CN107082071A - Method and assist device for preventing unintentional departure from lane - Google Patents

Method and assist device for preventing unintentional departure from lane Download PDF

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Publication number
CN107082071A
CN107082071A CN 201610256909 CN201610256909A CN107082071A CN 107082071 A CN107082071 A CN 107082071A CN 201610256909 CN201610256909 CN 201610256909 CN 201610256909 A CN201610256909 A CN 201610256909A CN 107082071 A CN107082071 A CN 107082071A
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vehicle
lane
boundary
method
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CN 201610256909
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Chinese (zh)
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M·赛博尔德
S·劳赫
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宝马股份公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00Brake-action initiating means
    • B60T7/12Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/10Path keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/10Path keeping
    • B60W30/12Lane keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/02Estimation 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation 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
    • B60W40/02Estimation 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
    • B60W40/06Road conditions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D15/00Steering not otherwise provided for
    • B62D15/02Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network
    • G01C21/28Navigation; Navigational instruments not provided for in preceding groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30Map- or contour-matching
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08Lane monitoring; Lane Keeping Systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08Lane monitoring; Lane Keeping Systems
    • B60T2201/082Lane monitoring; Lane Keeping Systems using alarm actuation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08Lane monitoring; Lane Keeping Systems
    • B60T2201/083Lane monitoring; Lane Keeping Systems using active brake actuation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08Lane monitoring; Lane Keeping Systems
    • B60T2201/087Lane monitoring; Lane Keeping Systems using active steering actuation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062Adapting control system settings
    • B60W2050/0075Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0077Automatic parameter input, automatic initialising or calibrating means involving external transmission of data to or from the vehicle
    • B60W2050/0078Automatic parameter input, automatic initialising or calibrating means involving external transmission of data to or from the vehicle using Global Position System data
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems 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
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/89Radar or analogous systems specially adapted for specific applications for mapping or imaging

Abstract

The invention relates to a lane-nondeparture assist device and a method for preventing a vehicle driven by a driver from leaving a lane. The method comprises detecting a surrounding environment of the vehicle by using at least one first sensor, determining a current location of the vehicle based on the surrounding environment of the vehicle detected by the first sensor and stored surrounding environment data, wherein the current location is precise enough to identify the lane of the vehicle, reading a boundary of the lane from a navigation database according to the current location of the vehicle, determining whether the vehicle is at risk of leaving the lane based on the current location and/or speed and/or trajectory of the vehicle and the boundary of the lane read from the navigation database, and performing a kinematic intervention if the vehicle is at risk of leaving the lane.

Description

用于防止意外离开行车道的方法和辅助装置 A method for preventing the accidental leaving the roadway and auxiliary device

技术领域 FIELD

[0001] 本发明涉及一种方法和一种辅助装置,所述方法和辅助装置防止车辆意外地离开行车道. [0001] The present invention relates to a method and an auxiliary device, said auxiliary device and method to prevent a vehicle accidentally leaving the carriageway.

背景技术 Background technique

[0002] 在现有技术中已知这样的辅助装置,其在车辆的驾驶任务中辅助驾驶员.例如己知这样的间距辅助装置,当相对于其它车辆或站立物体的间距小于一定量时,则这些间距辅助装置将车辆制动•如果由该驾驶员操纵的车辆意外地离开当前车道,则车道保持辅助系统警告车辆的驾驶员。 [0002] Such auxiliary devices are known in the prior art, which assist the driver in the vehicle driving tasks. For example known auxiliary means such as a pitch, when standing relative to other vehicles or objects spacing is less than a certain amount, the pitch of the vehicle means a vehicle brake assist • if accidentally operated by the driver to leave the current lane, the lane keeping assist system to warn the driver of the vehicle.

[0003] 现有技术中的车道保持辅助系统借助于在车辆上安装的传感器、例如照相机来探测,车辆是否处在车道或行车道中或者是否会意外地离开该车道或行车道.传感器探测车道的边界线。 [0003] The prior art lane keeping aid system by means of sensors installed on the vehicle, such as a camera to detect whether the vehicle is in a lane or lanes, or whether to leave the lane or roadway unexpectedly. Lane detection sensor borderline. 如果车道保持辅助系统确定存在车辆可能离开当前车道的危险,则驾驶员例如由一个在方向盘上的小扭矩或者通过方向盘的振动被警告并被要求、被干预.在现有技术的系统的情况下,驾驶员必须将车辆再次带到正确的车道上。 If the system determines that the lane keeping assist dangerous vehicle may leave the current lane is present, for example, the driver is warned and asked by a small torque on the steering wheel or by the vibration of the steering wheel, the intervention of the system in the prior art the driver of the vehicle must be brought to the right lane again. 这种车道保持系统的缺陷在于,它必须由驾驶员专注地参与。 This lane keeping system flaw is that it must focus on participation by the driver.

[0004] 所谓的维也纳协议要求,即使在高度自动化的驾驶的情况下(其中控制装置承担关于车辆驾驶的控制)驾驶员也必须随时能承担关于车辆的控制.用于高度自动化驾驶的功能必须通过驾驶员来激活. [0004] The so-called Vienna agreement, even in the case of highly automated drive (wherein the control means assumes control of the vehicle driving on) the driver must always be able to assume control of the vehicle about. For highly automated driving function must the driver to activate.

[0005] 现有技术中的车道保持辅助系统仅仅发送给驾驶员一个警示,并不主动地介入到驾驶任务中.此外,现有技术中的车道保持辅助系统一般性而言在车道的边界线上定向,这些边界线在行驶期间通过传感器探测到。 [0005] prior art lane keeping assist system only to send a warning to the driver, is not actively involved in the driving task. In addition, the prior art lane keeping assist system boundary lines in general terms lane the orientation, the boundary lines detected by the sensor during the travel. 这种类型的探测与行车道边界线的情况和气候相关• This type of detection and lane boundary line circumstances and climate-related •

[0006] DE102010029222A1涉及一种用于横向引导辅助的车道保持辅助系统,车道保持辅助系统在离开当前车道情况下将两个不同的反馈扭矩施加到方向盘上. [0006] DE102010029222A1 relates to a lateral guide assistance for a lane keeping assistance system, a lane keeping assist system in a case where the current lane departure two different feedback torque applied to the steering wheel.

