient and predictable determination of the action zone, which is easy to achieve.
    According to one embodiment, the method comprises the step of determining the stretching of said adjacent coral based on parameters relating to the travel of the vehicle 4, which parameters include the vehicle's angular velocity and velocity. This enables an efficient way to accurately and precisely determine the action zone where cornering of the vehicle and consequently adjacent the spread and hooking of the asphalt is effectively recreated in the action zone.
    According to one embodiment of the method, said determination of stretching of said adjacent corrugated involves determining the distance relative to the vehicle. This makes it possible to effectively determine the width of the access zone.
    According to an embodiment of the method in which the distance with which said access zone runs in said adjacent corridor along said vehicle is set to a distance corresponding to the length of the vehicle or slightly exceeding this. There is no doubt that action is taken on a saloon detected vehicle in the vehicle. detected.
    The embodiments of the system have the same advantages as the corresponding embodiments of the procedure mentioned above.
    DESCRIPTION OF THE DRAWINGS The present invention will be better understood by reference to the following detailed description taken in conjunction with the accompanying drawings, in which like reference numerals appear in equal parts throughout the many views, and in which: Fig. 1 schematically illustrates driving a conductive vehicle on a A carriageway with at least two adjacent corals, where a vehicle approaching from behind is detected according to prior art; Fig. 2 schematically illustrates a motor vehicle according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a system in which the risk conditions change asphalt when driving a vehicle on a lane with at least two adjacent corals according to the present invention; Fig. 4 schematically illustrates the driving of a conductive vehicle on a lane with at least two adjacent corphal, where reference positions relative to the vehicle adjacent corphthal are determined; Fig. 5 schematically illustrates the driving of a conductive vehicle on a lane with at least two adjacent corphthal, where a vehicle approaching from behind is detected according to an embodiment of the present invention; Fig. 6 schematically illustrates a block diagram of a method for risking coral change when driving a vehicle on a lane with at least two adjacent corals according to the present invention; and Fig. 7 schematically illustrates a computer according to an embodiment of the present invention.
    BACKGROUND ART Fig. 1 schematically illustrates the driving of a vehicle 1 traveling in the direction of the arrow P1 with a tractor 2 and a trailer 4 on a carriageway R2 with two adjacent corphalt L1, L2 according to the prior art.
    A radar means with a certain rack width is arranged to provide a Than Niger side of the vehicle and in its direction of travel substantially straight backward directed detection area A1. A so-called blind-spot warning system then assumes that a vehicle detected in the detection area and determined to be in a zone ZA1 running straight back at a distance corresponding to a distance Than the vehicle 1 to the adjacent corphalt L2 poses a threat whereby the warning is activated at a coral change . In this case, the curvature has the lane that the vehicle's slack located in the vehicle's own coral L1 poses a threat, whereby the blind spot warning system intervenes as the vehicle 1 intends to make a coral change and consequently gives an unnecessary yarning.
    DESCRIPTION OF EMBODIMENTS Hereinafter referred to as the "link" to a communication line which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a wireless connection, for example a radio or microwave line.
    Hari hanfor sig tern "adjoining corphalt" to adjoining corphalt for vehicles traveling in the same direction, ie. corphal in the form of adjacent lanes where vehicles travel in the same direction commonly occurring on larger roads such as motorways, as well as to adjacent corphalt for traffic in the opposite direction, ie adjacent corphal where there is oncoming traffic and where detour can take place.
    Accordingly, the term "lane with at least two adjacent corphthal" is used to refer to any lane lane with adjacent corphalt as defined above. The term "lane with at least two adjacent corals" may consequently include a larger lane such as a motorway with two or more adjacent lanes in the form of adjacent lanes for traffic in the same direction, lanes with two adjacent lanes for traffic in the opposite direction, ie lanes adjacent there will be oncoming traffic in the adjacent corphalt and where re-crossing can take place.
