CN111216725A - 车道变更辅助系统 - Google Patents
车道变更辅助系统 Download PDFInfo
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Abstract
本发明涉及车辆(21)中的车道变更辅助系统,其中车道变更辅助系统具有用于分别检测车辆的当前周围区域的传感器装置,并且该车道变更辅助系统被设计为在识别到车辆即将车道变更时根据传感器装置检测到的车辆周围区域中的第二车辆(25)产生警告信号和/或转向干预。在这种情况下,车道变更辅助系统被设计成基于地图数据(15)来抑制警告信号和/或转向干预的产生,特别是当车辆的车道改变到(例如相应的高速公路出口的)多车道道路(22)分支的新开放车道(23)时,第二车辆位于道路(22)分支的另一车道(24)中。
Description
技术领域
本发明涉及一种车道变更辅助系统。
背景技术
现代机动车辆越来越多地配备了车道变更辅助系统(LCW(Lane Change Warning)=车道变更警告)。如果第二车辆在相邻车道中(例如,在所谓的“盲区”内),则这种系统使驾驶员在开始车道变更时能够接收到避免碰撞警告。如果在相应的情况下检测到此类第二车辆,并且此外即借助于指示器激活而检测到即将发生的车道变更,类似于车道保持系统的转向干预自动地触发以防止车辆改变车道或至少给出警告。
DE 10 2010 014 499 A1尤其公开了一种运行用于机动车辆多车道转弯的车道保持系统的方法,其中识别出描述不同转弯车道的周围区域的数据,并且其中考虑到周围区域上的该数据,识别出描述在转弯区域中沿着行驶的车道的虚拟车道布局。虚拟车道布局用于参考和/或辅助机动车辆驾驶员,以及虚拟车道布局最好使用驾驶员视线内的抬头显示器进行显示。
实际上,在某些情况下可能会出现问题,因为上述警告信号或转向干预是在没有正当理由的情况下产生的。特别地,如果驾驶员激活指示器以离开高速公路,打算转入高速公路出口的新开放的第二车道,则可能存在这种情况。在这种情况下,在该高速公路出口的第一(右侧)车道上行驶的第二车辆可能会被识别为碰撞危险,并且会触发警告信号或转向干预,而实际上鉴于有两条车道可用不会发生碰撞。
发明内容
在上述背景下,本发明要解决的问题是提供一种车道变更辅助系统,其中避免了不必要的警告信号或转向干预,并且相应地提高了用户的舒适度。
根据独立专利权利要求1的特征解决了这个问题。
本发明涉及车辆中的车道变更辅助系统,其中,车辆具有用于提供地图数据的系统(例如,导航系统或与相应的云存储设备连接),其中,车道变更辅助系统具有用于分别检测车辆的当前周围区域的传感器装置,并且该车道变更辅助系统被设计为在识别到车辆即将车道变更时根据传感器装置检测到的车辆周围区域中的第二车辆而产生警告信号和/或转向干预。
在这种情况下,根据本发明的车道变更辅助系统被设计成基于所提供的地图数据来抑制警告信号和/或转向干预的产生。
本发明特别地基于以下构思:使用地图数据来确定在传感器或摄像机的帮助下或借助于汽车与汽车之间的通信检测到(例如位于盲区中)的第二车辆是否位于另一个单独的车道(除了由车辆本身选择的岔路车道之外还存在的车道)。换句话说,根据本发明,识别配备有本发明的车道变更辅助系统的车辆何时转入至少两车道道路的一新开放车道,并且因此车辆不沿着该新开放道路的(另一)车道(该车道是已经被传感器检测到的第二车辆行驶的车道)行驶,或不越过该新开放道路的(另一)车道(该车道为已经被传感器检测到的第二车辆行驶的车道)。
在这种情况下,根据本发明抑制了警告信号和/或转向干预的产生,这意味着避免了车道变更辅助系统的不期望的错误激活,并且相应地提高了用户的舒适度。
根据一个实施例,基于关于在即将发生的车道变更期间车辆是否正在切换到形成新开放车道的车道(该车道是除了第二车辆正在行驶的车道之外的车道)的评估,对警告信号和/或转向干预进行抑制。该新开放车道尤其可以是高速公路出口的车道。
根据一个实施例,对警告信号和/或转向干预的抑制是基于对第二车辆是否位于在即将发生的车道变更之后将由车辆即将行驶的车道中的评估。
