DE102016221574A1 - A vehicle system and method for automatically performing a lane-change maneuver with functionality for determining the release of a temporary page strip - Google Patents

Abstract

One aspect of the invention relates to a vehicle system for automatically performing a lane change maneuver for a motor vehicle. The vehicle system is configured to determine that a temporary hard shoulder adjacent to the lane is currently open for traffic. The vehicle system is further configured to perform an automated lane change maneuver with at least automated lateral guidance on the hard shoulder in the event of the detected release of the streak.

Description

The invention relates to a vehicle system for the automated performance of a lane change maneuver and a corresponding method. In particular, the invention relates to a lane change assistance system, which in response to a driver-side operator, z. B. performs an operation of the turn signal lever, an automated lane change maneuver.

In known lane change assistance systems with an automated lane change function, the driver typically displays a lane change request through a deliberate operator action, whereupon the vehicle follows a system-planned trajectory to the secondary lane with automatic lateral guidance and generally also with automatic longitudinal guidance. In such lane change assistance systems, a driver-side lane change request is generally signaled by actuation of a control element, for example a turn signal lever for triggering a direction indicator which is visible from outside the vehicle.

To trigger a lane change maneuver, the turn signal lever must be engaged, for example, in the steady blinking position or held in the jogging position. It would also be conceivable to inform the system of the lane change request by actuating another operating element (for example, a key assigned to the function).

An exemplary lane change assistance system is in the document DE 102 10 723 A1 described.

Known lane change assistance systems generally monitor the vehicle environment, in particular the surrounding traffic, before the lane change maneuver by means of a suitable environmental sensor system. Upon a driver's side action, e.g. an actuation of the turn signal lever, the vehicle automatically changes the lane, if it was detected by the sensor, that the lane change without danger is feasible.

In a first generation of such lane change assistance systems, the driver is responsible for accident-free lane change, i. Despite the environment sensors, the driver has to monitor the surrounding traffic. In a later development stage, the driver no longer has to monitor the vehicle surroundings and the driver no longer bears the responsibility for the accident-free lane change. Instead, the system can monitor the traffic situation so reliably by the existing sensors and / or the communication with other road users that an accident-free lane change without monitoring by the driver can be guaranteed.

In addition to lane change assistance systems, vehicle systems for (permanent) autonomous driving with permanent longitudinal and transverse guidance are also known, which autonomously perform lane change maneuvers in the course of autonomous driving. This means that the system automatically recognizes the need for a lane change and triggers the lane change maneuver itself. Such vehicle systems for autonomous driving can be, for example, systems for partially automated, highly automated, fully automated or driverless driving. In partially automated driving, the system takes over the longitudinal and transverse guidance, whereby the driver must permanently monitor the system. In highly automated driving, the system takes over the longitudinal and transverse guidance without the driver having to permanently monitor the system; However, the driver must be able to take over the vehicle guidance in a certain time. In fully automated driving, the system can automatically handle driving in all situations for a specific application (eg, driving on the highway); no driver is required for this application. In driverless driving, the system can handle all situations automatically throughout the journey; a driver is generally no longer required.

Hard shoulder strips (also referred to as side strips) are located next to the carriageway of a motorway or a freeway-like federal highway and are separated from the carriageway at least in Germany with a continuous lane marking line. These allow, inter alia, that a stagnant vehicle can be parked on the hard shoulder, without affecting the flowing traffic. At least in Germany, in addition to permanent hard shoulders, which are not allowed to be used by traffic, so-called temporary streaks known. A temporary hard shoulder can be released for traffic via suitable light signals or traffic signs if necessary, especially in heavy traffic.

It is an object of the invention to provide an improved vehicle system for (at least) automated execution of a lane change maneuver with extended functionality.

The object is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims. It should be noted that additional features of one dependent on an independent claim Claim without the features of the independent claim or only in combination with a subset of the features of the independent claim may form an independent and independent of the combination of all features of the independent claim invention, which can be made the subject of an independent claim, a divisional application or a subsequent application , This applies equally to technical teachings described in the specification, which may form an independent invention of the features of the independent claims.

