• 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
  • 优先权
    • 专利摘要:
    A method (100) for triggering (105) pedestrian protection means and / or pedestrian warning means for a vehicle, wherein objects in the vicinity of a vehicle are detected. (101), in which pedestrians are identified from the detected objects (103b), a situation (105) being analyzed depending on the detected objects and a model assumption, whereby depending on the situation analysis the pedestrian protection means and the pedestrian warning means are triggered, respectively, identifying characteristics of the identified pedestrians. . (110) and the model assumption is selected or produced (111) depending on the established characteristics. (Fig. 1)
    公开号:SE1651604A1
    申请号:SE1651604
    申请日:2016-12-06
    公开日:2017-06-10
    发明作者:Flehmig Folko；Ruenz Johannes；Schulz Michael；Galbas Roland；Hofsaess Volker
    申请人:Bosch Gmbh Robert；
    IPC主号:
    专利说明:

    DescriptionTitleMethod and device for triggering pedestrian protection agents and / orpedestrian cleanersState of the artCurrent methods or devices for triggering pedestrian protection agents and pedestrian warning devices are based on model assumptions for the behavior of identifiedpedestrian.
    The disadvantage of these systems is that the same model assumptions are used as a basis for all pedestrians, despite the fact that the behavior of pedestrians is partly very different. This is particularly clear in the behavioral patterns of children in street traffic compared with the behavioral patterns of children.VUXna.
    Description of the inventionAgainst this background, the present invention creates a method for triggering pedestrian protection means and pedestrian warning means for a vehicle, wherein the objects in a vehicle environment are detected, whereby from the detected objects pedestrians are identified, whereby depending on the detected objects and a model assumption analysis a situation , whereby the characteristics of the unidentified pedestrians are determined and the model assumption is selected or produceddepending on the characteristics identified.
    Through the model assumptions selected and produced from the established characteristics, the prediction of the pedestrian behavior is improved, as there is no longer any general model assumption of the situation analysis and thus finally the decision to triggerthe pedestrian protection means and the pedestrian warning means respectively are used as a basis, without onespecial model assumption, adapted to the characteristics established in all casesidentified pedestrians.
    The present is to be understood as meaning pedestrian protection means which protect a pedestrian against damage or at least reduce damage in the event of a collision with the vehicle. In particular, this shall mean active pedestrian protection systems such as automatic emergency braking systems, automatic turning systems, automatic combined braking andbending systems or outer airbags to reduce pedestrian accidental injuries.
    By "pedestrian warning means" is meant means which are suitable for this purpose to warn the driver of the vehicle or those concerning pedestrians of an impending collision. INin particular, this means acoustic and optical means.
    To detect the environment, the vehicle presently can use an environmental sensor. Possible sensor types, which can be used separately or in combination with camera, radar, lidar or even ultrasonic systems. In / | ed detection of the environment shallpresent also the tracking of detected objects is understood.
    A model assumption is to be understood as a prediction, for example in the form of a one-count relationship or an algorithm, which is suitable for determining parameters or characteristics of the identified pedestrians in the future, for example using the movement characteristics of the identified pedestrian to calculate a residence probability within a future area. I / lodell assumptions can be predetermined, for example as a result of accident research. It is also conceivable thatthe model assumptions are made based on the established characteristics.
    The present is to be understood in particular by the following characteristics of an identified pedestrian:- body size;- step width;step frequency;- movement position, in particular standing, walking, running, rushing;- telephoning;- wearing headphones.
    According to one embodiment of the method, the identified pedestrians are assigned to a cluster depending on the established characteristics, wherein in the step of the analysis of the situation adapted trigger thresholds for the cluster forpedestrian protection means and pedestrian warning means.
    The trip thresholds for the pedestrian protection measures and the pedestrian warning means, respectively, must be set so that both the false-positive ratio and the false-negative ratio are as follows.small as possible.
    Too high false-positive ratios lead to a small acceptance of the safety system, the can safety system is triggered too often in certain circumstances, even though a trigger is notwould be necessary.
    Too high false-negative ratios, on the other hand, lead to the safety system not being triggered, despite the fact that a trigger is justified. This in turn increases the danger, which is based on a vehicle, which isequipped with such a security system.
    By a cluster is meant a group of pedestrians, whose identifying characteristics show a predetermined resemblance. As an example, the cluster of pedestrians, who move quickly, would be understood so that their characteristic is a speed that isover a minimum speed.
    According to a further embodiment of the present method, the trigger thresholds are adjusted in such a way that, depending on the assigned cluster, an error trigger isof the pedestrian warning agent and / or the pedestrian protection agent more likely.