[0007] US8095266B2公开了一种车道保持辅助系统,该车道保持辅助系统具有一个传感器和一个补偿单元,用于评估角度偏移和偏移距离. [0007] US8095266B2 discloses a lane keeping assistance system, the lane keeping aid system having a sensor and a compensating unit for evaluating angular offset and the offset distance.

[0008] EP1371948A2公开了一种用于识别故意的或意外的车道变换的系统,其中,在考虑相机数据和导航数据的情况下来识别离开车道,同时在此基础上实施用于防止离开车道的操纵干预。 [0008] EP1371948A2 discloses a system for identifying a deliberate or accidental lane change, wherein, in consideration of camera data and navigation data down a lane departure recognition, simultaneously manipulated for preventing lane departure on the basis of intervention.

[0009] DE102004045483A1公开了用于识别驾驶员注意力缺失的方法和装置,其中,当识别到马上发生离开车道时,仅在识别到注意力缺失的情况下才实施转向干预,在此使用图示的数据。 [0009] DE102004045483A1 discloses a method and apparatus for identifying the driver's attention deficit, wherein, when the lane departure place immediately recognized, recognizing only the case where attention deficit steering intervention only embodiment, illustrated herein using The data.

[0010] DE102010014946A1公开了一种车道保持辅助装置,其在一个紧迫的危险情况下执行一个转向干预。 [0010] DE102010014946A1 discloses a lane keeping assist device, which performs a steering intervention in a case of imminent danger.

发明内容 SUMMARY

[0011] 本发明的任务在于,提供一种改进的用于防止车辆离开车道的方法和一种改进的用于防止离开车道的辅助装置。 [0011] The object of the invention to provide an improved support device for preventing the vehicle leaves the lane and an improved method for preventing lane departure.

[0012] 本发明的任务通过按照权利要求1的方法和按照权利要求10的行车道-不离开辅助装置来解决.从属权利要求给出优选的实施形式。 [0012] The object of the invention by a method according to claim 1 and according to claim 10, the traffic lane - without departing from the auxiliary device to solve the preferred embodiment given in the form of the dependent claims.

[0013] 按本发明的用于防止车辆离开行车道的方法包括:利用至少一个第一传感器探测车辆周围环境的步骤和根据利用第一传感器探测的车辆周围环境和存储的周围环境数据来确定车辆的当前位置的步骤,其中,当前位置具有足以识别车辆所处的车道或行车道的精度。 [0013] according to the present invention prevents the vehicle leaving the roadway method comprising: using a first sensor to detect at least one step and the surroundings of the vehicle is determined according to the vehicle surroundings data of the vehicle detected by the first sensor and the ambient environment of the store the current position of the step in which the current position of the vehicle is located has sufficient to identify a lane or lanes accuracy. 车辆周围环境可以包括道路的周围环境。 The vehicle environment can include the surrounding environment of the road. 所述方法根据车辆的当前位置从导航数据库中读取行车道的边界.所述方法根据车辆的当前位置和/或速度和/或轨迹和从导航数据库中读取的行车道边界来确定:是否存在车辆可能离开行车道的危险。 The method reads the current position of the vehicle from the navigation database of the traffic lane boundary is determined according to the method of the current position of the vehicle and / or velocity and / or trajectory and the road boundary is read from the navigation database: if there is the risk of the vehicle may leave the carriageway. 在一种实施形式中, 所述方法可以确定:在车辆的当前位置和从导航数据库中读取的行车道边界之间的偏差是否低于一个预定的阈值。 In one embodiment, the method may determine: a deviation between the current position of the vehicle and the road boundary is read from the navigation database is below a predetermined threshold value. 如果确定存在车辆可能离开行车道的危险,则所述方法执行一个运动学干预.在一种实施形式中,如果在车辆的当前位置和行车道边界之间的偏差低于一个预定的阈值,则所述方法可以执行所述运动学干预. If determined that there is the danger of the vehicle may leave the lane, the method performs a kinematic intervention. In one embodiment, if the deviation between the current position of the vehicle and the road boundary is lower than a predetermined threshold value, the kinematic intervention the method may be performed.

[0014] 运动学干预可以是一个转向干预和/或一个制动干预. [0014] Kinematic intervention may be a steering intervention and / or a braking intervention.

[0015] 车辆的当前位置的确定可以通过借助于所存储的周围环境数据对利用第一传感器探测的车辆周围环境的处理来实现.对此例如可以使用所谓的SLAM( synchronous localisation and mapping)方法•自动化行驶的车辆为了高精度的自身定位而使用特别精确的导航数据,这些导航数据的精度足以确定车辆所处的车道。 [0015] determines the current position of the vehicle may be achieved by means of the data stored in the ambient environment of the processing by the first sensor to detect the vehicle surroundings. For example this may be used a so-called SLAM (synchronous localisation and mapping) method • automated vehicle traveling in order to accurately position itself in the use of particularly precise navigation data, the navigation data precision sufficient to determine the lane of the vehicle is located. 由此在车辆行驶方向上和横向于车辆行驶方向的位置可如此精确地确定,使得可以确定车辆处于哪个车道上. [0016]在另一种实施形式中,所述方法可以根据车辆的当前位置和/或速度和/或轨迹确定一个预测轨迹并检查:该预测轨迹是否可能超出行车道边界.该方法特别适合于较高的速度情况下.尤其在高速情况下,车辆的与行车道相关的驶向角偏差可能在短时间内就导致离开行车道。 And whereby the position of the vehicle transversely to the direction of travel can thus be accurately determined in the vehicle traveling direction, making it possible to determine which lane the vehicle is in. [0016] In another embodiment, the method according to the current position of the vehicle and / or speed and / or the predicted trajectory and a trajectory determination checked: whether the predicted trajectory may exceed the boundaries of the roadway method is particularly suitable for higher speeds, especially at high speeds, lane associated with the vehicle heading angle deviation might lead to left lane in a short time.

