Device for Warning a Two-Wheeler Driver of a Collision with Another Vehicle

Abstract

Warning a two-wheeled vehicle driver, in particular a motorcyclist or cyclist, of a collision with a vehicle approaching the two-wheeled vehicle from a rearward space, is accomplished using a sensor device for capturing objects in the rearward space. In one embodiment, one of the sensors is provided for capturing objects in a close rearward range, which, in particular for the two-wheeled vehicle driver, is in the blind sport, and a further one of the sensors is arranged for capturing objects in a far rearward range, which in particular extends up to 50 m away from the two-wheeled vehicle.

Claims

1. An apparatus for warning a two-wheeled vehicle driver, in particular a motorcyclist or cyclist, of a collision with a vehicle approaching the two-wheeled vehicle from a rearward space, comprising a sensor device for capturing objects in the rearward space, characterized in that the sensor device has at least two sensors arranged for capturing objects in different areas of the rearward space.

2. The apparatus according to claim 1, characterized in that at least two structurally identical sensors or sensors different from one another are provided, which are in particular arranged for capturing road markings, lane boundaries and/or a vehicle approaching the two-wheeled vehicle.

3. The apparatus according to claim 1, characterized in that one of the sensors is provided for capturing objects in a close rearward range, which, in particular for the two-wheeled vehicle driver, is in the blind spot, and a further one of the sensors is arranged for capturing objects in a far rearward range, which in particular extends up to 50 m away from the two-wheeled vehicle.

4. The apparatus according to claim 1, characterized in that at least one of the sensors, preferably two of the sensors, is or are, resp., formed as a digital camera, and a first sensor is in particular formed as a mono-camera and a second sensor is in particular formed as a camera with a wide-angle and/or fisheye lens, wherein the mono-camera further has a horizontal and/or vertical field of view of at least 90 degrees, preferably 110 degrees, and the camera with the wide-angle and/or fisheye lens has a horizontal and/or vertical field of view of at least 170 degrees, preferably 190 degrees.

5. The apparatus according to claim 1, characterized in that the mono-camera is provided for capturing objects in the far rearward range, in particular up to a depth of at least 30 m, preferably at least 40 m, particularly preferred 50 m, behind the two-wheeled vehicle, and the camera with the wide-angle and/or fisheye lens is arranged for capturing objects in the close rearward range.

6. The apparatus according to claim 1, characterized in that at least one inertial measurement unit, in particular a rotation rate sensor, is provided, which, preferably continuously, determines a roll angle and/or a pitch angle of the two-wheeled vehicle.

7. The apparatus according to claim 4, characterized in that an image processing unit is arranged for creating a single image from two images of the cameras taken at a same point in time by determining an overlap area, or for creating an image of the close range as well as an image of the far range from two images of the cameras taken at a same point in time, wherein an overlap area is at least partially allocated to the image of the far range.

8. The apparatus according to claim 1, characterized in that a unit for processing sensor signals is provided, which is in particular arranged for real-time processing of digital images, wherein in upper and in lower portions of images of the rearward space, objects, in particular road markings, lane boundaries and/or vehicles behind the two-wheeled vehicle, are detected above and below a horizon line, and a transformation of the processed image is undertaken using homography in a depiction showing an orthogonal top view of a rearward road section.

9. The apparatus according to claim 7, characterized in that the processing unit, upon transformation of the processed image using homography, is arranged for using a correction matrix, which is provided for correcting a slanting horizon line, which in particular occurs with an inclination of the two-wheeled vehicle by the roll angle and/or the pitch angle, wherein, for each roll and pitch angle, a correction matrix associated with the roll and pitch angle, determined by an inertial measurement unit at the point in time of an image being captured, is deposited in the processing unit.

10. The apparatus according to claim 1, characterized in that an analysis unit (7) is provided, which is arranged for, preferably continuously, determining a distance from at least one vehicle to the two-wheeled vehicle and/or a speed of the at least one vehicle, wherein the distance is in particular determined in a depiction, showing an orthogonal top view of a rearward road section by calculating a distance of the two-wheeled vehicle from a contact point.

11. The apparatus according to claim 1, characterized in that an analysis unit is provided, which is arranged for determining a time-to-collision.

12. The apparatus according to claim 1, characterized in that a unit is provided, which is arranged for controlling a preferably acoustic, optical and/or haptic warning signal means.

13. The apparatus according to claim 12, characterized in that the optical warning signal means comprises a warning light, for which a color and/or a flashing frequency is or are, resp., changeable, and the haptic or acoustic signal means comprises at least one vibration element, which is in particular integrated into handlebar grips of the two-wheeled vehicle, into a piece of clothing of the two-wheeled vehicle driver, in particular into a glove, into a helmet of the two-wheeled vehicle driver, and/or into a seat of the two-wheeled vehicle.

14. The apparatus according to claim 12, characterized in that an actuator (9) controllable by the control unit is provided, which is preferably integrated into a steering head of the two-wheeled vehicle, and which may effect a change in direction of a front wheel of the two-wheeled vehicle, opposing a steering movement of the two-wheeled vehicle driver, wherein an angle change effected by the actuator is between 1 and 20 degrees.