    This embodiment of the method is based on the insight that at certain pedestrian clustersan increased false-positive ratio is accepted by the users of a vehicle, which is equipped withsuch security systems. This applies in particular to pedestrians, who are assigned to a cluster,which child is assigned.
    According to a further embodiment of the present method, different appliestrigger thresholds for triggering pedestrian protection devices and pedestrian warning devices.
    By this embodiment it is possible to easily distinguish between the release of the pedestrian protection means and the release of the pedestrian warning means. This embodiment is based on the realization that a release of pedestrian protection means, in particular of active pedestrian protection means, is perceived as a significant intervention in the vehicle control and thereby leads to a reduction of the acceptance of the pedestrian protection at an excessively false-positive ratio. The triggering of pedestrian warning means, on the other hand, is perceived as a less strong intervention in vehicle steering and can therefore show a higher false-positive ratio. Particular influence on the imprint of false-positivethe ratio then has the choice of the trigger threshold.
    A further aspect of the present invention is a device for triggering pedestrian protection means and pedestrian warning means, which is designed in this waythat the device performs the steps of the present method.
    Such a device can be designed as part of a device for controlling passenger protection means, such as an airbag control device. It is also conceivable that the device presented is designed as part of a device for driving dynamics control, such as an ESP controller. However, the device relied on is not configured inwith regard to being limited to these controls.
    A further aspect of the present invention is a computer program, which isconfigured to perform the steps of the present procedure.
    Likewise, one aspect of the present invention is a machine readable storage medium, onwhich this computer program is stored.
    Hereinafter, the embodiments of the present invention will be further elucidatedusing a figure. It shows:Fig. 1 is a flow chart of an embodiment of a method according to the present inventioninventionFig. 1 shows a flow chart of an embodiment of a method 100 of the present invention. In step 101, an environment sensor belonging to the vehicle detects objects in the vicinity of the vehicle. In step 102, pedestrians 103b are identified from the detected objects. The other objects 103a are further monitored separately. In steps 104a, 104b, the first characteristics, such as the pose and dynamics of the detected objects, are determined. In step 105, the detected situation is analyzed based on the detected objects and a model assumption, whether the pedestrian protection means or pedestrian warning means are triggered. In the process produced, in particular, the additional steps 110 and 111 are advantageous. In step 110, additional characteristics of the identified pedestrians are determined. In step 111, a model assumption is made and selected, depending on the additional characteristics determined. This model assumption is then used as a basis forthe situation analysis in step 105.
    权利要求:
    Claims (8)
    [1]
    A method (100) for triggering (105) pedestrian protection means and / or pedestrian warning means for a vehicle, wherein objects in the vicinity of a vehicle are detected (101), wherein from the detected objects pedestrians (103b) are identified, wherein depending on the detected objects and a model assumption a situation (105) is analyzed, whereby depending on the situation analysis the pedestrian protection means and the pedestrian warning means (105) are triggered (105), characterized in that the characteristics of the identified pedestrians are determined (110) and the model assumption is selected or produced (111) depending on the determined characteristics.
    [2]
    A method (100) according to claim 1, wherein the identified pedestrians are assigned to a cluster depending on the defined characteristics, wherein in the step of the analysis (105) the situation is adapted depending on the assigned cluster the trigger thresholds for the pedestrian protection means and / or the pedestrian warning means .
    [3]
    The method (100) of claim 2, wherein the trigger thresholds are adjusted so that depending on the assigned cluster, a misfire of the pedestrian protection means and / or the pedestrian warning means is more likely, especially when the identified pedestrian is assigned to a cluster assigned to children.
    [4]
    A method (100) according to claim 2 or 3, wherein different trip thresholds apply to trip (105) of the pedestrian protection means and the pedestrian warning means.
    [5]
    A method (100) according to any one of the preceding claims, wherein the features comprise at least one of the following parameters: - body size; - step width; step frequency; - movement position, in particular standing, walking, running, rushing; - telephoning; - wearing headphones.
    [6]
    Device for triggering pedestrian protection means and / or pedestrian warning means, which is designed in such a way that the device performs all steps of a method (100) according to any one of claims 1 to 5.
    [7]
    A computer program, which is configured to perform all the steps of the method (100) according to any one of claims 1 to 5.
    [8]
    In a machine readable storage medium, on which the computer program is stored according to claim 7.
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    同族专利:
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    法律状态:
    2019-11-05| NAV| Patent application has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015224739.2A|DE102015224739A1|2015-12-09|2015-12-09|Method and device for triggering pedestrian protection devices and / or pedestrian warning devices|
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