    Fig. 2 schematically illustrates a motor vehicle 1 according to an embodiment of the present invention. The exemplary vehicle 1 consists of a heavy vehicle in the form of a truck with a tractor 2 and a trailer 4. The vehicle may alternatively be a bus or a passenger car. The vehicle comprises a system I for risk assessing the change of corrugation when driving a vehicle on a lane with at least two adjacent corphant according to the present invention.
    Fig. 3 schematically illustrates a block diagram of a system I for risk assessing coral change when driving a vehicle on a lane with at least two adjacent corals according to an embodiment of the present invention.
    System I comprises an electronic control unit 100.
    System I comprises means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is driven. The means 110 for detecting the presence of objects in the corphthal adjacent to the corphthal in which a vehicle is driven may include any raised sensor means.
    The means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is driven comprises according to a variant radar means.
    The means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is driven includes, according to a variant, camera means. The means 110 for detecting the presence of objects in the corphthal adjacent to the corvette in which a vehicle is carried comprises according to a variant lidaroragn.
    The means 110 for detecting the presence of objects in the corphthal adjacent to the corvette in which a vehicle is driven comprises according to a variant laser scanner means.
    The means 110 for detecting the presence of objects in the coral adjacent to the coral in which a vehicle is driven includes sensor means for detecting on either side of the vehicle for facilitating the detection of the occurrence of the rear vehicle approaching the vehicle in the coral to the right of the vehicle. about the vehicle. The vehicle includes the means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is driven. The system I comprises means 200a for determining, based on indications, the stretching of a particular corphalt in which the vehicle is driven, the stretching of at least one adjacent corphalt based on continuously determined reference positions of the vehicle relative to said adjacent corphalt to determine an adjacent zone. a definite stretch.
    Accordingly, system I comprises means 200 for determining an action zone running in said adjacent coral along the vehicle a certain distance. The means 200 for determining an action zone comprises the means 200a for determining the tension of said adjacent corphalt.
    The means for determining the tension 200a of said adjacent corrugation comprises means 210 16r for continuously determining reference positions of the vehicle relative to the adjacent corrugation of the vehicle.
    System I hereby comprises means 210 for continuously determining reference positions of the vehicle relative adjacent corphalt to the vehicle corphalt.
    The means 210 for continuously determining the reference positions of the vehicle relative to the adjacent corphalt includes means 212 for continuously determining the reference positions at predetermined intervals.
    According to one embodiment, the predetermined intervals consist of stretch intervals.
    Accordingly, in this embodiment, the means 210 for continuously determining the reference positions of the vehicle relatively adjacent corphalt comprises means 212a for continuously determining the reference positions at predetermined stretch intervals. The distance intervals are calculated according to a variant of predetermined distances / distances that the vehicle has traveled, where the respective distance / distance is the same / the same. The means 210 for determining the reference position is in this case arranged to continuously determine the reference position after each such distance / such a distance. 9 According to one embodiment, the predetermined intervals are time intervals. The means 210 for continuously determining reference positions of the vehicle relative to adjacent corphalt according to this embodiment consequently comprises means 212b for continuously determining the reference positions at predetermined time intervals. The time intervals consist of predetermined time intervals that the vehicle has traveled, where the respective time intervals are the same. The means 210 for determining the reference position is in this case arranged to continuously determine the reference position after each such time interval.
    The means 210 for continuously determining reference positions of the vehicle relative to the adjacent corphalt comprises means 214 for determining parameters concerning the progress of the vehicle. Parameters of the vehicle's departure include the vehicle's angular velocity and speed.
    Accordingly, the means 210 for determining the tension of said adjacent corrugate comprises means 214 for determining parameters relating to the progress of the vehicle, which parameters include the yaw velocity and speed of the vehicle.
    Accordingly, the system I comprises means 200a for determining the tension of said adjacent corphthal based on parameters relating to the travel of the vehicle, which parameters include the yaw angular velocity and speed of the vehicle.
    Gear angle velocity is used here as a basis for determining whether and to what extent the corphalt in which the vehicle is driven is pregnant, assuming that adjacent corphalt has a corresponding hook.
