WO2021209403A1 - Detection of obstacles in a curved road - Google Patents

Detection of obstacles in a curved road Download PDF

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Publication number
WO2021209403A1
WO2021209403A1 PCT/EP2021/059474 EP2021059474W WO2021209403A1 WO 2021209403 A1 WO2021209403 A1 WO 2021209403A1 EP 2021059474 W EP2021059474 W EP 2021059474W WO 2021209403 A1 WO2021209403 A1 WO 2021209403A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
lane
curve
road
detecting means
Prior art date
Application number
PCT/EP2021/059474
Other languages
French (fr)
Inventor
Frederic WILHELM
Original Assignee
Valeo Schalter Und Sensoren Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2021209403A1 publication Critical patent/WO2021209403A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius

Definitions

  • the present invention refers to a method for detecting obstacles in a curved road by front detecting means of a vehicle, wherein a front detection area of the front detecting means is in front of a vehicle environment.
  • the present invention also refers to a system for detecting obstacles in a curved road by front detecting means of a vehicle, wherein a front detection area of the front detecting means is in front of a vehicle environment.
  • the present invention refers to a vehicle comprising the system.
  • the present invention refers to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method.
  • the present invention refers to a data carrier signal, which the computer program transmits.
  • the present invention refers to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.
  • the present invention provides a method for detecting obstacles in a curved road by front detecting means of a vehicle, in particular of an ego vehicle, wherein a front detection area of the front detecting means is in front of the vehicle, the method comprising the following steps: acquiring, by acquiring means, information about a vehicle environment; determining, by a computing system, based on the information about the vehicle environment, if the vehicle reaches a curve; if yes, determining, by the computing system, if a lane change to a lane of the road which is less inside the curve is possible; and if yes, manoeuvring, by a vehicle controlling system, the vehicle to the lane of the road which is less inside the curve (an more outwardly lying lane).
  • the last step of the method is executed in the vehicle.
  • the method comprises acquiring, by acquiring means, information about a vehicle environment.
  • the acquiring means may be integrated in the vehicle or may be located outside the vehicle.
  • the information may have been retrieved or detected by the vehicle itself, or the vehicle may have received the information from another vehicle or an external server.
  • the method comprises, according to a second step, determining, by a computing system, based on the information about the vehicle environment, if the vehicle reaches a curve. It may be a curve where the computing system has the information that the curve is to be driven or the system recognises that the curve is to be driven, e.g. on the basis of driver behaviour or statistics on usual routes of the vehicle.
  • the curve can also be on the only route the vehicle can take.
  • the method comprises determining, by the computing system, if a lane change to a lane of the road which is less inside the curve (or is a more external one) is possible. This step can be based on information already retrieved in the first step.
  • the method comprises manoeuvring, by a vehicle controlling system, the vehicle to the lane of the road which is less inside the curve.
  • the present invention also provides a system for detecting obstacles in a curved road by front detecting means of a vehicle, in particular of an ego vehicle, wherein a front detection area of the front detecting means is in front of the vehicle, the system comprising: acquiring means configured to acquire information about a vehicle environment; a computing system configured to determine, based on the information about the vehicle environment, if the vehicle reaches a curve, if yes, to determine, if a lane change to a lane of the road which is less inside the curve is possible; and a vehicle controlling system configured to, if yes, manoeuvre the vehicle to the lane of the road which is less inside the curve.
  • system may comprise means according to method steps according to any of the modified embodiments described below.
  • the present invention also provides a vehicle comprising the system.
  • the vehicle is an ego vehicle of a driver.
  • the present invention also provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method.
  • a computer program is a collection of instructions for performing a specific task that is designed to solve a specific class of problems.
  • the instructions of a program are designed to be executed by a computer and it is required that a computer can execute programs in order for it to function.
  • the present invention also provides a data carrier signal, which the computer program transmits.
  • the present invention also provides a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.
  • the basic idea of the invention is to have an automated system in the vehicle, when the vehicle is approaching a curve, carry out a lane change to a more outer lane, if it is available, where the visibility is better (objects potentially lying beyond the curve can be detected earlier) and the lateral acceleration is reduced, e. g. due to smaller curvature.
  • the invention allows avoiding for the vehicle to decrease its velocity in the curve and ensuring a better visibility and anticipation of events that lie ahead.
  • the front detecting means with the front detection area captures the vehicle environment.
  • the front detecting means can permanently detect the environment of the vehicle.