[0017]本发明能实现行车道的车道变换,但同时防止离开行车道.本发明能实现更安全的车辆驾驶,即使当驾驶员未激活自主驾驶时,因为所述方法可自动地被激活,只要存在具有对于被车辆驶过的行车道部段所要求精度的导航数据。 [0017] The present invention enables a lane change of lane, but at the same time preventing the traffic lane departure. The present invention enables a safer driving of the vehicle, even when the driver is not activated autonomous driving, since the method may be automatically activated, as long as there is a navigation data for the required accuracy of the vehicle lane section of the passing. 因此可改善安全性,即使驾驶员未激活自主驾驶•由此能实现,驾驶员逐渐信赖于自主驾驶。 It can improve security, autonomous driving even if the driver is not activated • This enables the driver to rely increasingly autonomous driving.

[0018]本发明的另一个优点在于,可以与道路标志的存在和/或状况无关地防止所述离开行车道. [0018] Another advantage of the invention is that it can be prevented irrespective of the presence and / or status of the road sign to leave the lane.

[0019]所述方法在一种实施形式中可扩展成,使得当车辆超出车道或行车道的边界时不执行运动学干预。 [0019] The method can be extended to form In one embodiment, such kinematic intervention is not performed when the vehicle exceeds the boundary of the lane or lane when. 驾驶员可以如此控制车辆,使得该驾驶员可以变换车道或行车道而不发生对车辆控制的干预•对车辆控制的干预只有当存在离开行车道的危险时才进行. So the driver can control the vehicle so that the driver can change lanes or lane of vehicle control interventions • intervention of the vehicle control is performed only when there is danger of leaving the lane without the risk.

[0020]导航数据库的精度可以具有小于+/-0• 5m、优选小于+/-〇. 2m、更优选小于+/-〇. lm 的位置误差。 Accuracy [0020] The navigation database may have less than +/- 0 • 5m, preferably less than +/- billion. 2m, more preferably less than +/- square. Lm of position error. 导航数据库的数据的精度可以大约与在行车道边缘和行车道边缘标志、例如行车道边缘标志中线或和行车道边缘标志外边缘之间的间距一样大。 The accuracy of the navigation data database may be approximately the edge of the lane and the road edge markers, e.g. traffic lane edge or marker line and the road edge flag as large as the distance between the outer edges.

[0021]由第一传感器探测的周围环境可以包括路边栽培、护栏、引导柱、交通标志牌、地面标志、灯杆、桥形路标牌、建筑工程和/或建筑物。 [0021] detected by the surroundings sensor may include a first planting a roadside, guard rails, guide posts, traffic signs, landmarks, lampposts, bridge-shaped road signs, construction and / or building.

[0022]所述方法可以借助于第二传感器探测行车道的边界•例如可以探测行车道边界的^志物。 [0022] The method may be by means of a second sensor for detecting the traffic lane boundary can be detected, for example, • roadway Chi ^ boundary thereof. 所述方法可以将从导航数据库中读取的行车道边界应用于确定是否存在车辆可能离开行车道的危险.这些步骤可被用于,验证在导航数据库中的数据,以便例如识别由于建筑工地引起的在结构上的变化。 The method may be from the traffic lane boundary is applied to the read navigation database to determine whether the vehicle may leave the roadway hazard is present. These steps may be used to verify the data in the navigation database in order to identify, for example, due to a construction site because changes in the structure.

[0023]所述方法可以确定:在由第二传感器测定的行车道边界和从导航数据库中读取的行车道边界之间的偏差超过一个预定的阈值.如果在由第二传感器测定的行车道边界和从导航数据库中读取的行车道边界之间的偏差超过一个预定的阈值,则所述方法可以警告驾驶员•如果导航数据库不是最新的或在车辆所行驶的行车道部段中建立有建筑工地时,该情况可能会出现. [0023] The method may determine: a deviation between the boundary determined by the traffic lane and a second traffic lane boundary sensor read from the navigation database exceeds a predetermined threshold value, if the measurement by the second sensor lane. deviation between the boundary and the road boundary is read from the navigation database exceeds a predetermined threshold value, the method may • warning the driver if the navigation database or not current based on the lane the vehicle is traveling section has when the construction site, this situation may occur.

[0024]第一传感器和/或第二传感器可以具有照相机、立体相机、雷达传感器、激光雷达传感器和/或这些传感器或另外的传感器任意组合。 [0024] a first sensor and / or the second sensor may be a camera, a stereo camera, radar sensor, lidar sensor and / or any combination of these sensors, or additional sensors. 第一传感器可以探测道路的周围环境。 The first sensor may detect the surroundings of the road. 第二传感器可以探测在车辆的周围环境中的行车道。 The second sensor may detect the traffic lane in the surroundings of the vehicle.

[0025]所述方法可以确定,车辆驾驶员是未集中注意力的和/或是分心的。 [0025] The method may determine, of the vehicle is not in focus and / or distraction. 在一种实施形式中,仅当存在车辆可能离开行车道的危险并确定驾驶员是未集中注意力的和/或分心的时,所述方法才可以执行所述运动学干预。 In one embodiment, only when there is risk of the vehicle may leave the lane and determining that the driver is not concentrating and / or when distracted, the method may be performed before the intervention kinematics.

[0026]由此可以使所述方法的错误触发的次数减少,因为所述系统仅当驾驶员意外地接近行车道边界时才执行运动学干预。 [0026] thereby allowing the number of errors of the method of triggering reduction, since the system only when the driver inadvertently performs the kinematic intervention when approaching the traffic lane boundary.

[0027]当确定车辆驾驶员执行一个允许的车道变换时,所述方法可以不执行运动学干预•当确定车辆驾驶员执行一个允许的超车过程时,所述方法可以不执行运动学干预。 [0027] When it is determined to allow the vehicle driver performs a lane change, the method may be performed without intervention • kinematic vehicle driver when it is determined to allow the implementation of a process of overtaking, the method may not perform kinematic intervention. 当确定驾驶员如此操纵车辆,使得该车辆离开行车道,为了到达其它的交通区域时,所述方法可以不执行运动学干预.由此也可以减少错误触发的次数.所述其它的交通区域可以是其它道路、入口、出口、停车场或类似物。 When determining that the driver maneuvering the vehicle so that the vehicle leaves the traffic lane, the traffic in order to reach the other area, the process may not be performed kinematic intervention. Thus the number of false triggering can also be reduced. The other traffic areas can other roads, entrances, exits, parking lot or the like. 替选地或附加地,控制装置可以构造用于:当车辆以很小的速度行驶、例如当应停泊在行车道附近的不属于行车道的区域上时允许超出行车道边界。 Alternatively or additionally, the control means may be configured to: when the vehicle is traveling at a very small rate, for example, when the row should be parked on a region in the vicinity of the roadway are not allowed to exceed a lane roadway boundary. 替选于此或附加地,所述控制装置可以构造用于:即使当车辆以高速行驶、例如当同时被其它的辅助系统探测到一个危险处境、例如在该车辆所使用的车道上迎面驶来车辆时允许超出行车道边界. Alternatively or in addition thereto, the control means may be configured to: even when the vehicle is traveling at a high speed, for example, be detected simultaneously when the other auxiliary systems to a dangerous situation, e.g. oncoming lane on which the vehicle is used It exceeds the allowable vehicle lane boundary.

