EP2926329B1 - Method and device for safeguarding a lane change - Google Patents

Description

The present invention relates to a method for securing a lane change, the method comprising the steps of: detecting a lane change intent of a first vehicle from a first lane to a destination lane and reporting lane change intent to at least one second vehicle by means of a first Car2Car communication, responses of the second Vehicle to the first vehicle by means of a second Car2Car communication and performing a measure in the first vehicle, which helps to cancel or at least avoid a lane change of the first vehicle, depending on a content of the response of the second vehicle. With the response of the second vehicle to the reporting of the first vehicle, at least one state and / or environmental date of the second vehicle is communicated to the first vehicle, wherein following the response of the second vehicle in the first vehicle, the following step is performed: second assessing a hazard potential the lane change planned by the first vehicle taking into account the response of the second vehicle.

Moreover, the invention relates to a device for securing a lane change.

Moreover, the invention relates to a vehicle with a device for securing a lane change.

In vehicle technology, systems are known which detect their environment with sensors and can thus produce an image of the traffic environment of the own vehicle. These systems work with, for example, ultrasonic sensors, radar, lidar and / or a camera. The sensors provide information about other vehicles and pedestrians that are moving and moving relative to the vehicle. The mentioned sensors have the disadvantage a limited range, which is a maximum of 200 m depending on the sensor. However, in curves, the route ahead can not be determined because the sensors can no longer extract the required features (eg lane marking) in a curve. Previously installed in the vehicles sensors are mainly directed forward or backward and not aside or have to the side only a limited range. As a result, lateral approaches of two vehicles are usually not detected. In addition, systems are known which realize complex vehicle functions on the basis of this sensor information. For example, the ACC ( Adaptive Cruise Control ), which regulates the distance to the traffic ahead based on radar and camera information, and the LKA ( Lane Keeping Assistant ) are known, which prevents unintentional leaving the lane.

In addition, there are systems that transmit vehicle information, such as GPS position, speed and direction of travel over the radio channel and make other vehicles available. In vehicle technology, this is referred to as Car2X or Car2Car technology. By transmitting vehicle data from and to other vehicles in their respective environment, the vehicles receive an image of their respective vehicle environment, corresponding to the image of the environmental sensors. In contrast to environmental sensors, which have a directed opening angle, for example, forward or to the side, have a limited range and need direct line of sight ( LOS: line-of-sight ), with the help of Car2X technology, even hidden road users over a longer range with a 360 ° virtual tour.

Knowing one's own GPS position, speed and other movement data and receiving the data of the other vehicles, each vehicle participating in the communication process can be made aware of the relative position and speed with respect to other road users. These relative positions can be realized, for example, by a transformation of the GPS data into a plane. This can be done eg via a transformation into UTM coordinates (UTM = Universal Transverse Mercator ) or the transformation to a local tangential plane (LTP - Local Tangential Plane ). If, in addition, the transmitted speeds and directions of travel are considered, relative speeds can also be used be calculated. Thus, an image of the traffic environment in real time is given at all times.

The DE 10 2010 013 402 A1 describes a view of a graphic in a head-up display when a threading maneuver of a second vehicle is imminent. Here, a lane change signal (threading request) of the threading vehicle (corresponding to the first vehicle of the present invention) is monitored by the host vehicle (corresponding to the second vehicle of the present invention). In an autonomous operation, the threading requirement imposed by the threading vehicle is automatically allowed or denied.

The DE 10 2010 011 497 A1 describes a method for avoiding or mitigating a collision between a first vehicle traveling on a first lane (corresponding to the second vehicle of the present invention) and a second vehicle traveling on a second lane (corresponding to the first vehicle of the present invention) in a lane change of the second vehicle from the second lane to the first lane. For this purpose, in a step, a first distance of the second vehicle to the first vehicle is determined by means of at least one second determination device of the first vehicle. If the distance is less than a first predetermined threshold, the first vehicle automatically issues a warning message to the second vehicle (corresponding to the first vehicle of the present invention).

The DE 103 34 203 A1 describes a functional overall context of an accident prevention system in which at least two road users are automatically informed of the current movement of the other each other in direct intercommunication and the information from each view is automatically evaluated with the data obtained, with an automatically determined dangerous situation an automatic Intervention on the driving in the respective vehicle takes place.