    The means 214 for determining parameters relating to the departure of the vehicle comprises means 214a for determining the yaw velocity of the vehicle. The means 214a for determining the yaw angular velocity includes at least one gyro.
    The means 214 for determining parameters relating to the departure of the vehicle comprises means 214b for determining the speed of the vehicle. The means 214b for determining the speed of the vehicle comprises a speed feeding means of the vehicle.
    The means 210 for continuously determining reference positions of the vehicle relatively adjacent corphalt comprises according to a variant navigation means 214c including position data for the current position of the vehicle, as well as map data including information about the curvature of the current carriageway. The means 214 for determining parameters regarding the progress of the vehicle comprises said navigation means 214c.
    The navigation means 214c can be used as a complement to the means 214a to determine the gear angular velocity for redundancy. Determination of the angular velocity speed for determining whether the corrugation curve can be affected by tilts of the vehicle, where the information from the navigating means 214c concerning the curvature of the corrugation can be used to avoid incorrect assessments due to such tilts. The navigation means 214c may also be used instead of the means 214a to determine the angular velocity.
    Accordingly, according to a variant, the means 210a for determining the tension of said adjacent corphalt comprises, among a variant, navigation means 214c including position data for the current position of the vehicle, as well as map data including information about the curvature of the current carriageway.
    System I includes means 214a for determining the yaw velocity of the vehicle.
    System I includes means 214b for determining the speed of the vehicle. System I includes said navigation means 214c.
    The means 210 for continuously determining reference positions of the vehicle relatively adjacent corphalt includes means 216 for determining the distance relative to the vehicle. The means 216 for determining distance relative to the vehicle includes means 216a for determining line markings of adjacent corals. The means 216a for determining line markings of adjacent corrugations includes sensor means such as camera means. The means 216 for determining distance relative to the vehicle includes, according to a variant, sensor means. Said sensor means according to a variant include camera means.
    Means 216 for determining distance relative to the vehicle, according to a variant, include means 216b for determining virtual line markings of adjacent corals.
    The means 216b for determining virtual line markings of the adjacent corphlet includes means for determining the width of the corrugation of the corrugation in which conductive vehicles travel and / or adjacent corphalt.
    According to a variant, the means for determining the width of the coral includes navigation means including map data with information about the width of the coral of the current carriageway, type of carriageway, and information about the current position of the vehicle. The means of navigation may be the means of navigation 214c.
    The means for determining the width of the corrugation comprises according to a variant sensor means for determining the width of the corrugation of the corphalt in which the vehicle is traveling, where according to a variant the width of the corrugation of the adjacent corrugation is assumed to be the same as the corphalt in which the vehicle travels. The means for determining coral width includes, according to a variant, pre-stored information concerning coral width, which information may be stored in the electronic control unit 100.
    System I comprises means 100, 120 for taking action in connection with the occurrence of objects in said access zone in connection with lane change.
    System I comprises means 120 for taking action in the event of a determined occurrence of a vehicle approaching from behind in the said action zone. The means 120 for taking action comprises, according to one embodiment, means 122 for warning of the change of coral at such an occurrence. The means 122 for warning of corrosion change can consist of any suitable warning means such as visual warning means, audible warning means and / or tactile warning means. According to a variant, the visual warning means comprises a display unit and / or a flashing unit or the like. The audible warning means includes yarning in the form of a rust message and / or yarning in the form of an audible alarm. The tactile warning means includes the influence of the steering wheel in the form of vibration / movement and / or the influence of the vehicle seat in the form of vibration and / or the influence of the pedal such as the accelerator pedal or brake pedal.
    The means 120 for taking action comprises, according to one embodiment, means 124 for preventing the vehicle from changing corphally or defending for the vehicle to change corphally in such a determined occurrence. The means 124 for preventing / defending the change of corphalt include the influence of the vehicle's steering gear as a steering wheel deflection in the direction of the adjacent corphalt in which there is a risk. The means 120 for taking action comprises, according to a variant, the electronic control unit 100.