[0028]所述方法可以根据利用导航系统读取的行车道边界确定在一个弯道中的最大允许速度。 [0028] The method may determine the maximum allowable speed in accordance with a curve of the traffic lane boundary of the navigation system reads. 如果超出了根据最大允许速度确定的极限速度,则所述方法可以执行一个运动学干预。 If it exceeds the limit speed determined according to the maximum allowable speed, the method may perform a kinematic intervention. 由此可以及早地确定:车辆过快地驶入弯道中并且在进入危险处境之前可触发必要的制动干预。 It can be determined as soon as possible: a vehicle entering a curve too quickly and before entering the dangerous situation that can trigger the necessary braking interventions.

[0029]本发明也涉及一个计算机程序产品,当计算机程序产品被装入一个带有处理器的计算机的存储器中时,该计算机程序产品执行前面描述的方法。 [0029] The present invention also relates to a computer program product, when loaded into a computer program product is a computer with a processor, a memory, the computer program product to perform the method described above.

[0030]本发明还涉及一种行车道-不离开辅助装置,该行车道-不离开辅助装置具有第一传感器,该第一传感器构造用于,探测车辆的周围环境。 [0030] The present invention further relates to a roadway - auxiliary device without departing from the roadway - without departing from the auxiliary device having a first sensor, the first sensor is configured for detecting the vehicle surroundings. 车辆周围环境也包括道路的周围环境。 The vehicle environment also includes the surrounding environment of the road. 所述行车道-不离开辅助装置包括位置确定装置,该位置确定装置构造用于:根据利用第一传感器探测的车辆周围环境和存储的周围环境数据来确定车辆的当前位置。 The roadway - without departing from the auxiliary device includes a position determining means, the position determining means is configured for: determining a current position of the vehicle based on data of the vehicle surroundings detected by the first sensor and the ambient environment of the store. 所述位置确定装置具有足以识别车辆所处的车道或行车道的精度。 Said position determining means having sufficient to identify the lane in which the vehicle or the accuracy of the traffic lane. 所述行车道-不离开辅助装置包括行车道边界确定装置,行车道边界确定装置构造用于:根据车辆的当前位置从导航数据库中读取行车道的边界•此外,行车道-不离开辅助装置包括检查装置,该检查装置构造用于:根据车辆的当前位置和/或速度和/或轨迹以及从导航数据库中读取的边界来检查,是否存在车辆可能离开行车道的危险。 The roadway - without departing from the auxiliary device comprises a traffic lane boundary determining means configured lane boundary determining means for: • reading the roadway boundary from the navigation database according to the current position of the vehicle Further, the traffic lane - without departing from the auxiliary device includes checking means, the inspection apparatus is configured to: according to check and / or velocity and / or trajectory of the current position of the vehicle and the boundary is read from the navigation database, whether the vehicle may leave the roadway hazard exists. 所述行车道_不离开辅助装置也包括控制装置,该控制装置构造用于:当存在车辆可能离开行车道的危险时执行一个运动学干预. _ Not leave the roadway support device also comprises a control means, the control means is configured to: perform a kinematic intervention when there is a risk of the vehicle may leave the lane.

[0031]本发明也涉及一种具有行车道-不离开辅助装置的车辆。 [0031] The present invention also relates to a roadway - without leaving the vehicle auxiliary device.

附图说明 BRIEF DESCRIPTION

[0032]现在参考附图来阐述本发明,该附图示出了本发明一个非限制性的实施形式,其中: [0032] Referring now to the accompanying drawings to illustrate the present invention, the drawings show a non-limiting embodiment of the present invention, wherein:

[0033]图1不出了一个不例性的交通场景。 [0033] FIG. 1 does not an embodiment of the traffic scene.

具体实施方式 Detailed ways

[0034]图1示出了一个车辆100,在该车辆中设有按本发明的行车道-不离开辅助装置101 并且在该车辆中执行用于防止离开行车道202的方法。 [0034] FIG 1 illustrates a vehicle 100, is provided according to the present invention, the traffic lane in the vehicle - the method 101 without departing from the auxiliary device and executed in the vehicle for preventing the traffic lane departure 202. 行车道-不离开辅助装置101包括第一传感器102,该第一传感器例如可以具有照相机、立体相机、雷达传感器、激光雷达传感器和/或这些传感器或其它传感器的任意组合.第一传感器102探测车辆100的周围环境并且可以在一种实施形式中探测尤其是道路200的周围环境。 Lane - without departing from the auxiliary device 101 comprises a first sensor 102, the first sensor may, for example, a camera, a stereo camera, radar sensor, lidar sensor and / or any combination of these sensors and other sensors of the first sensor 102 to detect the vehicle. 100 and ambient surroundings can be detected, especially road 200. in one embodiment form.

[0035] 道路200的周围环境可以包括护栏206、交通标志208、引导柱212、220以及建筑物214、216、218•用于探测在车辆100和/或道路200的周围环境中的这些物体的适宜的传感器是本领域技术人员已知的并且在简明的意义中在此不必进一步描述。 Nearby [0035] The road guardrail 200 may include 206, 208 traffic signs, guide posts 212,220 and 214,216,218 • building for detecting objects in the surroundings of the vehicle 100 and / or 200 in the road suitable sensors are known to the skilled person and need not be further described herein in the sense of simplicity.

[0036]另外,车辆包括天线103,该天线可以接收多个卫星的信号.天线103连接到卫星定位系统105、例如全球导航系统(GNSS)上,该卫星定位系统可以确定车辆100的位置,该位置具有在约+/-2m至约10m范围内的位置偏差。 [0036] Further, the vehicle includes an antenna 103, the antenna can receive satellite signals from a plurality of antenna 103 is connected to a satellite positioning system 105, for example, a global navigation system (the GNSS), the satellite positioning system can determine the location of the vehicle 100, the a position having a positional deviation in the range from about +/- 2m to about 10m.