The DE 101 49 206 A1 describes a method of excluding accidents by detection when vehicles leave their respective current corridor. By means of vehicle-to-vehicle communication, a second vehicle is informed about evasive maneuvers of a first vehicle. When a vehicle wants to change lanes, a message is sent transmit other vehicles, which then reduce their driving speed to allow the vehicle that wants to change the lane, the change of lane.

The DE 101 34 367 A1 describes a method for a lane change, in which a reachability of possible Einscherlücken is displayed graphically and / or acoustically.

The DE 10 2006 033 743 A1 describes a method for detecting the surroundings of a vehicle, in which information of other road users about vehicle speed and steering angle are transmitted via radio and forwarded to a steering controller and in which a direction correction for collision avoidance or optimized collision encounter is performed depending on the information.

The DE 10 2011 018 159 A1 describes a driver assistance device with an environment sensor for monitoring a monitoring space located laterally of the motor vehicle and with an evaluation unit for estimating a possible danger to the motor vehicle by an object approaching a lane to be traveled by the vehicle.

The DE 10 2005 036 714 A1 describes a lane change assistant that recognizes lanes by taking pictures of a road section by means of a camera system and extracting lane markings from the recorded images by means of image processing.

The US 2003/025597 A1 describes a method for collision avoidance between two vehicles when changing lanes. Among other things, it is proposed to send a collision hazard with another vehicle, a safety alert via a wireless transmission channel to the other vehicle.

The DE 10 2010 052 406 A1 describes a method for avoiding or reducing the consequences of a vehicle collision. In an identified intended lane change of a first vehicle, lane change information is transmitted via WLAN to a second vehicle located in a lane to which the first one Intended to change vehicle. As a result, the second vehicle is automatically accelerated or braked briefly in order to avoid a collision with the first vehicle or at least to reduce consequences of the collision. The intended lane change is identified by an operation of a turn signal lever of the first vehicle or by a steering movement of the first vehicle.

Although that out DE 10 2010 052 406 A1 known method has the advantage that the second vehicle is actively involved in the collision avoidance, it is questionable whether a safety gain can be achieved with it. For the automatic adaptation of the second vehicle to the behavior of the first vehicle can incite the driver of the first vehicle to a reckless driving style. This is counterproductive to the purported goal of improving road safety.

It is an object of the present invention to provide a method for securing a lane change that does not incite anyone to a reckless driving style. In addition, it is an object of the invention to provide a device and a vehicle with a device for securing a lane change, which or animates anyone to a reckless driving style.

This object is achieved by a method according to claim 1, by a device according to claim 9 or a vehicle according to claim 10. Advantageous developments of the present invention are specified in the subclaims.

According to the invention, a method for securing a lane change comprises the following steps: detecting a lane change intent of a first vehicle from a first lane to a destination lane, reporting lane change intent to at least one second vehicle by means of a first Car2Car communication. In addition, the method comprises the following steps: responses of the second vehicle to the first vehicle by means of a second Car2Car communication. Depending on a content of the response of the second vehicle, a measure is executed in the first vehicle, which stops or at least avoids a lane change of the first vehicle. With the responses of the second vehicle to the reporting of the first vehicle, at least one status and / or ambient date of the second vehicle is transmitted to the first vehicle, wherein performing the following step of responding to the second vehicle in the first vehicle: secondly assessing a hazard potential of the lane change planned by the first vehicle taking into account the response of the second vehicle. When first assessing the hazard potential before the responses of the second vehicle and a lane change intent of the second vehicle is taken into account, if there is such a lane change intent.

Characterized in that, depending on the response of the second vehicle, a measure is performed which leads to a termination or at least to avoid a lane change of the first vehicle, instead that the lane change intent of the first vehicle causes a cancellation or avoidance of a lane change of the second vehicle Spurwechsel secured, without thereby one of the drivers is animated to a reckless driving style.

With regard to the device for securing a lane change, the object is achieved in that the device is prepared to carry out the method according to the invention.

With regard to the vehicle with the device for securing a lane change, the object is achieved in that the device of the vehicle is prepared to carry out the method according to the invention.

• Beschreibung der Spurwechselabsicht des Fahrzeugs,
• absolute oder relative Position des Fahrzeugs,
• Kennung der Straße, auf dem sich das Fahrzeug befindet,
• absolute oder relative Kennung der ersten Fahrspur,
• Kennung der Zielspur,
• absolute oder relative Fahrzeuggeschwindigkeit,
• absolute oder relative Fahrzeugbeschleunigung,
• Lenkwinkel,
• Gierwinkel,
• Gierrate,
• Schwimmwinkel,
• Beschleunigungsvermögen
• ein oder mehrere andere Merkmale des jeweiligen Fahrzeugs.