  • a vehicle speed is maintained or reduced in accordance with a curvature of the lane in which the vehicle is located.
  • maximum driving comfort can be maintained with advantage.
  • the step of acquiring, by the acquiring means, information about the vehicle environment comprises a step of detecting, by a detecting system comprising the front detecting means, the vehicle environment. It is therefore advantageous to obtain very up-to-date information about the vehicle's environment.
  • the acquiring means comprises a sensing system; and/or a map of the road; and/or communicating means.
  • a combination of the aforementioned information sources/detection means can be chosen with advantage. This can be done, for example, depending on how up-to-date the available information is and/or the reliability of the information source.
  • the sensing system may comprise one or more sensors installed on the vehicle. This may include a camera, LIDAR, laser sensors, ultrasonic sensors, etc.
  • the front detecting means comprises at least partially the sensing system.
  • sensors located in the front area of the vehicle can form the front detecting means.
  • the step of determining, by the computing system, if the lane change to a lane of the road which is less inside the curve is possible comprises an evaluation of at least one of the following criteria:
  • the information can be partially checked externally by the vehicle or internally. A safer lane change is thus provided with advantage.
  • the method comprises, after having passed the curve, changing to a lane, in which the vehicle was located before passing the curve.
  • This can be decided by the computing system depending on typical driving behaviour, a traffic situation or other information received. Depending on the situation, a faster traffic flow can also be promoted.
  • Fig. 1 schematically shows a first scene of a scenario, in which an embodiment of the method is applied
  • Fig. 2 schematically shows a second scene of the scenario, in which the embodiment of the method is applied;
  • Fig. 3 schematically shows a third scene of the scenario, in which the embodiment of the method is applied;
  • Fig. 4 schematically shows a fourth scene of the scenario, in which the embodiment of the method is applied.
  • Fig. 5 shows a flow chart of the method according to an embodiment of the invention.
  • Figure 1 schematically shows a first scene of a scenario, in which an embodiment of the method is applied.
  • the road 1 comprises two lanes 1a, 1b.
  • the road 1 also comprises a curve.
  • the vehicle 2 has front detecting means (not shown), which are configured to survey a front detection area 3 of the vehicle 2, which is in an environment of the vehicle 2 in front of the vehicle 2.
  • the front detecting means of the vehicle 2 cannot detect obstacles, such as an obstacle 4, in the curve of the road 1 or behind the curve of the road 1 in the present scene due to a visibility barrier 5.
  • the objective of this invention is to add a logic in the maneuver planner to change lane depending on visibility of the different lanes in highly curved roads 1.
  • the vehicle 2, which is an ego vehicle, arrives on the curve in the interior or middle lane.
  • Fig. 5 shows a flow chart of the method according to an embodiment of the invention.
  • the method is suitable for detecting obstacles in the curved road 1 by the front detecting means of the vehicle 2.
  • the method comprises the following steps:
  • the method comprises acquiring, by acquiring means, information about a vehicle environment.
  • the step of acquiring, by the acquiring means, information about the vehicle environment comprises a step of detecting, by a detecting system comprising the front detecting means, the vehicle environment.
  • the acquiring means comprises a sensing system, a map of the road and communicating means.
  • the front detecting means comprises at least partially the sensing system.
  • the front detecting means is a camera, or a laser scanner or it comprises ultrasonic sensors, for example.
  • the method comprises determining, by a computing system (not shown), based on the information about the vehicle environment, if the vehicle 1 reaches the curve. In the present case, the vehicle 2 is intended to pass through this curve.
  • the method comprises, if yes (or shortly indicated by “true” or “T” in Fig. 5), determining, by the computing system, if a lane change to a lane 1a, 1 b of the road 1 which is less inside the curve is possible.
  • the step “30” of determining, by the computing system, if the lane change to a lane 1a, 1b of the road, which is less inside the curve is possible comprises querying all of the following criteria:
  • the lane change be carried out without affecting a traffic flow in the other lane 1a, 1 b in the same direction of travel;
  • the method comprises, if yes (or shortly indicated by “true” or “T” in Fig. 5), that means, if the further determination also provides a positive (true) result, manoeuvring, by a vehicle controlling system, the vehicle 2 to the lane 1b of the road 1 which is less inside the curve (see also Figures 2 and 3).
  • the front detecting means of vehicle 2 can detect an obstacle 4 (see Figures 3 and 4) and take evasive action if necessary.
  • the method comprises, after having passed the curve, changing to the lane 1a, in which the vehicle 2 was located before passing the curve (see Fig. 4).
  • the front detecting means with the front detection area 3 captures the vehicle environment. Furthermore, if possible, before and during a passage of the curve a vehicle speed is maintained or reduced in accordance with a curvature of the lane 1a, 1b in which the vehicle 2 is located.
  • the road 1 is turning right, so the interior lane is the right lane and the exterior lane is the left lane.
  • the principle is of course applicable in the reverse situation (left turn).