A first aspect of the invention relates to a vehicle system for the automated performance of a lane change maneuver for a motor vehicle. The vehicle system is configured to determine that a temporary hard shoulder adjacent to the lane is currently open for traffic. The vehicle system is further configured to perform an automated lane change maneuver with at least automated lateral guidance on the hard shoulder in the event of the detected release of the streak. In the case of a lane change assistance system, the lane change maneuver is preferably triggered only if the driver has communicated his lane change request on the released hard shoulder to the system by a corresponding operator action. In the case of a vehicle system for autonomous driving, the lane change maneuver can also be triggered entirely without prior operation of the driver. Of course, in such systems, it is preferably checked whether there is a risk of collision with other road users, and a lane change maneuver is not permitted in the event of a collision risk.

The invention makes it possible to perform a lane change maneuver on a released hard shoulder in a vehicle system for automated execution of a lane change maneuver, taking into account whether a release of the streak is actually present.

For vehicle systems for automated lane change maneuvers, at least two approaches are generally conceivable with respect to the type of lane marking of the destination lane. In a first approach, a lane change to the destination lane is generally automated for all lane marker types regardless of the type of lane marker. In a second approach, an automated lane change to the destination lane is only possible if the type of lane marking allows crossing of the lane marker by law. Systems according to the second approach, in which an automated lane change is only possible if the lane marking is permitted by law, can distinguish between different types of lane marking lines with their environment sensors, for example between solid (= not legally permissible overrun) and dashed (= permissible by law) Lane marking line. A lane change maneuver from one exit lane to an adjacent destination lane is then inhibited in the case of the presence of a solid lane marker line between the exit lane and the adjacent destination lane.

In the case of the temporary release of a streak, systems according to the second approach, without regard to the invention, would not allow an automated lane change to an approved streak. For the user of a lane change assistance system, the automated lane change on the released hard shoulder would not be available here. When the inventive concept is applied to such a vehicle system, an automated lane change can be permitted in the case of a released hard shoulder despite a recognized solid line that has to be crossed. This allows the driver of a lane change assistance system also the (partially) automated lane change to a shared hard shoulder.

A lane change assistance system according to the invention is configured, for example, to carry out the automated lane change maneuver on the hard shoulder in response to a driver-side operator action for carrying out an automated lane change (if there is no danger of collision with other road users) and, in contrast thereto, in response on a driver-side operating action in the event of undetectable release of the hard shoulder to prevent the automated lane change maneuver on the hard shoulder.

Preferably, the vehicle system is set up to recognize itself with the aid of an integrated in the vehicle environment sensor (in particular an optical environment sensor system) that the hard shoulder is released. It can then be dependent on a solid line (which may not be driven over for legal reasons in other cases) an automated lane change on the hard shoulder for the driver to be available.

The vehicle system is preferably set up by means of an integrated in the vehicle optical environment sensor system to detect the release of the stationary strip optical character in the vehicle environment, in particular a release of the stationary strip signaling light signals or traffic signs. For example, can by means of the environment sensor, the release by evaluation of the signal shown by indications for clearance release (eg., "Driving sideways") on the road side and / or by evaluation of the signal shown above mounted on a traffic sign bridge lights with interchangeable signal (eg. B. a green arrow in the case of release and a red "X" in the case of non-release) are detected. For the detection of such optical characters known methods can be used from the field of traffic sign recognition and / or the traffic light state recognition.

Alternatively or additionally, to detect the release of a streak using an integrated in the vehicle environment sensors can be checked whether other vehicles are moving on the hard shoulder, especially trucks. This is an indication that the hard shoulder is released.

In particular, prior to the detection of one or more features with respect to the release of the static strip, the general presence of a stationary strip by means of an optical sensor system of the vehicle should preferably be determined at all. For this purpose, for example, the existence of a sufficiently wide road surface next to the outer lane, the presence of a solid road mark between the hard shoulder and the outer lane, the presence of a boundary line on the other side of the stationary strip are checked. In addition, it can be checked whether there are static objects on the alleged hard shoulder.

• - Erkennen eines die Freigabe signalisierenden Signals an einer Verkehrsschilderbrücke über der Fahrbahn;
• - Erkennen eines Seitenstreifens und Erkennung, dass sich Fahrzeuge, insbesondere Lastkraftwagen auf diesem Seitenstreifen fortbewegen.

For example, the release of the streak may first be determined by at least the following measures:

• - detecting a signal indicating the release at a traffic sign bridge over the roadway;
• Detecting a sidelight and detecting that vehicles, especially trucks, are moving on this side strip.

It is conceivable that the detection of the release of the stationary strip is signaled to the driver by means of a corresponding, in particular, visual indication. For example, the driver can be offered by a corresponding optical symbol, a lane change on the released hard shoulder.