The response of the second vehicle may include information about a state of the second vehicle. For example, the state of a (first or second) vehicle may include a real or spurious subset of the following data:

• Description of the lane change intention of the vehicle,
• absolute or relative position of the vehicle,
• Identification of the road on which the vehicle is located
• absolute or relative identifier of the first lane,
• Identification of the destination lane,
• absolute or relative vehicle speed,
• absolute or relative vehicle acceleration,
• Steering angle,
• Yaw angle,
• Yaw rate,
• Slip angle,
• acceleration
• one or more other features of the respective vehicle.

The information about the relative vehicle position may include a relative position of the first vehicle with respect to a position of the second vehicle and / or a relative position of the second vehicle with respect to the first vehicle. Alternatively or additionally, the information about a relative vehicle speed may include a relative speed of the first vehicle with respect to a speed of the second vehicle and / or a relative speed of the second vehicle with respect to a speed of the first vehicle. Alternatively or additionally, the information about the relative vehicle acceleration may include a relative acceleration of the first vehicle with respect to an acceleration of the second vehicle and / or a relative acceleration of the second vehicle with respect to an acceleration of the first vehicle.

A refinement provides that, in the step of first assessing the hazard potential, a hazard potential of the lane change planned by the first vehicle is assessed, with the response transmitting a result of the first assessment of the hazard potential to the first vehicle. As a result, at least part of the data that is detected in the second vehicle and that is useful for assessing the risk potential can already be processed or preprocessed in the second vehicle and need not be transmitted to the first vehicle. As a result, transmission resources can be saved and a reaction speed of the system to secure a lane change can be improved.

With the response of the second vehicle, at least one state and / or environmental date of the second vehicle is communicated to the first vehicle, wherein following the responses of the second vehicle in the first vehicle, the following step is performed: second assessing a hazard potential of the one planned by the first vehicle Lane change taking into account the response of the second vehicle. As a result, the first vehicle is enabled to carry out its own assessment of the hazard potential, taking into account data that is partially captured by the second vehicle and partly by itself.

At the first assessment of the hazard potential, a lane change intent of the second vehicle is taken into account before the answer, provided that such lane change intent is present. As a result, the second vehicle can also incorporate its own lane change intention in the evaluation of the hazard potential, if such exists. It is particularly preferred if, during the second evaluation of the hazard potential, an own lane change intent is included, if such exists. It is particularly preferred if the second assessment of the potential hazard after the responses also a lane change intent of the second vehicle is taken into account, if there is such a lane change intent. As a result, the first vehicle may also include a lane change intention of the second vehicle in the evaluation of the potential hazard, if such a lane change intent exists.

Embodiments provide that the reporting of the lane change intention to the second vehicle by means of a radar or Lidar transmission, using WLAN and / or by means of another type of radio transmission and / or that the responses of the second vehicle to the first vehicle by means of a radar or lidar transmission, by means of WLAN and / or by means of another type of radio transmission. In any future vehicles, one of these types of Car2Car communication is provided so that it can be shared for the process of securing a lane change.

A preferred development provides that the recognition of the lane change intent of the first and / or the second vehicle using a camera-based lane detection system takes place and / or that the lane change intent of the first and / or the second vehicle taking into account a difference of a steering angle minus a curvature of the respective Lane, a yaw angle minus a curvature of the respective lane, a turn signal position of the vehicle and / or a travel recommendation of a navigation system of the vehicle is detected. In addition, a yaw rate and / or a number of the lane for calculating the situation can be consulted in order to recognize the risk potential of the lane change of the vehicle as quickly as possible. The methods for recognizing the lane change intention, which are not based on a turn signal, have the advantage that a Lane change is detected even if the driver forgets to operate the direction indicator when a lane change.

It is also advantageous if, when reporting the lane change intention, a lane change description is transmitted from the first vehicle to the second vehicle, which contains a lane change direction indication, an identification of the destination lane and / or information about a vehicle state of the first vehicle. As a result, the second vehicle may also include a lane change direction indication, an identification of the destination lane and / or information about a vehicle state of the first vehicle in the first assessment of the hazard potential.

The method may also be applied when the first lane is identical to a second lane, or when the destination lane is a lane between the first and second lanes and the first or second lane is a passing lane for the destination lane. The case that both vehicles want to drive simultaneously to a same middle lane occurs, for example, when the second vehicle on the second lane (in the right-hand drive system in the left lane) completed an overtaking and the vehicle on the first lane (in the right-hand drive system on the right lane) would like to start with an overtaking process.