    The electronic control unit 100 is signal connected to the means 110 for detecting the presence of objects in the corphthal adjacent to the corphalt in which a vehicle is conveyed via a line 11. The electronic control unit 100 is arranged via the line 11 to receive a signal from the means 110 representing vehicle data for occurrence. from behind the vehicle itself narnnande vehicle.
    The electronic control unit 100 is signal connected to the means 200 for determining an access zone running in adjacent coral backed along the vehicle a fixed distance via a line 20. The electronic control unit 100 is arranged via the line 20 to receive a signal from the means 200 representing access zone data for the determined access zone running in adjacent coral baked along the vehicle. The electronic control unit 100 is signal connected to the means 200a to determine the stretching of said adjacent corphalt via a link 20a. The electronic control unit 100 is arranged via the line 20a to receive a signal from the means 200a representing the stretching data for the stretching of the adjacent corrugation for determining the access zone baked from the vehicle.
    The electronic control unit 100 is signal connected to the means 210 for continuously determining reference positions of the vehicle relative to the coral of the vehicle via a line 21. The electronic control unit 100 is arranged via the line 21 to receive a signal representing the reference position data for the reference positions stretching has adjacent coral for determining the access zone behind the vehicle.
    The electronic control unit 100 is signal connected to the means 212 means for continuously determining the reference positions at predetermined intervals via a line 22. The electronic control unit 100 is arranged via the line 22 to receive a signal representing the position 21 data representing the reference positions with the means 212. the interval may be stretch intervals determined by means 212a or time intervals determined by means 212b. In this case, reference position data for stretch intervals or time intervals is received via the link 22. According to an alternative not shown, the electronic control unit 100 could receive reference position data for stretch intervals from the means 212a via a link and reference position data for time intervals via the means 212b via another link.
    The electronic control unit 100 is signal connected to the means 214a for determining the yaw velocity of the vehicle via a link 24a. The electronic control unit 100 is arranged via the line 24a to receive a signal from the means 214a representing the yaw angle velocity data for determining any hook of the corphalt in which the vehicle is traveling. The electronic control unit 100 is signal connected to the means 214b for determining the speed of the vehicle via a link 24b. The electronic control unit 100 is arranged via the line 24b to receive a signal Than means 214b representing speed data for the vehicle speed.
    The electronic control unit 100 is signal connected to the navigation means 214c via a link 24c. The electronic control unit 100 is arranged via the line 24c to receive a signal -Iran the navigation means 214c representing map data for propagation of the chimney in which the vehicle travels, including any curvature of the chimney.
    The electronic control unit 100 is signal connected to the means 216a for determining line markings of adjacent corals via a line 26a. The electronic control unit 100 is arranged via the line 26a to receive a signal from the means 216a representing distance data for distance to line markings of adjacent corphalt.
    The electronic controller 100 is signal connected to the means 216b for determining virtual line markings of adjacent corphalt via a link 26b. The electronic control unit 100 is arranged via the line 26b to receive a signal Than means 216b representing distance data for distance to virtual line markings of adjacent corphalt.
    The electronic control unit 100 is signal connected to the means 120 for taking action in the event of a determined occurrence of a vehicle approaching from behind in said access zone via a line 12. The electronic control unit 100 is arranged via the line 12 to send a signal to the means 120 representing access data including warning data for the occurrence of coral change for the vehicle and / or obstacle data for preventing / defending the change of coral in the vehicle.
    The electronic control unit 100 is arranged to process said reference position data, yaw angle velocity data, velocity data, if any, map data, distance markings for line markings / virtual line markings for determining the zoning zone data for the zoning zone running in adjacent chancel behind the vehicle vehicle and the vehicle data. the vehicle approaching vehicle to determine whether the vehicle approaching from behind is present in said access zone. If the vehicle approaching from behind the vehicle is present in the said access zone, the electronic control unit is arranged to send access data including warning data for the occurrence of coral change for the vehicle and / or obstacle data for preventing / defending coral change of the vehicle to the means 120.