It can be provided that the vehicle system comprises a communication device for the wireless transmission of information, and that the vehicle system is set up to send a release signal indicating the release of the stationary strip to at least one receiver external to the vehicle, in the case of release of the stationary strip via its own sensor system. For example, the information may be transmitted to a stationary backend server for forwarding to other vehicles, e.g. B. to vehicles that are in the area of the released Standstreifens or before.

Furthermore, it can be provided that the vehicle system comprises a communication device for the wireless reception of information sent from outside the vehicle, which signals the presence of a traffic lane released for traffic. For example, such information may originate from a traffic control center. The vehicle system is set up in this case to evaluate this information to determine the release of the streak.

It is advantageous if the vehicle system can detect an end of the hard shoulder release when driving on the stationary strip. The end of the hard shoulder release can be signaled to the vehicle, for example, by a corresponding display (for example, a light signal next to the road with the note "End page strip release" or "Clear side strips"). In the case of detecting an end of the hard shoulder release then one or more measures can be triggered. For example, in the case of a lane change assistance system, the driver may be given an indication to initiate a (automated or manual) lane change on the regular lane. In the case of a vehicle system for permanent autonomous driving with automatic lane change, for example, a lane change can be made automatically back to the regular lane.

A second aspect of the invention relates to a method for the automated performance of a lane change maneuver of a motor vehicle. According to the method, it is determined that a temporary hard shoulder next to the roadway is currently open for traffic. In the case of the identified release of the streak, an automated lane change maneuver is performed with at least automated lateral guidance on the stance strip.

The above statements on the vehicle system according to the invention according to the first aspect of the invention also apply correspondingly to the method according to the invention according to the second aspect of the invention. At this point and in the claims not explicitly described advantageous embodiments of the method according to the invention correspond to those described above or in the claims described advantageous embodiments of the vehicle system according to the invention.

• 1 einen beispielhaften Personenkraftwagen mit einem Ausführungsbeispiel eines erfindungsgemäßen Spurwechselassistenzsystems; und
• 2 ein Ablaufdiagramm zur Durchführung eines automatisierten Spurwechselmanövers auf einen freigegebenen Standstreifen.

The invention will be described below with reference to an embodiment with the aid of the accompanying drawings. In these show:

• 1 an exemplary passenger car with an embodiment of a lane change assistance system according to the invention; and
• 2 a flowchart for performing an automated lane change maneuver on a released hard shoulder.

In 1 is an exemplary passenger car moving in the direction of the arrow 1 on a starting lane 10 with an embodiment of an in-vehicle 1 integrated lane change assistance system 12 shown. At the exit lane 10 these are the streaks 11 immediately adjacent lane of a motorway or a motorway-like road. In right-hand traffic, this is the outer right lane of the road, in left-hand traffic, this is the outer left lane of the road.

The vehicle includes a steering wheel 3 for manual steering of the vehicle 1 and a turn signal lever integrated in particular in the steering column 4 , The turn signal lever 4 can be in the zero position, in one of the two jogging positions for a lane change on the left or right or in one of the two latched continuous flashing positions left or right.

For detecting the position of the turn signal lever 4 serves a control electronics 2 indicating the position of the turn signal lever 4 to the lane change assistance system 12 forwards.

Further, an electromechanical steering with a steering actuator 5 provided with an electric motor, which via an electronic steering control unit 6 is controlled.

In addition, an environment sensor 13 with front camera available whose camera image is evaluated. The camera image of the front camera can be used in the camera evaluation of the lane change assistance system 12 the lateral lane markings 30 . 31 the current lane 10 be recognized and measured in terms of their position. The camera evaluation can distinguish between a lane marker with a solid line and a non-solid line.

The environment sensor 13 In addition to the front camera, a radar system for recording other road users. For example, it will be the locations of objects on a target lane 11 and determines their respective speed, so that based on this, suitable free spaces on the destination lane as well as suitable trajectories for a lane change maneuver can be determined.