15. The apparatus according to claim 1, characterized in that the sensor device, in particular the at least two sensors, is integrated into a seat of a motorcycle or bicycle or attached to a seat, to a chain stay of a bicycle, to a swing arm of a motorcycle or, above a license plate, to a license plate holder.

16. The apparatus according to claim 1, characterized in that the sensor device is arranged for capturing the different ranges of the rearward space distinct from one another, so that no overlaps of the ranges occur.

Description

[0024] In the following, the invention is discussed in more detail on the basis of embodiments and the appended drawings referring to the embodiments. Therein:

[0025] FIG. 1 is a schematic representation of an apparatus according to the invention,

[0026] FIG. 2a is a top view of a two-lane, straight road with a rearward space monitored by the apparatus according to the invention,

[0027] FIG. 2b is a schematic representation of an image of the rearward space determined by an image processing unit upon driving on a straight road,

[0028] FIG. 2c is a calculated, orthogonal top view of a rearward road section shown in FIG. 2a,

[0029] FIG. 3a is a top view of a bend of a two-lane road with a rearward space monitored by the apparatus according to the invention,

[0030] FIG. 3b is a schematic representation of an image of the rearward space determined by an image processing unit upon taking a bend,

[0031] FIG. 3c is a calculated, orthogonal top view of a rearward road section shown in FIG. 3a.

[0032] A schematic representation of an apparatus (1) according to the invention shown in FIG. 1, which is attached to a motorcycle, comprises a sensor device (2) having a mono-camera (3) and a camera with a fisheye lens (4) with digital image sensors, as well as an image processing unit (5), which comprises a computer for digital image processing and which can process the images captured by the cameras (3, 4) in real-time as well as detect lane boundaries, road markings, vehicles and centerlines of a road surface. In that, the image processing unit (5) is arranged to either create a single image from respectively one image of the mono-camera (3) and one image of the camera (4) with the fisheye lens by determining an overlap area, i.e. an area visible in both images, or two new images from these two images, of which one shows a far range and one shows a close range, wherein the overlap area is allocated to the image of the far range. Information on a pitch angle or a roll angle, by which the motorcycle is inclined towards a road surface upon taking a bend, can be determined by an inertial measurement unit (6), which is formed as a rotation rate sensor. An analysis unit (7) is arranged for determining, based on the processed images of the image processing unit (5), a distance of a vehicle approaching the motorcycle from behind and its absolute as well as relative speed to the motorcycle, in order to determine a time-to-collision. A unit (8) for controlling an actuator (9) is provided to control an actuator (9) integrated into a steering head of a motorcycle, so that, in a hazardous situation, a change in direction of a front wheel of the motorcycle (12) can be effected. Each activation of the actuator (9) is triggered by a signal of the analysis unit (7). Furthermore, a warning light (10), changeable in its color and its flashing frequency, as well as vibration elements (11) are provided, which can be controlled by the controlling unit (7).

[0033] A motorcycle (12) shown in FIG. 2a moves straight, i.e. in an upright position, in a right-hand lane (13) of a two-lane road (14), onto which lane boundary lines (15) as well as centerlines (16) are applied. In a left-hand lane (17), there is a further vehicle (18). A rearward space (19, 20), in which objects (15, 16, 18) are captured by a sensor device (2) of an apparatus (1) according to the invention, not shown in FIG. 2a, is divided into a far range (19) as well as a close range (20). The far range (19) is captured by a mono-camera (3) with a horizontal field of view (FoV) of 110 degrees, while the close range (20) is captured by a camera (4) with a fisheye lens and a horizontal field of view of 190 degrees. The far range (19) extends up to 50 m behind the motorcycle (12), while the close range (20) covers the blind spot. Thereby, vehicles (18) quickly approaching the motorcycle (12) from behind as well as vehicles located in the immediate vicinity of the motorcycle (12) can be captured by the sensor device (2).

[0034] FIG. 2b schematically shows an image (21), which a processing device (5) determines based on digital images of cameras (3, 4) of the sensor device (2) of the rearward space (19, 20) using known methods of digital image processing. An upper portion (22) of the image (21) is separated from a lower portion (24) of the image (21), in which the road surface (14), the lane boundary lines (15), the centerline (16) as well as another vehicle (18) are located, by a horizon line (23) running horizontally in FIG. 2b. In one point of the image, in which a transition of the vehicle (18) to the road surface (14) is located, there is a contact point (25) necessary for distance calculation between the vehicle (18) and the motorcycle (12).

[0035] Images continuously captured by the cameras (3, 4) are processed in real-time by the image processing unit (5), in order to reduce a computing effort when capturing objects, among other things, whereby the image (21) of the rearward space (19, 20) is created, in which, by means of a neural network, in particular a deep reinforcement algorithm, as well as the use of known hair-like features, objects (15, 16, 18) are detected. In that, when capturing objects, a contact point (25) is added to the vehicle (18). Using homography, there is a transformation into a depiction (26) shown in FIG. 2c, which shows an orthogonal top view of a rearward section (27) of the road (14). In the depiction (26), a distance of the vehicle (18) from the motorcycle (12) marked with an arrow (28) is determined by an analysis unit (7) based on a distance (28) of the motorcycle (12) from the contact point (25) with methods known to the skilled person.