    The reference positions are determined by means 210 to determine reference positions continuously. The means 210 for continuously determining reference positions is determined according to an embodiment by means of the following equations: D (t) = D (t1) - cos (ts * uo) * ts * v (1) D (t) = Dy (tt) - sin (ts * uo) * ts * v (2) x-point refers to the positive value forward in the direction of the leading vehicle, y-point refers to the positive value to Niger in the direction of the leading vehicle In equations (1) and (2) above, : D distance [m] to line marking from a reference point of the leading vehicle 1, where such a reference point of the leading vehicle can be, for example, the center point of the rear axle, center point of the front axle, center point of the vehicle front or equivalent, at the speed of the leading vehicle [ m / s], w the leading angular velocity of the leading vehicle (rad / s), and t sampling time for updating reference positions.
    Upon continuous determination of the reference positions at predetermined stretch intervals, a new reference position is created regularly after a predetermined stretch. 16 When continuously determining the reference positions at predetermined time intervals, a new reference position is created regularly after a predetermined time.
    Fig. 4 schematically illustrates the driving of a conductive vehicle 1 with a tractor 2 and a trailer 4 on a lane R1 with two adjacent corals L1, L2, where reference positions relative to the vehicle adjacent corals are determined. In this case, the presence of objects in the corrugation is adjacent to the corrugation in which a vehicle 1 is driven is intended to be detected according to an embodiment of the present invention.
    Fig. 4 illustrates a set of reference positions DLA1, DLB1; DLA2, DLB2, DLA3, DLB3, DLA4, DLB4 determined by equations (1) and (2) above. Reference positions DLA1, DLB1; DLA2, DLB2; DLA3, DLB3; DLA4, DLB4 according to Fig. 4 have been determined by means of a system I according to the present invention.
    A suitable number of N reference positions DLA1, DLB1 is produced; DLA2, DLB2; DLA3, DLB3, DLA4, DLB4 in the form of reference points DLA1, DLB1; DLA2, DLB2; DLB3; DLA4, DLB4. Distance to line markings M1, M2 is fixed for the line marking M1 immediately to the right of the vehicle 1 and the next line marking M2 to Niger, ie. the line markings M1, M2 defining adjacent corphalt L2 to the corphalt L1 in which the vehicle 1 travels. This takes place continuously, with the oldest reference positions being overwritten when the desired number of N reference positions has been determined. The reference positions DLA1, DLA2, DLA3, DLB4 represent continuously established distances to line markings M1 immediately to Niger about the vehicle 1 and the reference positions DLB1 DLB2, DLB3, DLB4 the line markings M2 to Niger about the line markings M1. In this case, the reference positions DLA1, DLB1, DLA2, DLB2, DLA3, DLB3, DLA4, DLB4 are determined by means of the reference zone as follows from Fig. 5.
    Fig. 5 schematically illustrates the driving of a vehicle 1 traveling in the direction of the arrow P1 with a tractor 2 and a trailer 4 / a slap 4 on a carriageway R2 with 17 adjacent coral L1, L2 according to the present invention. The roadway R2 and the scenario correspond to that illustrated in Fig. 1.
    Has established an action zone Z2 based on consecutive established reference positions in accordance with the present invention. By means of the system I according to the present invention, the trailer / trailer 4 of the vehicle 1 is determined not to be in the determined access zone Z2, whereby no action is taken during the change of corrugation, unlike the prior art according to Fig. 1, where unobstructed change takes place during the change of coral.
    Fig. 6 schematically shows a block diagram of a method for risk-assessing the change of corrugation when driving a vehicle on a lane with at least two adjacent corphals according to an embodiment of the present invention.
    According to one embodiment, the method for assessing the risk of coral change when driving a vehicle on a lane with at least two adjacent corphts comprises a first step S1. In this step, the occurrence of objects is detected in a corridor adjacent to the corridor in which the said vehicle is driven.
