CN107010062A - 用于确定车道配置文件数据的方法和装置 - Google Patents

用于确定车道配置文件数据的方法和装置 Download PDF

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CN107010062A
CN107010062A CN201610963867.6A CN201610963867A CN107010062A CN 107010062 A CN107010062 A CN 107010062A CN 201610963867 A CN201610963867 A CN 201610963867A CN 107010062 A CN107010062 A CN 107010062A
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赫尔穆特·博什
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    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/803—Relative lateral speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles

Abstract

本发明涉及用于确定车道配置文件数据的方法和装置，直接在车辆前面的道路配置文件根据与在车辆前面行驶的另一车辆的行驶有关的数据来确定。根据本发明的方法具有以下步骤：测量既在纵向方向上相对于车辆(A)的当前行驶方向又在横向方向上相对于车辆(A)的当前行驶方向的车辆(A)和另一车辆(B)之间的距离，测量既在纵向方向上相对于车辆(A)的当前行驶方向又在横向方向上相对于车辆(A)的当前行驶方向的车辆(A)和另一车辆(B)之间的相对速度，并且根据测量的距离和相对速度计算直接在车辆前面的道路配置文件的弯曲半径。

Description

用于确定车道配置文件数据的方法和装置
技术领域
本发明涉及用于确定车道配置文件数据(Fahrspurverlaufsdaten)的方法和装置。
背景技术
在装备有驾驶员辅助系统的机动车辆的运转期间，有在行驶期间预测直接在前面的道路配置文件以及——特别是——预测任何弯曲信息的需要以便配置和设置调节器，该调节器存在并且可能用于各自驾驶辅助系统。
即使相应机动车辆通常装备有用于车道检测——特别是用于道路标志的视觉或基于摄像机的检测——的特殊传感器系统，但实际上发生合适的道路标志例如由于弄脏而有时仅可以很差地被识别或甚至完全不存在的问题。
专利文献DE 103 54 650 A1尤其公开了一种用于确定车辆的车道配置文件数据的方法，该车道配置文件是根据在——所讨论的车辆——第一车辆前面行驶的第二车辆的车道数据来确定的，并且该第二车辆的多个测量位置被检测并且被用于确定车道配置文件数据。
关于更多的现有技术，仅通过示例参考专利文献DE 10 2006 040 334 A1，EP 1610 196 A1，JPH 10227860 A，JPH 11125532 A和CN 102874255 A。
发明内容
本发明的目的是使用于确定车道配置文件数据的方法和装置可用，该方法和装置使用可以以低成本实现的用于甚至当道路标志不存在或难以识别时使与直接在前面的车道配置文件有关的弯曲信息尽可能可靠地可用的替代方法。
该目的是通过根据独立专利权利要求1的特征的方法和根据从属专利权利要求6的特征的装置来实现。
根据本发明的用于确定车辆的车道配置文件数据的方法，直接在该车辆前面的道路配置文件是根据与在该车辆前面行驶的另一车辆的行驶有关的数据来确定的，该方法具有以下步骤：
-既在纵向方向上相对于车辆的当前行驶方向又在横向方向上相对于车辆的当前行驶方向测量车辆和另一车辆之间的距离；
-既在纵向方向上相对于车辆的当前行驶方向又在横向方向上相对于车辆的当前行驶方向测量车辆和另一车辆之间的相对速度；以及
-根据测量的距离和相对速度来计算直接在车辆前面的道路配置文件的弯曲半径。
本发明特别是基于根据各自车辆和在前面行驶的另一车辆之间的距离和相对速度来执行直接位于车辆前面的车道的弯曲半径的计算或估算的构思，在此情况下，既在纵向方向上相对于所讨论的车辆的当前行驶方向又在横向方向上相对于其来确定这些距离或相对速度。因为这些距离和相对速度可以各自在雷达帮助下高准确度地确定并且另外相应的雷达系统通常在任何情况下特别是在相对高的车辆速度的情况下与驾驶员辅助系统结合使用(例如，如果周围环境的摄像机辅助检测不再足够)，因此使用已经存在的硬件，可以很容易地实现本发明。
此外，根据本发明的各自弯曲半径的计算使用随后详细导出的相对简单的计算法则，其结果是在行驶期间可靠且快速预测的弯曲信息可以在任何时候可用。该弯曲信息然后可以通过转向系统或其他辅助系统用于——例如——(紧急)回避辅助。
根据一个实施例，用雷达辅助测量距离和/或相对速度。
根据一个实施例，使用方程计算弯曲半径
其中lx和ly表示在纵向方向或横向方向上相对于车辆的当前行驶方向的车辆和另一车辆之间的距离，并且vrel,x和vrel,y表示在纵向或横向方向上相对于车辆的当前行驶方向的相对速度。
在根据本发明的方法的一个优选实施例中，确定的弯曲信息用于提高用于驾驶员辅助系统的管理。
在根据本发明的方法的一个特别优选的实施例中，确定的弯曲信息用于(紧急)回避辅助。
本发明还涉及用于确定车道配置文件数据的装置，该装置配置成执行具有上面描述的特征的方法。关于装置的优势和优选改进，参考上面与根据本发明的方法有关的陈述。
可以在说明书和从属权利要求中发现本发明的更多改进。
下面使用示例性实施例并且参考附图更详细地解释本发明。
附图说明
图1是显示了以各自轨迹的半径R的形式解释根据本发明的直接在车辆前面的道路的弯曲信息的确定的示意图。
具体实施方式
单个附图1显示了以各自轨迹的半径R的形式解释根据本发明的直接在车辆前面的道路的弯曲信息的确定的示意图。在这样的情况下，在图1中，执行根据本发明的方法并且装备有根据本发明的装置的车辆由“A”表示，并且在前面行驶的另一车辆由“B”表示。
根据本发明，用雷达辅助测量在纵向方向(x方向)和横向方向(y方向)上的车辆A和B之间的距离以及在纵向和横向方向上车辆A和B之间的相对速度。在这样的情况下，在图1中在纵向和横向方向上的车辆A和B之间相对速度由vrel,x和vrel,y表示。在纵向方向(x方向)上和横向方向(y方向)上的车辆A和B之间的距离分别由lx和ly表示。
根据图1，车辆A正在x方向上行驶，以及因此仅具有在纵向方向上相对于当前行驶方向的速度分量vx。根据图1，下面的关系式(1)至(3)适应于以速度vt在车辆A的前面行驶的车辆B的在纵向和横向方向上的速度分量vt,x和vt,y：
此外，根据图1，下面的关系式(4)和(5)适用于在纵向方向(x方向)和横向方向(y方向)上的车辆A和B之间的距离：
从(3)到(4)，遵循：
从(2)和(5)遵循：
从(6)和(7)转而遵循：
根据半径R产生的方程(8)的解答
以下应用关于在前面行驶的车辆B的速度分量vt,x和vt,y与在纵向和横向方向上的车辆A和B的相对速度之间的关系式：
vt,x＝vx+vrel,x (11)
vt,y＝vrel,y (12)
其结果是从方程(9)遵循：
根据方程(10)，因此可以根据关于在纵向和横向方向上的车辆A和B之间的距离的测量值以及在纵向和横向方向上的车辆A和B之间的相对速度来计算半径R。