[0037] 另外,车辆100包括导航数据库107,在该导航数据库中存储有周围环境数据.周围环境数据包括关于在道路的周围环境中的物体206、208、212、214、216、218、220的信息。 [0037] Further, vehicle 100 includes a navigation database 107, data is stored in the surroundings of the navigation database. Surroundings comprising data about an object in the surroundings of the road in 206,208,212,214,216,218,220 information. 这些物体能够以任意方式、例如基于模型或以其它任意方式保存在导航系统107的数据库中. These objects can be in any manner, for example, based on a model or in any other way stored in a database of the navigation system 107.

[0038] 车辆100包括位置确定装置108,该位置确定装置根据由第一传感器102探测的车辆100和/或行车道200的周围环境以及根据在导航数据库107中存储的关于在道路200的周围环境中的物体206、208、212、214、216、218、220的数据来确定车辆100沿着行驶方向和横向于车辆100的行驶方向的位置.对此可以使用用于精确地自身定位的方法,这些方法对于本领域技术人员来说例如作为SLAM(Synchrones Lokalisieren und Zuordnen;同步定位和映射)方法已知。 [0038] The vehicle 100 comprises position determining means 108, which position determining means of the vehicle detected by the sensor 102 of the first 100 and / or the lane 200 and ambient surroundings according to the road on 200 stored in the navigation database 107 according to the data of the object is determined 206,208,212,214,216,218,220 vehicle traveling direction 100 and transverse to the traveling direction of the position of the vehicle 100. this method may be used for accurately positioning itself, these methods for the skilled person, for example, as SLAM (Synchrones Lokalisieren und Zuordnen; simultaneous localization and mapping) method is known. 辅助地可以使用卫星导航系统105的数据。 It may be used to assist the satellite navigation system data 105. 在一种实施形式中,位置确定装置108可以使用卫星位置确定装置105的具有第一精度的位置信息,以便确定一个粗略位置.借助于由第一传感器102探测的车辆100和/或道路200的周围环境以及在导航数据库107中存储的关于道路200的周围环境的信息可确定车辆100的具有第二精度的位置,该第二精度相比第一精度具有更小的位置误差。 In one embodiment, the location determining means 108 may use the position information satellite position determining means 105 with a first accuracy to determine a coarse position 100 and / or road vehicle by means of the detection by the first sensor 102 200 surroundings and determine the location of the vehicle 100 having a second accuracy in the navigation information stored in the database 107 regarding the surroundings of the road 200, as compared to the second accuracy of the first position with precision of less error. 第二精度可以具有小于+/_〇.5m、优选小于+/-0.2m、更优选小于+厂〇. lm的位置误差。 The second accuracy can be less than + / _ 〇.5m, preferably less than +/- 0.2m, more preferably less than + plant square. Lm of position error.

[0039] 在乡村道路200的车道202上行驶的车辆100也包括行车道边界确定装置110,该行车道边界确定装置构造用于:从导航数据库107中读取出在车辆100的位置处的行车道202 边界203、220。 [0039] 202 in the lane rural road 200 100 also includes a vehicle traveling lane boundary determination means 110, the traffic lane boundary determining means is configured to: read at a driving position of the vehicle 100 from a navigation database 107 202 boundary Road 203,220. 另外,行车道-不离开辅助装置101包括检查装置112,该检查装置构造用于: 检查在车辆100的当前位置和从导航数据库中读取的行车道202边界203、220之间的偏差是否低于一个预定的阈值。 Further, lane - without departing from the auxiliary device 101 comprises a checking means 112, the inspection apparatus is configured to: check the boundary between the current position of the vehicle 202 and the road 100 is read from the navigation database 203,220 deviation is lower to a predetermined threshold value.

[0040] 另外,行车道-不离开辅助装置101包括控制装置114,该控制装置构造用于:当在车辆101的当前位置和行车道202的边界203、220之间的偏差低于一个预定的阈值时,执行一个运动学干预. [0040] Further, the traffic lane - without departing from the auxiliary device 101 comprises a control device 114, the control means is configured to: when the deviation between the current position of the vehicle 101 and the lane boundary 202 is less than a predetermined 203,220 when the threshold value, the implementation of a kinematic intervention.

[0041] 所述运动学干预可以是对车辆转向的干预,例如电助力转向.所述运动学干预也可以是制动措施的触发,例如在一个制动辅助装置的情况下和/或在一个间距调节装置和/ 或一个速度调节装置的情况下• [0041] The kinematic intervention may be a vehicle steering intervention, such as an electric power steering. The intervention may be triggered kinematic braking measures, for example in the case of a brake assist device and / or a the case where the spacing adjustment means and / or a speed adjustment means •

[0042] 车辆可以具有第二传感器104,该第二传感器探测行车道202的边界.第二传感器104也可以具有照相机、立体相机、雷达传感器、激光雷达传感器或所述的传感器的组合。 [0042] The vehicle 104 may have a second sensor, the second sensor 202 detect the traffic lane boundary. The second sensor 104 may also have a combination of a camera, a stereo camera, radar sensor, lidar sensor or sensors. 控制装置114可以使用从导航数据库107中读取的行车道202边界203、220来判断:是否需要一个运动学干预,如果由第二传感器1〇4测定的行车道202边界203、220相对于从导航数据库107中读取的行车道202边界2〇3、220具有低于预定的阈值的位置偏差的话。 The control device 114 may be used to read from the navigation database 107 in lane boundaries 203,220 202 determines: whether a kinematic intervention, if the boundary of the second sensor 202 1〇4 measured with respect to the traffic lane from 203,220 lane boundary 202 navigation database 107 having read 2〇3,220 positional deviation is below a predetermined threshold then. 因此,第二传感器104用于所述方法和所述行车道-不离开辅助装置1〇1的监控。 Thus, the second sensor 104 and the method for the roadway - 1〇1 without departing from the auxiliary device to monitor. 第二传感器104可能是必要的,以便识别建筑工地和/或更改的交通路线• The second sensor 104 may be necessary to identify construction sites and / or change of traffic routes •