    According to one embodiment, in order to assess the risk of coral change when driving a vehicle on a lane with at least two adjacent corphalt, a second step S2 comprises. In this step, indications concerning the stretching of a particular corrugation in which the vehicle is carried out are stretched at at least one adjacent corphthal based on continuously established reference positions of the vehicle relative to said adjacent corphthal to determine an action zone running within the said vehicle.
    According to one embodiment, the method for risk assessing coral change 25 when driving a vehicle on a lane with at least two adjacent corals comprises a third step S3. In this step, in the presence of objects in the said access zone, action is taken in connection with the corphalt replacement vehicle. Referring to Fig. 7, there is shown a diagram of an embodiment of a device 500. The controller 100 described with reference to Fig. 3 may in one embodiment include the device 500. The device 500 includes a non-volatile memory 520, a data processing unit 510, and a read / write memory 550.
    The non-volatile memory 520 has a first memory portion 530 used in a computer program, such as an operating system, stored to control the operation of the device 500. Further, the device 500 includes a bus controller, a serial communication port, I / O means, an ND converter, a time and date input and transfer unit, a trade calculator and an interrupt controller (not shown). The non-volatile memory 520 also has a second memory portion 540.
    A computer program P is provided which includes routines for changing the risk of coral asphalt when driving a vehicle on a lane with at least two adjacent corphals. The program P includes routines for detecting the presence of objects in the corphthal adjacent to the corphalt in which said vehicle is driven by the vehicle. The program P comprises routines for, based on indications concerning the stretching of a particular corphthal in which the vehicle is carried, the permanent stretching of at least one adjacent corphthal based on continuously determined reference positions of the vehicle relative to said adjoining corphthal to determine a driving zone with a driving zone. determined stretch. The program P includes routines for taking action in connection with objects in the said access zone in connection with the corphalt replacement vehicle. The program P can be stored in an executable manner or in a compressed manner in a memory 560 and / or in a read / write memory 550.
    When it is described that the data processing unit 510 performs a certain function, it should be understood that the data processing unit 510 performs a certain part of the program which is stored in the memory 560, or a certain part of the program which is stored in the read / write memory 550. The data processing device 510 can communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended for communication with the data processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data processing unit 510 via a data bus 511. The read / write memory 550 is arranged to communicate with the data processing unit 510 via a data bus 514. To the data port 599, Lex. the links connected to the control units 200; 300 connected.
    When data is received on the data port 599, it is temporarily stored in the second memory part 540. Once the received input data has been temporarily stored, the data processing unit 510 is ready to perform code execution in a manner described above. The received signals on the data port 599 can be used by the device 500 to detect the presence of objects in the corphthal adjacent to the corphalt in which said vehicle is driven. The received signals on the data port 599 may be used by the device 500 to determine, based on indications of elongation of a particular corphalt in which the vehicle is driven, the elongation of at least one adjacent corphalt based on consecutive fixed reference positions of the vehicle relative to the adjacent adjacent coral. said adjacent coral along said vehicle a specified distance. The received signals on the data port 599 can be used by the device 500 to take action in connection with the change of corals in the presence of objects in said access zone.
    Parts of the methods described herein may be performed by the device 500 using the data processing unit 510 which runs the program stored in the memory 560 or read / write memory 550. When the device 500 runs the program, the methods described herein are executed.
    The above description of the preferred embodiments of the present invention has been provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to limit the invention to the variations described. Obviously, many modifications and variations will occur to those skilled in the art. The embodiments have been selected and described in order to best explain the principles of the invention and its practical applications, and thus enable a person skilled in the art to make the first invention for different embodiments and with the various modifications which are appropriate to the intended use. 21
    权利要求:
    Claims (17)
    [1]
    A method for risk assessing coral change when driving a vehicle (1) on a lane (R1, R2) with at least two adjacent corals (L1, L2, L3), comprising the step of: detecting (Si) the presence of objects in coral adjacent to the corrugation in which said vehicle is advanced, characterized by the steps of: from indications concerning the stretching of a particular corphthal in which the vehicle (1) is advanced determining (S2) stretching of at least one adjacent corphalt based on consecutive fixed reference positions (DLB23 DLB1; DLA33 DLB3; DLA43 DLB4) of the vehicle relative to said adjacent corphalt to define an access zone (Z2) running in said adjacent coral along said vehicle (1) a fixed distance, and that at (S3) occurrence of objects in said access zone (Z2) take action in connection with coral change.