It is expedient if the execution of the measure for canceling or avoiding a lane change comprises an audible, visual and / or haptic warning to a driver of the first vehicle and / or an automatic steering intervention and / or an automatic accelerator intervention in the first vehicle. If the driver of the first vehicle does not react, an automatic intervention in the driving dynamics can be undertaken in the relevant vehicle, for example braking or accelerating or steering intervention, in order to defuse the situation.

Fig. 1

schematisch eine gefährliche Verkehrssituation auf einer vierspurigen Straße, in der zwei Fahrzeuge zunächst nebeneinander herfahren, wobei sich zwischen ihnen eine freie Fahrspur befindet, wobei die beiden Fahrzeuge gerade im Begriff sind, gleichzeitig auf dieselbe dazwischenliegende Fahrspur zu wechseln, und

Fig. 2

schematisch ein Nachrichtenaustauschdiagramm eines Verfahrens zur Absicherung eines Spurwechsels.

The present invention will now be explained in more detail with reference to the accompanying drawings. Showing:

Fig. 1

schematically a dangerous traffic situation on a four-lane road in which two vehicles initially drive side by side, with a free lane between them the two vehicles are about to change to the same intervening lane at the same time, and

Fig. 2

schematically a message exchange diagram of a method for securing a lane change.

The embodiments described in more detail below represent preferred embodiments of the present invention.

The Fig. 1 shows a dangerous traffic situation on a four-lane road 30. Here are two vehicles 10, 20 initially next to each other, but not on lanes that are right next to each other, but on lanes 31, 33, which are only indirectly adjacent. Between the two lanes 31, 33 is a free lane 32. The dangerous traffic situation arises from the fact that both vehicles 10, 20 want to change to the same intervening lane 32 at the same time.

This in Fig. 2 illustrated message exchange diagram of a method 100 for securing a lane change comprises the following steps. In a first step 110, a lane change intent of a first vehicle 10 is detected by a first lane 31 in a destination lane 32. In a second step 120, the first vehicle 10 notifies the lane change intent to at least one second vehicle 20 by means of a first Car2Car communication. In a third step 130, the second vehicle 20 responds to the first vehicle 10 by means of a second Car2Car communication. In a fourth step 140, depending on a content of the response of the second vehicle 20, a measure is executed in the first vehicle 10, which stops or at least prevents a lane change of the first vehicle 10. A broadcast mode may be provided to address the lane change intent to the general public or simultaneously to multiple second vehicles (eg, vehicles of the same manufacturer), thereby more efficiently utilizing transmission resources. The limited radio range of WLAN connections limits the communication in an advantageous manner to those vehicles that are located in the environment of the respective vehicle.

A development of the method provides that before the response 130 of the second vehicle 20 in the second vehicle 20 (in a first Judging step 125), a hazard potential of the lane change planned by the first vehicle 10 is judged, and with the response 130, a result of the first judgment 125 of the hazard potential is transmitted to the first vehicle 10.

A further development of the method provides that at least one state and / or environmental date of the second vehicle 20 is transmitted to the first vehicle 10 with the responses 130 of the second vehicle 20. The status and / or environmental data may then be used after the response 130 of the second vehicle 20 in the first vehicle 10 (in a second assessment step), a hazard potential of the lane change planned by the first vehicle 10 taking into account the response of the second vehicle 20 to judge.

Optionally, the first judgment 125 of the hazard potential before the response 130 also takes into account a lane change intent of the second vehicle 20, if such a lane change intent exists. Independently of this, a further option provides that the second assessment 135 of the hazard potential after the response 130 also takes into account a lane change intention of the second vehicle 20, if such a lane change intent exists.

A further option provides that the lane change intention is reported to the second vehicle 20 by means of a radar or lidar transmission, by means of WLAN and / or by means of another type of radio transmission. It is also possible that the responses 130 of the second vehicle to the first vehicle by means of a radar or Lidar transmission, using WLAN and / or by means of another type of radio transmission.

The recognition 110 of the lane change intent of the first 10 and / or the second 20 vehicle can be carried out, for example, using a camera-based lane recognition system. Alternatively or additionally, it is possible that the lane change intent of the first 10 and / or the second vehicle taking into account a difference of a steering angle minus a curvature of the respective lane 31, 32, a yaw angle minus a curvature of the respective lane 31, 32, a turn signal of the vehicle 10, 20 and / or a travel recommendation of a navigation system of the vehicle 10, 20 is detected.