[0043] 如果控制装置112确定在由第二传感器104测定的行车道202边界203、220和从导航数据库107中读取的行车道202边界203、220之间的偏差超过一个预定的阈值,则驾驶员被警告。 [0043] If the control device 112 determines a deviation between the boundary 202 is measured by the second sensor 104 roadway lane boundaries 203,220 and 202 read from the navigation database 107 203,220 exceeds a predetermined threshold value, the driver is warned. 当导航数据不再是最新的、行车道已发生结构变化和/或一个建筑工地已建立时, 这种情况就可能会出现.在该情况下,按本发明的方法和行车道-不离开辅助装置1〇1可被如此控制,使得即使当车辆1〇〇相对于从导航数据库中读取的行车道边界203、220的间距低于一个预定的阈值时也不执行运动学干预• When the navigation data is no longer current, changes in the structure and / or a construction site has been established when the lane has occurred, this situation may occur in this case, and the road according to the method of the present invention - without leaving the auxiliary 1〇1 means may be controlled so that the vehicle is not performed even when the phase 1〇〇 below a predetermined threshold value for the distance from the traffic lane boundary read navigation database 203,220 kinematics intervention •

[0044] 行车道-不离开辅助装置101可以与第三传感器106耦合,该第三传感器监控驾驶员的状态。 [0044] roadway - without departing from the auxiliary device 101 may be coupled to the third sensor 106, the third sensor monitoring the state of the driver. 第三传感器106例如可以是红外线-照相机或其它任意的由本领域技术人员己知的传感器。 The third sensor 106 may be, for example, an infrared - camera or by any other known to those skilled in the sensor. 第三传感器106可以确定:驾驶员未集中注意力、例如睡着了,眼睛未注视着道路,车辆的控制元件的操作和/或移动的电子设备的操作。 The third sensor 106 may determine that: the driver is not concentrating, sleep e.g., the eye is not watching the road, the control operation of the electronic device operating element of the vehicle and / or mobile. 控制装置II2可以仅当在车辆1〇〇的当前位置和行车道202边界203、22〇之间的偏差低于一个预定的阈值并且确定驾驶员未集中注意力时才执行运动学干预•由此可以使错误触发的次数减少。 II2 kinematic control means may perform intervention • whereby only when the deviation between the current position and 203,22〇 lane boundary 202 is less than a predetermined vehicle 1〇〇 threshold value and the driver is not determined to concentrate It can reduce the number of false triggers.

[0045] 控制装置112可如此设置,使得如果确定车辆1〇〇的驾驶员执行一个允许的变车道就不执行运动学干预.允许的车道变换可以是如下情况:车辆1〇〇的驾驶员操纵车辆1〇〇从右边方向车道202或者说右边车道202到对于乡村道路200的相反行驶方向的方向车道204 或车道204上,以便超越其它车辆224 •控制装置112可设置用于:当驾驶员如此控制车辆100,使得该车辆离开行车道2〇〇,以便到达一个形成另外的交通区域的停车场210时,则不执行运动学干预. _ [0045] The control means 112 may be arranged such that if the driver of the vehicle 1〇〇 determines to perform a lane change is not performed to allow the intervention allows kinematic lane change may be the case: the vehicle driver steering 1〇〇 1〇〇 vehicle from the right side of the lane to the right lane 202 or 202 to the opposite direction of rural road 200 in the direction 204 on the lane or lanes 204 to 224 • beyond the other vehicle control apparatus 112 may be provided for: when a driver so controlling the vehicle 100, such that the vehicle leaving the carriageway 2〇〇, in order to reach a parking lot form additional transport region 210, kinematic intervention is not performed. _

[0046] 在另一种实施形式中,控制装置可构造用于:当车辆1〇〇以很小速度行驶时,例如当应被停泊在行车道旁边的不属于该行车道的区域上时,则允许超出行车道边缘203。 [0046] In another embodiment, the control means may be configured to: when the vehicle travels at a small 1〇〇 speed, for example when the upper region should be moored next to a lane not belonging to the lane line, it is allowed to exceed the traffic lane edge 203.

[0047] 在另一种实施形式中,控制装置可构造用于,例如当同时探测到一个危险处境、例如在自己的车道203上迎面驶来车辆时,即使当车辆1〇〇以高的速度行驶,也允许超出行车道边缘203。 [0047] In another embodiment, the control means may be configured to, for example, when a dangerous situation is detected simultaneously, for example in their own lane oncoming vehicle 203, even when the vehicle is at high speed 1〇〇 traveling beyond the traffic lane edge also allows 203.

[0048] 控制装置112可设置用于,根据从导航数据库中读取的行车道边界203、220来确定在一个弯道226中的最大允许速度,并且如果根据在弯道226中的最大允许速度确定的极限速度被超过,则执行运动学干预.所述极限速度可以借助于与最大允许速度的比例或偏差来确定。 [0048] The control device 112 may be provided for determining the maximum permissible speed in a curve 226 according to the traffic lane boundary is read from the navigation database 203,220, and if the maximum allowable speed in the curve 226 determining the limit speed is exceeded, the kinematic intervention performed. the limit speed may be determined with the maximum speed allowed by means of the ratio or deviation.

[0049]本发明的发明人出发点如下:行车道(其包括整个行车道连同所有的在结构上未分离的小路或车道)的离开始终形成一个行驶错误并且经常成为事故的原因•车辆必须在这种状况下执行一个驾驶措施,以防止离开行车道。 [0049] The inventors of the present invention is the starting point as follows: lane (which includes the entire lane with all structurally unseparated road or lane) leaving always causes a travel error and often becomes incident • vehicle must in this a driving measures to implement under such situation, in order to prevent the left lane. 这种类型的驾驶措施可以包括一个加强的车辆制动连同一个所谓的全制动。 This type of measures could include driving a vehicle braking, along with a strengthening of the so-called full braking. 本发明的优点是,如此避免离开行车道,即驾驶员不仅被警告,而且行车道-不离开辅助装置或所述方法主动地被干预到驾驶行为中。 Advantage of the invention is to avoid leaving the lane so that only the driver is warned, and roadway - without departing from the auxiliary device or the method being active interventions into the driving behavior. 由此可实现一个自动化或自主驾驶的初级阶段(Vorstufe),该驾驶相应于于维也纳-协议的当前规定。 The primary stage can be achieved thereby driving an automated or autonomous (Vorstufe), corresponding to the driver in Vienna - currently specified protocol. 为了提尚安全性,按本发明的方法或按本发明的行车道-不离开辅助装置的激活不通过驾驶员的操作实现。 In order to enhance the security is still, according to the method according to the present invention or the traffic lane according to the invention - without leaving the auxiliary activation means is not achieved by the driver's operation. 按本发明的行车道-不离开辅助装置或按本发明的方法可以自动地被激活,例如只要车辆的位置可例如基于在导航数据库中的关于行车道周围环境的数据足够精确地被确定. According to the present invention, the traffic lane - without departing from the auxiliary device or by the method of the invention can be activated automatically, for example, as long as the position of the vehicle may be, for example, data relating to the surroundings of the traffic lane based on the navigation database is determined with sufficient accuracy.