    [2]
    The method of claim 1, wherein the reference positions (DLA13 DLB1; DLA23 DLB2; DLA33 DLB3; DLA43 DLB4) are determined consecutively at predetermined intervals.
    [3]
    The method of claim 2, wherein the intervals are stretch intervals along the vehicle lane.
    [4]
    The method of claim 2, wherein the intervals are time intervals.
    [5]
    A method according to any one of claims 1-4, comprising the step of determining the stretching of said adjacent coral based on parameters relating to the travel of the vehicle (1), which parameters include the vehicle's angular velocity and velocity.
    [6]
    The method of claim 5, wherein said determining the stretching of said adjacent corphalt involves determining the distance relative to the vehicle.
    [7]
    A method according to any one of claims 1-6, wherein the distance (Z2a) with which said access zone (Z2) runs in said adjacent coral (L2) along 22 said vehicle (1) is set to a distance corresponding to the length of the vehicle (1) or something exceeding this.
    [8]
    A system for assessing the risk of coral change when driving a vehicle (1) on a lane (R1, R2) with at least two adjacent corphals (L1, L2, L3), comprising means for: detecting the presence of objects in corphal adjacent to the corphalt in which said vehicle is advanced, characterized by means for: from indications relating to the stretching of a particular corrugation in which the vehicle (1) is advancing determining the stretching of at least one adjacent corrugation based on continuously determined reference positions (DLA1, DLB2, DLB1, DLB1, DLB1; DLB3; DLA4, DLB4) of the vehicle relative to said adjacent corphthal to determine an access zone (Z2) running in said adjacent coral along said vehicle (1) a certain distance, and means for taking in the event of objects in said access zone (Z2) atgard in connection with coral change.
    [9]
    The system of claim 8, wherein the reference positions (DLA1, DLB1; DLA2, DLB2; DLA3, DLB3, DLA4, DLB4) are determined continuously at predetermined intervals.
    [10]
    The system of claim 9, wherein the intervals are stretch intervals along the vehicle lane.
    [11]
    The system of claim 9, wherein the intervals are time intervals.
    [12]
    A system according to any one of claims 8-11, comprising means (200a, 214) for determining the tension of said adjacent coral based on parameters relating to the travel of the vehicle (1), which parameters include the vehicle's angular velocity and speed.
    [13]
    The system of claim 12, wherein said means (200a) for determining the tension of said adjacent corphalt includes means (216) for determining distance relative to the vehicle.
    [14]
    A system according to any one of claims 8-13, wherein the track (Z2a) with which said access zone (Z2) runs in said adjacent coral (L2) along 23 said vehicle (1) is arranged to be set to a track corresponding to that of the vehicle (1) length or something exceeding this.
    [15]
    Motor vehicle comprising a system (I) according to any one of claims 8-14.
    [16]
    Computer program (P) for the risk of changing the coral when driving a vehicle on a roadway at least two adjacent corals, where the said computer program (P) comprises program code son, as it '
    [17]
    A computer program product comprising a digital storage medium which stores the computer program according to claim 16. 1/6 Kand technique R2 / P1 A1
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    同族专利:
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    WO2015152792A1|2015-10-08|
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    法律状态:
    优先权:
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    PCT/SE2015/050342| WO2015152792A1|2014-04-01|2015-03-23|Method and system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes.|
    EP15774225.5A| EP3127105A4|2014-04-01|2015-03-23|Method and system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes.|
    KR1020167029241A| KR101997817B1|2014-04-01|2015-03-23|Method and system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes.|
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