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention refers to a method for detecting obstacles in a curved road by front detecting means of a vehicle, in particular of an ego vehicle, wherein a front detection area of the front detecting means is in front of the vehicle, the method comprising the following steps: acquiring (10), by acquiring means, information about a vehicle environment; determining (20), by a computing system, based on the information about the vehicle environment, if the vehicle reaches a curve; if yes (T), determining (30), by the computing system, if a lane change to a lane of the road which is less inside the curve is possible; and if yes (T), manoeuvring (40), by a vehicle controlling system, the vehicle to the lane of the road which is less inside the curve.

Description

Detection of obstacles in a curved road
The present invention refers to a method for detecting obstacles in a curved road by front detecting means of a vehicle, wherein a front detection area of the front detecting means is in front of a vehicle environment.
The present invention also refers to a system for detecting obstacles in a curved road by front detecting means of a vehicle, wherein a front detection area of the front detecting means is in front of a vehicle environment.
Furthermore, the present invention refers to a vehicle comprising the system.
Furthermore, the present invention refers to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method.
Furthermore, the present invention refers to a data carrier signal, which the computer program transmits.
Furthermore, the present invention refers to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.
According to prior art methods, in order to improve a viewing angle on different types of roads (e.g. a road that is more or less straight or one containing curves), information obtained from different types of sensor is combined. The latter process is also known as sensor fusion. Also, a combination of road map information or information obtained through communication with other vehicles is known to provide a suitable assessment of the traffic situation and possible dangers.
It is an object of the present invention to provide an improved method, an improved system, an improved vehicle, an improved computer program, an improved data carrier signal and an improved computer-readable medium. It is in particular an object of the invention to detect more quickly obstacles that may be present beyond a curve in a road.
This object is achieved by the independent claims. Advantageous embodiments are given in the dependent claims.
In particular, the present invention provides a method for detecting obstacles in a curved road by front detecting means of a vehicle, in particular of an ego vehicle, wherein a front detection area of the front detecting means is in front of the vehicle, the method comprising the following steps: acquiring, by acquiring means, information about a vehicle environment; determining, by a computing system, based on the information about the vehicle environment, if the vehicle reaches a curve; if yes, determining, by the computing system, if a lane change to a lane of the road which is less inside the curve is possible; and if yes, manoeuvring, by a vehicle controlling system, the vehicle to the lane of the road which is less inside the curve (an more outwardly lying lane).
Preferably, the last step of the method is executed in the vehicle.
According to a first step, the method comprises acquiring, by acquiring means, information about a vehicle environment. The acquiring means may be integrated in the vehicle or may be located outside the vehicle. The information may have been retrieved or detected by the vehicle itself, or the vehicle may have received the information from another vehicle or an external server.
After the step of acquiring, the method comprises, according to a second step, determining, by a computing system, based on the information about the vehicle environment, if the vehicle reaches a curve. It may be a curve where the computing system has the information that the curve is to be driven or the system recognises that the curve is to be driven, e.g. on the basis of driver behaviour or statistics on usual routes of the vehicle. The curve can also be on the only route the vehicle can take.
In the affirmative/if yes, that means, if the computing system determines based on the information about the vehicle environment, that the vehicle reaches a curve, the method comprises determining, by the computing system, if a lane change to a lane of the road which is less inside the curve (or is a more external one) is possible. This step can be based on information already retrieved in the first step.
In the affirmative/if yes, that means, if the computing system determines that a lane change to a lane of the road which is less inside the curve is possible, the method comprises manoeuvring, by a vehicle controlling system, the vehicle to the lane of the road which is less inside the curve.
In other words, two conditions are successively checked, both of which must be fulfilled for a lane change to take place.