[0050]根据在导航数据库107中存储的信息、例如关于行车道202周围环境的信息,不仅行车道变化而且车道类型、例如高速公路或乡村道路都可以足够精确地被确定。 [0050] In accordance with the navigation information stored in the database 107, for example, information about the environment surrounding the roadway 202, not only the type of the lane and lane changes, for example, a highway or a country road can be determined with sufficient accuracy. 车辆相对行车道的精确位置可以通过一个GNSS系统和用于具有前面提及的精度的精确自身定位的其它技术被确定。 Other techniques opposite traffic lane of the vehicle by a precise location and a GNSS system having the aforementioned accuracy of positioning itself accurately determined. 这种类型的技术可以包括先前提及的SLAM方法。 This type of technique may include the previously mentioned method of SLAM. 按本发明的方法和行车道-不离开辅助装置101可以实现变换车道,如果这是允许,例如在转弯的情况下,在乡村道路上超车的情况下,在封闭村镇内部、在高速公路上、多车道乡村道路上或类似道路上任意车道选择的情况下。 And the road according to the method of the present invention - without departing from the auxiliary device 101 may be implemented change lanes, if this is allowed, for example, in the case of cornering, when overtaking a country road, towns and villages in the interior of the closure, on the highway, multi-lane rural roads or any similar case of road lane selection. 在乡村道路200上的超车过程例如可以通过如下方式被识别:通过控制装置112激活在车辆中的闪光器。 Overtaking process 200, for example, a country road may be identified by: flash is activated in the vehicle by the control device 112.

[0051]所述行车道-不离开辅助装置可以与一个撞车警告辅助装置相组合,该撞车警告辅助装置防止撞到其它的运动物体或静止物体上.由此可以使车辆100的安全性再度提高. [0052]本发明具有如下优点,其形成一个车辆完全自动驾驶的初级阶段,使得车辆100驾驶员习惯于自主驾驶.按本发明的行车道-不离开辅助装置或按本发明的方法只有当可能离开行车道并且因而对于车辆周围环境和/或对于车辆乘客存在大的危险时才执行一个运动学干预。 [0051] The roadway - without departing from the auxiliary device may be associated with a secondary collision warning apparatus in combination, the auxiliary means for preventing collision warning hit the moving objects or other stationary objects thereby allowing the safety of the vehicle 100 again increase. [0052] the present invention has the advantage, that the initial stage of forming a fully automated driving of the vehicle, so that the driver of the vehicle 100 are used to customize the driving lane according to the invention - without leaving the auxiliary apparatus or method according to the invention only when and thus may leave the traffic lane for the vehicle surroundings and / or a kinematic intervention performed when there is a large risk for the vehicle occupant.

Claims (10)