The lane change assistance system 12 is set in response to a triggering operation of the turn signal lever 4 the vehicle 1 in the context of an automated lane change maneuver with automatic lateral guidance and preferably also longitudinal guidance starting from the current traffic lane 10 Automated control on an adjacent target lane. For example, an automated lane change is triggered if the turn signal lever 4 in a jogging position for a period of time greater than or greater than a threshold (eg, 1 second). Depending on the direction of the Blinkerhebelbetätigung while the right or left adjacent lane is used as the target lane for the lane change maneuver. During the automated lane change maneuver, preferably both the lateral guidance and the longitudinal guidance of the driver assistance system 12 accepted. For automated lateral guidance, the lane change assistance system controls the steering control unit 6 suitable for. For automated longitudinal guidance controls the lane change assistance system 12 both the drive torque of the vehicle drive 25 as well as any requested braking torque of the service brake system 26 ,

Furthermore, a navigation system is preferably 23 provided to the lane change assistance system 12 to provide information regarding the presence of a streak or even a temporary streak.

The assistance system 12 In addition to the lane change function, it can also serve the vehicle (before or after a lane change maneuver) for a longer period of time with automated lateral guidance and preferably also automated longitudinal guidance in one to the current traffic lane 10 keep tracked transverse position (lane keeping function). This is the steering control unit 6 on the part of the driver assistance system 12 Appropriately controlled in the context of automated transverse guidance. For longitudinal guidance are the drive torque of the vehicle drive 25 and any requested braking torque of the service brake system 26 controlled. During the active lane keeping function, the automated longitudinal guidance preferably operates in the sense of a distance control cruise control.

Hereinafter, referring to the flowchart in FIG 2 the functioning of the lane change assistance system 12 when performing an automated lane change on a temporary hard shoulder.

This simplifies assuming that the vehicle is already on the lane adjacent lane (in 1 the lane 10 ).

It will be in step 100 Checked whether there is a hard shoulder next to the currently used lane (in 1 the hard shoulder 11 ). This can be done by means of the integrated environment sensor in the vehicle 13 done, for example, with the front camera and / or a side camera. Detecting the presence of a streak can be done using various criteria. For example, it can be checked whether the currently traveled lane by a solid line track marker (as the lane marker 31 in 1 ) is limited and in addition to the lane marking with a solid line on the side of the assumed standstill a sufficiently wide passable road surface exists. For this purpose, the detected pattern can be compared with the typical pattern of a road surface. In order to detect a streak, it may further be checked that there are no static objects in addition to the lane mark with a solid line on the side of the assumed streak. In addition, it can be checked whether the assumed hard shoulder on the side facing away from the current lane side by a second mark with a solid line (as the lane marker 32 in 1 ) is limited, which is a typical for a hard shoulder distance to the current lane facing lane marker (in 1 track mark 31 ) having.

Additionally or alternatively, the presence of a streak using information of the navigation system 23 be recognized by using, for example, map information z. B. in the navigation system 23 It is checked whether there is a hard shoulder at the current position, and the assistance system 12 informed about this. The information of the navigation system 32 For example, it may even indicate that the hard shoulder is a temporary hard shoulder.

In step 110 It is checked whether the hard shoulder is currently released for traffic, ie the hard shoulder is currently passable. This can be done by means of the integrated environment sensor in the vehicle 13 done, for example by camera and / or radar.

For example, the release can be detected by recognizing a display for clearance release (eg "driving on the side lane") on the lane side and / or by evaluating the signal shown by light signals with an exchangeable signal (eg a green LED) attached to a traffic sign bridge over the lane Arrow in case of release and a red "X" in case of non-release). In 1 is an exemplary display for clearance release 40 and a light sign attached to a traffic sign bridge 41 outlined with a green arrow.

Alternatively or additionally, to detect the release of a streak using the environmental sensor 13 To check whether other vehicles are moving on the hard shoulder, in particular lorries. This is an indication that the hard shoulder is released.

As an alternative or in addition to the detection of the release of the stationary strip by means of the vehicle-internal surroundings sensor, the release could also be carried out by evaluation of information received by radio, which signals the presence of a released for traffic streak.

This information may originate, for example, from the traffic control center, a back-end server or from another vehicle in the vehicle environment.

In the query 120 It is checked whether an operating action for triggering a lane change is present on the hard shoulder, for example, an actuation of the turn signal lever according to the lateral direction of the stationary strip (turn signal on the right with right lane).