[0036] Reference is now made to FIG. 3a, FIG. 3b, and FIG. 3c, wherein equal or similar parts are designated with the same reference number as in FIG. 1, FIG. 2a, FIG. 2b, and FIG. 2c, and the letter a is respectively added to the respective reference number.

[0037] A motorcycle (12a) shown in FIG. 3a differs from that shown in FIG. 2a by the fact that it is driving in a bend in a left-hand lane (17a) of a two-lane road (14a) and is inclined by a motorcyclist from an upright position by the so-called roll angle towards the road (14a) in a position for taking bends. Thereby, stable cornering is effected. In a right-hand lane (13a), there is a further vehicle (18a). For completion of a passing maneuver, a lane change to the right-hand lane (13a) is required.

[0038] An image (21a) shown in FIG. 3b differs from that shown in FIG. 2b by a horizon line (23a) being slanted by the roll angle of the motorcycle.

[0039] A depiction (26a) shown in FIG. 3c is a calculated, orthogonal top view of the scenario shown in FIG. 3a. The calculation of the depiction (26a) by a processing unit (5a) arranged for that is undertaken considering the roll and pitch angles of the motorcycle determined by an inertial measurement unit (6a). For that, respectively one correction matrix associated with the roll and pitch angles determined, which is deposited in the processing unit (5a), is used for performing homography. For each possible roll and pitch angle, a separate correction matrix is deposited, in order to correct an inclination of the horizon line (23a) when calculating the depiction (26a).

[0040] Due to the images (21; 21a) being continuously created upon movement of the motorcycle equipped with an apparatus (1) according to the invention, with a time difference between individual depictions (26; 26a) and the changing distance (28; 28a) of the contact point (25; 25a) to the motorcycle (12; 12a), the analysis unit (7; 7a) can determine an absolute as well as a relative speed of a vehicle (18; 18a) to the motorcycle (12; 12a) and therefrom calculate a time-to-collision. If a critical distance, at which a collision can be imminent, is reached, the controlling unit actuates a warning light (10) or a vibration element (11). Different warning stages can, for example, be displayed by different colors of the warning light. If the vehicle (18; 18a) is located in the far range (19; 19a), with a sufficiently long time-to-collision, the light could illuminate yellow, and with a short time-to-collision, it could illuminate red. If however, it is already located in the close range (20; 20a), it could illuminate flashing red. Conceivable would also be a possibly additional haptic warning signal, for example triggered by actuating an indicator, preferably a pulsating or permanent vibration of the vibration elements (11), which may be integrated into a seat of the motorcycle, into a helmet of the driver and/or into a glove of the driver.

[0041] Furthermore, a further warning stage, signalizing the highest risk of collision, can be issued by the controlling unit (8). If, for example, despite a warning of a vehicle (18; 18a) located in the close range (20; 20a) or of a vehicle (18; 18a) in the far range (19, 19a) at a short time-to-collision, the driver initiates a lane change, the controlling unit (9) is further provided to control the actuator (9) attached in the steering head of the motorcycle such that a change in direction of the front wheel, opposing a steering movement of the driver or a rolling movement of the motorcycle (12; 12a) in the direction of a road (14; 14a), is effected. This intervention results in a righting moment, effecting a minimal righting of the motorcycle (12; 12a), which is perceptible for the driver. This is perceived as the last warning before collision.

[0042] The sensor device (2; 2a) may be fixed to or at a rear of a motorcycle (12; 12a), for example at a seat or a license plate holder. A warning light (10; 10a) is installed in a dashboard, not shown, of the motorcycle (12; 12a) or is located at another position, at which it is noticeable for a motorcyclist, for example on an inside of a visor of the motorcycle helmet. The vibration elements (11) may be integrated into handlebar grips, into a seat or a piece of clothing of the motorcyclist, for example in gloves.

[0043] It is understood that the distances of the vehicle (18; 18a) from the motorcycle (12; 12a), at which a warning (10, 11; 10a, 11a) is triggered, are not consistent, but depend on the speed. The faster a vehicle (18; 18a) approaches the motorcycle (12; 12a), the earlier the warning (10, 11; 10a, 11a) is issued.

[0044] Furthermore, the warnings (10, 11; 10a, 11a) signaled may be ignored and overridden by the driver.

[0045] It is also conceivable that a far range (19; 19a) and a close range (20; 20a) are captured by a sensor device (2) such that they are distinct from one another and do not overlap. Thereby, a computing effort upon determining an image (21; 21a) can be reduced.

[0046] Furthermore, it is conceivable that a depiction (26; 26a) showing the orthogonal top view of a road section of the rearward space is displayed on a display.