The present invention also provides a system for detecting obstacles in a curved road by front detecting means of a vehicle, in particular of an ego vehicle, wherein a front detection area of the front detecting means is in front of the vehicle, the system comprising: acquiring means configured to acquire information about a vehicle environment; a computing system configured to determine, based on the information about the vehicle environment, if the vehicle reaches a curve, if yes, to determine, if a lane change to a lane of the road which is less inside the curve is possible; and a vehicle controlling system configured to, if yes, manoeuvre the vehicle to the lane of the road which is less inside the curve.
Additionally, the system may comprise means according to method steps according to any of the modified embodiments described below.
The present invention also provides a vehicle comprising the system. Preferably, the vehicle is an ego vehicle of a driver.
The present invention also provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute the steps of the method. A computer program is a collection of instructions for performing a specific task that is designed to solve a specific class of problems. The instructions of a program are designed to be executed by a computer and it is required that a computer can execute programs in order for it to function. The present invention also provides a data carrier signal, which the computer program transmits.
The present invention also provides a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to execute the steps of the method.
The basic idea of the invention is to have an automated system in the vehicle, when the vehicle is approaching a curve, carry out a lane change to a more outer lane, if it is available, where the visibility is better (objects potentially lying beyond the curve can be detected earlier) and the lateral acceleration is reduced, e. g. due to smaller curvature.
The invention allows avoiding for the vehicle to decrease its velocity in the curve and ensuring a better visibility and anticipation of events that lie ahead.
According to a modified embodiment of the invention, before and/or during a passage of the curve the front detecting means with the front detection area captures the vehicle environment. In other words, when driving through the outer lane of the curve, the front detecting means can permanently detect the environment of the vehicle. One benefits from an increased angle of view into the curve due to the location of the vehicle in the outer lane.
According to a modified embodiment of the invention, before and/or during a passage of the curve a vehicle speed is maintained or reduced in accordance with a curvature of the lane in which the vehicle is located. Depending on the driving situation, maximum driving comfort can be maintained with advantage.
According to a modified embodiment of the invention, the step of acquiring, by the acquiring means, information about the vehicle environment comprises a step of detecting, by a detecting system comprising the front detecting means, the vehicle environment. It is therefore advantageous to obtain very up-to-date information about the vehicle's environment.
According to a modified embodiment of the invention, the acquiring means comprises a sensing system; and/or a map of the road; and/or communicating means. Thus, depending on the driving situation, a combination of the aforementioned information sources/detection means can be chosen with advantage. This can be done, for example, depending on how up-to-date the available information is and/or the reliability of the information source. The sensing system may comprise one or more sensors installed on the vehicle. This may include a camera, LIDAR, laser sensors, ultrasonic sensors, etc.
According to a modified embodiment of the invention, the front detecting means comprises at least partially the sensing system. In other words, sensors located in the front area of the vehicle can form the front detecting means.
According to a modified embodiment of the invention, the step of determining, by the computing system, if the lane change to a lane of the road which is less inside the curve is possible, comprises an evaluation of at least one of the following criteria:
- is there another lane in a same direction of travel as the lane currently in use;
- is there or not an impediment to the lane change;
- can the lane change be carried out without affecting a traffic flow in the other lane in the same direction of travel;
- does the other lane in the same direction of travel not separate to another destination;
- is there or not any “keep right/left unless overtaking” rule in the road regulation applicable to the current geographical area; wherein a respective queried criterion must be fulfilled.
The information can be partially checked externally by the vehicle or internally. A safer lane change is thus provided with advantage.
According to a modified embodiment of the invention, the method comprises, after having passed the curve, changing to a lane, in which the vehicle was located before passing the curve. This can be decided by the computing system depending on typical driving behaviour, a traffic situation or other information received. Depending on the situation, a faster traffic flow can also be promoted.
These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. Individual features disclosed in the embodiments can constitute alone or in combination an aspect of the present invention. Features of the different embodiments can be carried over from one embodiment to another embodiment.
In the drawings:
Fig. 1 schematically shows a first scene of a scenario, in which an embodiment of the method is applied;