Claims (6)

1.一种用于确定车辆的车道配置文件数据的方法，直接在所述车辆前面的所述道路配置文件是根据与在所述车辆前面行驶的另一车辆的行驶有关的数据来确定的，
其中
所述方法包括以下步骤：
测量既在纵向方向上相对于所述车辆(A)的当前行驶方向又在横向方向上相对于所述车辆(A)的当前行驶方向的所述车辆(A)和所述另一车辆(B)之间的距离；
测量既在所述纵向方向上相对于所述车辆(A)的所述当前行驶方向又在所述横向方向上相对于所述车辆(A)的所述当前行驶方向的所述车辆(A)和所述另一车辆(B)之间的相对速度；
根据所述测量的距离和相对速度来计算直接在所述车辆前面的所述道路配置文件的弯曲半径。
2.如权利要求1所述的方法，
其中
用雷达辅助测量所述距离和/或所述相对速度。
3.如权利要求1或2所述的方法，
其中
使用方程计算所述弯曲半径：
其中lx和ly表示在所述纵向方向或所述横向方向上相对于所述车辆(A)的所述当前行驶方向的所述车辆(A)和所述另一车辆(B)之间的所述距离，并且vrel,x和vrel,y表示在所述纵向或横向方向上相对于所述车辆(A)的所述当前行驶方向的所述相对速度。
4.如上述权利要求中任一项所述的方法，
其中
所述确定的弯曲信息用于提高驾驶员辅助系统的管理。
5.如上述权利要求中任一项所述的方法，
其中
所述确定的弯曲信息用于(紧急)回避辅助。
6.一种用于确定车辆的车道配置文件数据的装置，直接在所述车辆前面的所述道路配置文件能够根据与所述车辆前面行驶的另一车辆的行驶有关的数据来确定，
其中
所述装置配置成执行如上述权利要求中任一项所述的方法。
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