Unless in the query 130 due to the checks in the steps 100 and 110 it is determined that the traffic lane is currently enabled for traffic, an automated lane change is performed on the released lane (see step 140 ). Otherwise, an automated lane change maneuver on the hard shoulder is prevented. Preferably, the execution of an automated lane change maneuver in step 140 made dependent on the fact that certain safety criteria are met, for example, the hard shoulder as the target lane of the lane change maneuver has a sufficient width and no collision critical static or dynamic objects on the hard shoulder as the target lane of the lane change maneuver.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10210723 A1 [0004]

Claims (15)

Vehicle system (12) for automatically performing a lane change maneuver for a motor vehicle (1), wherein the vehicle system (12) is set up, - to establish that a temporary emergency lane (11) next to the carriageway is currently open for traffic, and - Carry out an automated lane change maneuver with at least automated lateral guidance on the hard shoulder (11) in the case of the stated release of the stationary strip (11). Vehicle system (12) after Claim 1 wherein the vehicle system is a lane change assist system (12) arranged to perform the automated lane change maneuver on the hard shoulder (11) in response to a driver side operation to perform a lane change. Vehicle system (12) after Claim 2 wherein the lane change assistance system (12) is arranged to perform the automated lane change maneuver on the hard shoulder (11) in response to the driver side operation in the case of the detected release of the straddle (11), and in response to the driver side operation in the case of undetachable release of the stationary strip (11) to prevent the automated lane change maneuver on the hard shoulder (11). Vehicle system (12) according to one of Claims 2 to 3 , wherein the lane change assistance system (12) is adapted to inform the driver via a particular optical user interface on the admissibility of a lane change maneuver on the released hard shoulder (11). Vehicle system (12) after Claim 1 in which the vehicle system (12) is a vehicle system (12) for the autonomous driving of the vehicle (1) with automated longitudinal and transverse guidance, which is set up to independently perform lane change maneuvers. Vehicle system (12) according to one of the preceding claims, wherein the vehicle system (12) is adapted to detect the temporary release of the stationary strip (11) with the aid of an integrated in the vehicle environment sensor (13). Vehicle system (12) after Claim 6 , wherein the vehicle system (12) is set up to detect the temporary release, by means of the integrated in the vehicle environment sensor (13) as an optical environment sensor detection of the release of the stationary strip (11) optical character (41, 40) in the vehicle environment, in particular a the release of the stationary strip (11) signaling light or traffic signs. Vehicle system (12) according to one of Claims 6 or 7 wherein the vehicle system (12) is adapted to detect the temporary release, to recognize by means of an integrated in the vehicle environment sensor (13) that other vehicles on the hard shoulder strip (11) move. Vehicle system (12) according to one of the preceding claims, wherein the vehicle system (12) is arranged to detect the presence of a stationary strip (11) by means of an integrated in the vehicle (1) optical environment sensor (13). Vehicle system (12) according to one of the preceding claims, wherein the vehicle system (12) is set up, - between A first lane marking type for which the lane crossing is legally permitted, in particular a lane-marking type with a dashed lane line, and A second lane marking type for which the lane mark crossing is not legally permitted, in particular a lane mark type with a solid lane line, to inhibit a lane change maneuver from one exit lane to an adjacent destination lane in the case of the presence of a second lane marker type between the exit lane and the adjacent destination lane, and to allow a lane change maneuver on a released hard shoulder (11) from one exit lane (10) to an adjacent lane (11) despite the presence of a second lane marking type between the exit lane (10) and hard shoulder (11). Vehicle system (12) after Claim 6 or one of the Claim 6 referred back Claims 7 to 10 in which - the vehicle system (12) comprises a communication device for the wireless transmission of information, and - the vehicle system (12) is set up, in the case of the release of the stationary strip (11) detected by means of the environment sensor system (13) integrated in the vehicle (1) to send the release of the stationary strip (11) signaling information to at least one external vehicle receiver. Vehicle system (12) after Claim 11 wherein the information is transmitted to a stationary backend server for forwarding to other vehicles. A vehicle system (12) according to any one of the preceding claims, wherein - the vehicle system (12) comprises communication means for wirelessly receiving information sent from outside the vehicle (1) indicating the presence of a traffic lane (11) enabled for traffic, and the vehicle system (12) is arranged to detect this information to determine the release of the stationary strip (11). Vehicle system (12) according to one of the preceding claims, wherein the vehicle system (12) is set up, - to detect an end of the hard shoulder release when driving the Standstreifens (11), and - triggering one or more measures when one end of the hard shoulder release is detected. Method for automated execution of a lane change maneuver of a motor vehicle (1), comprising the steps of: - Determine that a temporary hard shoulder (11) next to the roadway is currently open for traffic, and - In the case of the stated release of the stationary strip (11), performing an automated lane change maneuver with at least automated lateral guidance on the hard shoulder (11).

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