Fig. 2 schematically shows a second scene of the scenario, in which the embodiment of the method is applied;
Fig. 3 schematically shows a third scene of the scenario, in which the embodiment of the method is applied;
Fig. 4 schematically shows a fourth scene of the scenario, in which the embodiment of the method is applied; and
Fig. 5 shows a flow chart of the method according to an embodiment of the invention.
Figure 1 schematically shows a first scene of a scenario, in which an embodiment of the method is applied.
In the scene, there is shown a road on which a vehicle 2 drives. The road 1 comprises two lanes 1a, 1b. The road 1 also comprises a curve. The vehicle 2 has front detecting means (not shown), which are configured to survey a front detection area 3 of the vehicle 2, which is in an environment of the vehicle 2 in front of the vehicle 2. The front detecting means of the vehicle 2 cannot detect obstacles, such as an obstacle 4, in the curve of the road 1 or behind the curve of the road 1 in the present scene due to a visibility barrier 5. The objective of this invention is to add a logic in the maneuver planner to change lane depending on visibility of the different lanes in highly curved roads 1. The vehicle 2, which is an ego vehicle, arrives on the curve in the interior or middle lane. Fig. 5 shows a flow chart of the method according to an embodiment of the invention. The method is suitable for detecting obstacles in the curved road 1 by the front detecting means of the vehicle 2. The method comprises the following steps:
According to a step indicated by reference sign “10”, the method comprises acquiring, by acquiring means, information about a vehicle environment. The step of acquiring, by the acquiring means, information about the vehicle environment comprises a step of detecting, by a detecting system comprising the front detecting means, the vehicle environment. The acquiring means comprises a sensing system, a map of the road and communicating means. The front detecting means comprises at least partially the sensing system. The front detecting means is a camera, or a laser scanner or it comprises ultrasonic sensors, for example.
According to a step indicated by reference sign “20”, the method comprises determining, by a computing system (not shown), based on the information about the vehicle environment, if the vehicle 1 reaches the curve. In the present case, the vehicle 2 is intended to pass through this curve.
According to a step indicated by reference sign “30”, the method comprises, if yes (or shortly indicated by “true” or “T” in Fig. 5), determining, by the computing system, if a lane change to a lane 1a, 1 b of the road 1 which is less inside the curve is possible. The step “30” of determining, by the computing system, if the lane change to a lane 1a, 1b of the road, which is less inside the curve is possible, comprises querying all of the following criteria:
- is there another lane 1a, 1 b in a same direction of travel as the lane 1 a, 1 b currently in use;
- isn’t there an impediment to the lane change;
- can the lane change be carried out without affecting a traffic flow in the other lane 1a, 1 b in the same direction of travel;
- does the other lane 1a, 1 b in the same direction of travel not separate to another destination?
- whether or not there is a “keep right/left unless overtaking” rule in the road regulation that is applicable to the area in which the vehicle 2 is currently moving; A respective queried criterion must be fulfilled (T).
According to a succeeding step indicated by reference sign “40”, the method comprises, if yes (or shortly indicated by “true” or “T” in Fig. 5), that means, if the further determination also provides a positive (true) result, manoeuvring, by a vehicle controlling system, the vehicle 2 to the lane 1b of the road 1 which is less inside the curve (see also Figures 2 and 3).
Then the front detecting means of vehicle 2 can detect an obstacle 4 (see Figures 3 and 4) and take evasive action if necessary.
According to a step indicated by reference sign “50”, the method comprises, after having passed the curve, changing to the lane 1a, in which the vehicle 2 was located before passing the curve (see Fig. 4).
Before and during a passage of the curve the front detecting means with the front detection area 3 captures the vehicle environment. Furthermore, if possible, before and during a passage of the curve a vehicle speed is maintained or reduced in accordance with a curvature of the lane 1a, 1b in which the vehicle 2 is located.
On the drawings, the road 1 is turning right, so the interior lane is the right lane and the exterior lane is the left lane. The principle is of course applicable in the reverse situation (left turn).
Reference signs
1 road
1a, 1b lane
2 vehicle
3 front detection area
4 obstacle
5 visibility barrier
10 acquiring, by acquiring means, information about a vehicle environment
20 determining, by a computing system, based on the information about the vehicle environment, if the vehicle reaches a curve
30 if yes, determining, by the computing system, if a lane change to a lane of the road which is less inside the curve is possible
40 if yes, manoeuvring, by a vehicle controlling system, the vehicle to the lane of the road which is less inside the curve
50 changing to a lane, in which the vehicle was located before passing the curve