  1. 1. 用于防止由驾驶员操纵的车辆(100)离开行车道(202)的方法,该方法具有如下步骤: -利用至少一个第一传感器(102)探测车辆(100)周围环境; _根据利用第一传感器(1〇2)探测的车辆周围环境和存储的周围环境数据来确定车辆(100)的当前位置,其中,所述当前位置具有足以识别车辆(1〇〇)所处的车道(2〇2)的精度; -根据车辆(100)的当前位置从导航数据库(107)中读取行车道(2〇〇)的边界(203、 220); -根据车辆(1 〇〇)的当前位置和/或速度和/或轨迹和从导航数据库(107)中读取的行车道(200)边界(203、220)来确定,是否存在车辆(100)可能离开行车道(200)的危险;并且-如果确定存在车辆(1〇〇)可能离开行车道(200)的危险,则执行运动学干预。 A method for preventing a vehicle operated by the driver (100) away from the roadway (202), the method comprising the following steps: - using at least one first sensor (102) detects the vehicle (100) ambient; _ The use of which lane (2 surrounding the first environmental data sensor (1〇2) detecting the vehicle surroundings and the stored information to determine the current position of the vehicle (100), wherein the current position of the vehicle has sufficient identification (1〇〇) 〇2) accuracy; - reading (107) from a navigation database according to the current position of the vehicle (100) of the lane (2〇〇) a boundary (203, 220); - the current position of the vehicle (1 took office) of lane and / or velocity and / or trajectory and from a navigation database (107) read (200) boundary (203,220) to determine, whether there is a vehicle (100) may leave the roadway hazard (200); and - if the presence of the vehicle (1〇〇) may leave the roadway hazard (200), perform kinematic intervention.
  2. 2. 按权利要求1所述的方法,其特征在于: 当车辆(100)超出车道(202)的边界时,不执行运动学千预。 2. The method according to claim 1, wherein: when the boundary of the vehicle (100) beyond a lane (202) is not executed kinematic intervene.
  3. 3. 按权利要求1或2所述的方法,其特征在于: 所述导航数据库(107)的精度具有小于+/-0.5m、优选小于+/_〇.2m、更优选小于+/— 0. lm的位置误差. 3. The method according to claim 12, wherein: the accuracy of the navigation database (107) is less than +/- 0.5M, preferably less than + / _ 〇.2m, more preferably less than +/- 0 . LM position error.
  4. 4. 按权利要求1至3之一所述的方法,其特征在于: 由第一传感器(104)探测的周围环境至少包括如下之一: -路边栽培; -护栏(206); _ 引导柱(212、220); -交通标志牌(208); _地面标志; _灯杆; -桥形路标牌; -建筑工程;和/或-建筑物(214、216、218). 4. The method of claim 1 to claim 3, characterized in that: a first sensor (104) detects at least one of the surroundings including the following: - planting a roadside; - fence (206); _ guide post (212, 220); - traffic signs (208); _ landmarks; _ poles; - bridge road signs; - construction Engineering; and / or - buildings (214, 216).
  5. 5. 按权利要求1至4之一所述的方法,其特征在于: 所述方法具有如下步骤: -借助于第二传感器(104)探测行车道(202)的边界(203、220);并且-如果在由第二传感器(104)测定的行车道(2〇0)边界(2〇3、22〇)和从导航数据库(1〇7) 中读取的行车道(2〇0)边界(2〇3、220)之间的偏差不超过预定的阈值,则在确定是否存在车辆(100)可能离开行车道(200)的危险的步骤中使用从导航数据库(1〇7)中读取的行车道(202)边界(203、220)。 5. The method of claim 1 to claim 4, wherein: said method comprising the following steps: - by means of a second sensor (104) detects the lane (202) boundary (203,220); and - if (2〇0) boundary by the second sensor (104) measuring traffic lane (2〇3,22〇) and the road is read from the navigation database (1〇7) in (2〇0) boundary ( deviation between 2〇3,220) does not exceed a predetermined threshold value, it is determined whether there is a vehicle (100) may leave the lane (200) the step of using hazardous read from the navigation database (1〇7) of lane (202) boundary (203,220).
  6. 6.按权利要求1至5之一所述的方法,其特征在于: 所述方法具有如下步骤: -确定在由第二传感器(104)测定的行车道(2〇0)边界(203、220)和从导航数据库(1〇7) 中读取的行车道(200)边界之间的偏差超出了预定的阈值;并且_如果在由第二传感器(104)测定的行车道边界(2〇3、220)和从导航数据库(1〇7)中读取的行车道(200)边界之间的偏差超出预定的阈值,则警告驾驶员。 6. The method of claim 1 to claim 5, wherein: said method comprising the following steps: - determining (2〇0) boundary by the second sensor (104) measuring traffic lane (203,220 ) and the road is read from the navigation database (1〇7) (200) between the boundary deviation exceeds a predetermined threshold value; _ and, if the traffic lane boundary is defined by a second sensor (104) as measured in (2〇3 , 220) and the road (200) between the deviation exceeds a predetermined threshold boundary values ​​read from the navigation database (1〇7), then to alert the driver.
  7. 7. 按权利要求1至6之一所述的方法,其特征在于: 所述方法具有如下步骤: -确定车辆(100)的驾驶员是未集中注意力的;并且-如果存在车辆(100)可能离开行车道(200)的危险并且如果确定驾驶员是未集中注意力的,则执行运动学干预。 7. The method of claim 1 to claim 6, wherein: said method comprising the following steps: - determining a driver of the vehicle (100) is not in focus; and - if the vehicle is present (100) You may leave the roadway hazard (200) and if it determines that the driver is not concentrating, the kinematic intervention performed.
  8. 8. 按权利要求1至7之一所述的方法,其特征在于: 在如下情形中不执行运动学干预: -当确定车辆(1〇〇)的驾驶员执行一个允许的车道变换时; -当确定车辆(100)的驾驶员执行一个允许的超车过程时;和/或-当确定驾驶员如此操纵车辆(100),使得该车辆离开行车道(202),以便到达一个其它的交通区域(210)时。 8. The method of claim 1 to claim 7, wherein: kinematic intervention is not performed in the following cases: - when the vehicle is determined (1〇〇) allows the driver performs a lane change; - when the vehicle overtaking process determining (100) an allowable performed by the driver; and / or - when maneuvering the vehicle so the driver is determined (100), such that the vehicle leaving the roadway (202), in order to reach a region other traffic ( ) 210.
  9. 9. 按权利要求1至8之一所述的方法,其特征在于: 所述方法具有如下步骤: -根据从导航数据库中读取的行车道(200)边界(203、220)来确定在一个弯道(226)中的最大允许速度;并且-如果超出了根据在弯道(226)中的最大允许速度确定的极限速度,则执行运动学干预. 9. The method of claim 1 to claim 8, wherein: said method comprising the following steps: - (200) boundary (203,220) is determined in accordance with a lane read from the navigation database the maximum permissible speed curves (226); and - if it exceeds the limit speed determined according to the maximum allowable speed of the curve (226), perform kinematic intervention.
  10. 10.行车道-不离开辅助装置(101 ),其具有: -第一传感器(102 ),该第一传感器构造用于:探测车辆的周围环境; -位置确定装置(108),该位置确定装置构造用于:根据利用第一传感器探测的车辆周围环境和存储的周围环境数据来确定车辆的当前位置,其中,所述位置确定装置(108)具有一个精度,以便识别车辆(100)所处的车道(202); -行车道边界确定装置(110),该行车道边界确定装置构造用于:根据车辆(100)的当前位置从导航数据库(107)中读取行车道(202)的边界(203、220); -检查装置(112),该检查装置构造用于:根据车辆(100)的当前位置和/或速度和/或轨迹和从导航数据库(107)中读取的行车道(200)边界(203、220)来检查,是否存在车辆(100) 可能离开行车道(200)的危险;和-控制装置(114),该控制装置构造用于:如果确定存在车辆(100)可能离开行车道(200)的危险,贝lj执行 10. The roadway - without departing from the auxiliary device (101), having: - a first sensor (102), the first sensor is configured for: detecting the vehicle surroundings; - position determining means (108), which position determining means configured for: determining a current position of the vehicle based on data of the vehicle surroundings detected by the first sensor and the ambient environment of the store, wherein the location determining means (108) having a precision, in order to identify the vehicle (100) is located lane (202); - the traffic lane boundary determination means (110), the traffic lane boundary determining means is configured for: reading the traffic lane boundary (202) from a navigation database (107) based on the current position of the vehicle (100) ( 203,220); - checking means (112), the inspection apparatus configured to: read the current position of the vehicle (100) and / or speed and / or trajectory and from a navigation database (107) of the lane (200 ) border (203,220) to check whether there is a vehicle (100) may leave the roadway hazard (200); and - control means (114), the control means is configured to: if the presence of the vehicle (100) may leave dangerous lane (200), the shell performs lj 一个运动学干预。 A kinematic intervention.
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