Further options provide that when the lane change intent of the first vehicle 10 is reported, a lane change description is transmitted from the first vehicle 10 to the second vehicle 20 containing a lane change direction indication, an identification of the destination lane and / or information about a vehicle state of the first vehicle 10.

The first lane 31 may be identical to the second lane 33. As the Fig. 2 shows, it is also possible that the target track is located between the first 31 and the second 33 lane and the first 31 or the second 33 lane for the target lane 32 is a fast lane.

Executing 130 the measure to cancel or avoid a lane change may include an audible, visual and / or haptic alert to a driver of the first vehicle 10 and / or an automatic steering intervention and / or an automatic accelerator intervention in the first vehicle 10.

Claims (10)

1. Method (100) for safeguarding a lane change, the method comprising the following steps:

   - detection (110) of an intended lane change by a first vehicle (10) from a first lane (31) to a target lane (32);

   - communication (120) of the intended lane change to at least one second vehicle (20) by means of a first Car2Car communication system;

   - response (130) by the second vehicle (20) to the first vehicle (10) by means of a second Car2Car communication system; and

   - depending on the content of the response from the second vehicle (20) performance (140) of an operation in the first vehicle (10) that aborts or at least helps to avoid the lane change by the first vehicle (10);

   whereby the response (130) by the second vehicle (20) to the communication (120) by the first vehicle (10) comprises the transmission of at least one status and/or surroundings report by the second vehicle (20) to the first vehicle (10), wherein after the response (130) by the second vehicle (20) the following step is carried out in the first vehicle (10): a second analysis (135) of the potential danger of the intended lane change by the first vehicle (10) based on the response (130) from the second vehicle (20);
   characterized in that
   a first analysis (125) of the potential danger before the response (130) by the second vehicle (20) further takes into account an intended lane change by the second vehicle (20), if such a lane change is intended.
2. Method (100) according to claim 1, characterized in that the step of first analysis (125) of the potential danger comprises analysis of the potential danger of the intended lane change by the first vehicle (10), the response comprising the transmission of a result of the first analysis (125) of the potential danger to the first vehicle (10).
3. Method (100) according to claim 1 or 2, characterized in that the second analysis (135) of the potential danger after the response (130) further takes into account an intended lane change by the second vehicle (20), if such a lane change is intended.
4. Method (100) according to any of claims 1 to 3, characterized in that the communication (120) of the intended lane change to the second vehicle (20) is performed by means of radar or Lidar transmission, by WLAN and/or by means of a different type of radio transmission and/or the response (130) from the second vehicle to the first vehicle is performed by means of radar or Lidar transmission, by WLAN and/or by means of a different type of radio transmission.
5. Method (100) according to any of claims 1 to 4, characterized in that the detection (110) of the intended lane change by the first (10) and/or second (20) vehicle is performed using a camera-based lane detection system, and/or the intended lane change by the first (10) and/or second (20) vehicle is detected by taking into account a difference in a steering angle after subtraction of a curvature of the respective lane (31, 33), a yaw angle after subtraction of the curvature of the respective lane (31, 33), an indicator status of the vehicle (10, 20) and/or a route recommendation of a navigation system of the vehicle (10, 20).
6. Method (100) according to any of claims 1 to 5, characterized in that, during the communication (120) of the intended lane change, a description of the lane change is transmitted from the first vehicle (10) to the second vehicle (20), the description including information as to the lane change direction, identification of the target lane (32) and/or information on the status of the first vehicle (10).
7. Method (100) according to any of claims 1 to 6, characterized in that the first lane (31) is identical to a second lane (33), or the target lane (32) is a lane between the first (31) and a second (33) lane and the first (31) or second (33) lane is an overtaking lane for the target lane (32).
8. Method (100) according to any of claims 1 to 7, characterized in that the carrying out (130) of the operation for aborting or avoiding a lane change comprises providing an acoustic, visual and/or haptic alert to a driver of the first vehicle (10) and/or an automatic steering adjustment and/or an automatic accelerator-pedal adjustment in the first vehicle (10).
9. Apparatus for safeguarding a lane change of a vehicle,
   characterized in that
   the apparatus is configured to carry out the method (100) according to any of claims 1 to 8.
10. Vehicle (10, 20),
    characterized in that
    the vehicle (10, 20) comprises an apparatus according to claim 9.

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