Claims

Claims
1. Method for detecting obstacles in a curved road (1 ) by front detecting means of a vehicle (2), in particular of an ego vehicle, wherein a front detection area (3) of the front detecting means is in front of the vehicle (2), the method comprising the following steps:
- acquiring (10), by acquiring means, information about a vehicle environment;
- determining (20), by a computing system, based on the information about the vehicle environment, if the vehicle (1) reaches a curve;
- if yes (T), determining (30), by the computing system, if a lane change to a lane (1a, 1b) of the road (1) which is less inside the curve is possible; and
- if yes (T), manoeuvring (40), by a vehicle controlling system, the vehicle (2) to the lane (1b) of the road (1) which is less inside the curve.
2. Method according to claim 1 , wherein before and/or during a passage of the curve the front detecting means with the front detection area (3) captures the vehicle environment.
3. Method according to claim 1 or 2, wherein before and/or during a passage of the curve a vehicle speed is maintained or reduced in accordance with a curvature of the lane (1a, 1b) in which the vehicle (2) is located.
4. Method according to any of the preceding claims, wherein the step of acquiring (10), by the acquiring means, information about the vehicle environment comprises a step of detecting, by a detecting system comprising the front detecting means, the vehicle environment.
5. Method according to any of the preceding claims, wherein the acquiring means comprises a sensing system; and/or a map of the road; and/or communicating means.
6. Method according to the preceding claim, wherein the front detecting means comprises at least partially the sensing system.
7. Method according to any of the preceding claims, wherein the step of determining (30), by the computing system, if the lane change to a lane (1a, 1 b) of the road which is less inside the curve is possible, comprises querying of at least one of the following criteria:
- is there another lane (1 a, 1 b) in a same direction of travel as the lane (1a, 1b) currently in use;
- isn’t there an impediment to the lane change;
- can the lane change be carried out without affecting a traffic flow in the other lane (1a, 1b) in the same direction of travel;
- does the other lane (1 a, 1 b) in the same direction of travel not separate to another destination; wherein a respective queried criterion must be fulfilled (T).
8. Method according to any of the preceding claims, comprising, after having passed the curve, changing (50) to a lane (1a, 1b), in which the vehicle (2) was located before passing the curve.
9. Computer program comprising instructions which, when executed by a computer, cause the computer program to perform the method according to any of the preceding claims.
10. Data carrier signal transmitted by the computer program according to the claim 9.
11. Computer-readable medium, comprising instructions which, when executed by a computer, cause the computer to perform the method according to any of the claims 1 to 8.
12. System for detecting obstacles in a curved road (1 ) by front detecting means of a vehicle (2), in particular of an ego vehicle, wherein a front detection area (3) of the front detecting means is in front of the vehicle (2), the system comprising: - acquiring means configured to acquire information about a vehicle environment;
- a computing system configured to o determine, based on the information about the vehicle environment, if the vehicle (1) reaches a curve, o if yes (T), to determine, if a lane change to a lane (1 a, 1 b) of the road (1) which is less inside the curve is possible; and
- a vehicle controlling system configured to o if yes (T), manoeuvre the vehicle (2) to the lane (1 b) of the road (1 ) which is less inside the curve; or the system comprising means according to method steps according to any of the preceding dependent method claims.
13. Vehicle with a system according to the preceding claim.
PCT/EP2021/059474 2020-04-15 2021-04-13 Detection of obstacles in a curved road WO2021209403A1 (en)

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DE102020110310.7A DE102020110310A1 (en) 2020-04-15 2020-04-15 Detection of obstacles in a winding road
DE102020110310.7 2020-04-15

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WO2021209403A1 true WO2021209403A1 (en) 2021-10-21

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