根据一个实施例,评估是在导航系统或云存储设备提供的地图数据的帮助下进行的。
可替代地,地图数据也可以存储在车道变更辅助系统自身中,因为仅需要存储关于具有新开放车道的岔路车道的地图信息,并且由于这种情况相对不频繁,即使对于较大的地理区域也仅需要少量的存储空间。还可以提供,通过与导航系统的详细地图数据的自动比较或借助来自云存储设备的地图数据的自动比较,例行地更新在车道变更辅助系统中存储的这种信息。还可以提供,考虑最新的道路信息(例如关于临时道路工程的信息),并且例如如果在当前位置报告道路工程,则关于可能暂时改变车道指引本发明的特征被抑制。
根据一个实施例,评估借助于描述车辆的位置和/或方位的GPS和/或罗盘数据或在其他定位系统的帮助下进行。
从说明书和从属权利要求可以推断出本发明的其他实施方式。
附图说明
下面借助于在附图中示出的实施例更详细地解释本发明;
在附图中:
图1示出了解释根据本发明的车道变更辅助系统的设计和功能的方框图;
以及
图2示出了示意作为本发明的示例性应用的车道变更的可能场景的图。
具体实施方式
根据图1中所示的框图,在示例性实施例中,根据本发明的车道变更辅助系统以本身已知的方式具有传感器装置,该传感器装置包括在示例中用于检测车辆左侧或右侧的周围区域的基于雷达的传感器11和12以及前置摄像机13。这种周围区域的检测还可以通过其他传感器(例如超声传感器)来实现,例如通过后视摄像机、红外摄像机来实现,或在其他车辆传输报告的帮助下,通过汽车对汽车通信来实现。
此外,根据图1,本发明中的车道变更辅助系统还被设计成检测地图数据15,该地图数据15可以由例如导航系统14或其他情况下通过远程访问云存储设备提供,或者可以将该地图数据15存储在车道变更辅助系统本身中。
车道变更辅助系统处理上述地图数据15,并且据此确定车辆附近的车道布局。此外,基于GPS和/或罗盘数据或借助于其他定位系统(例如,全球导航卫星系统(GLONASS)、伽利略系统(Galileo)等)来确定装有根据本发明的车道变更辅助系统的车辆的位置和方向。
通过汽车对汽车通信和/或通过指示器检测,也可以识别其他车辆的车道变更意图并且当产生警告时考虑其他车辆的车道变更意图。
在图2中示意性地示出的示例性场景中,配备有根据本发明的车道变更辅助系统的车辆21的驾驶员激活指示器以离开高速公路20,他的意图是沿着与高速公路出口相连的两车道支路22的左车道23行驶。由传感器检测到并处于盲区的第二车辆25正在前面提到的两车道支路22的右车道24中行驶,通过如上所述的地图数据和车辆位置数据评估,评估出装有根据本发明的车道变更辅助系统的车辆21不会驶入或越过所讨论的第二车辆25使用的车道24,尽管车辆21在离开道路/高速公路时会越过现有的车道标记26,并且因此从系统角度来看,它沿着第二车辆25的方向改变车道时看起来是这样。
根据本发明,因此抑制了车道变更辅助系统的不必要的警告信号或不必要的转向干预。
然而,如果无论是通过汽车对汽车通信还是在第二车辆上识别出指示器检测到第二车辆将车道改变为车辆自身正在使用的车道的意图,则抑制的警告信号可以再次被停用。
结果是,以这种方式避免了车道变更辅助系统的不必要的“错误激活”,并且相应地增强了用户的舒适度,并且驾驶员对车道变更辅助的信心增强了。
Claims (7)
1.一种用于车辆中的车道变更辅助的方法,该方法包含:
通过传感器装置检测所述车辆的当前周围区域;
确定所述车辆即将发生的车道变更;
通过所述传感器装置检测在所述车辆的所述周围区域中的第二车辆;
基于所述即将发生的车道变更和所述第二车辆产生警告信号和/或转向干预;以及
基于地图数据抑制所述警告信号和/或所述转向干预的产生。
2.根据权利要求1所述的方法,其中,对所述警告信号和/或所述转向干预的抑制是基于关于在所述即将发生的车道变更期间所述车辆(21)是否正在切换到形成新开放车道(23)的车道的评估来进行的,所述新开放车道(23)是除了所述第二车辆(25)正在行驶的车道(24)之外的车道。
3.根据权利要求2所述的方法,其中,所述新开放车道(23)是具有至少两个车道的道路的车道,所述新开放车道(23)是从具有多车道的道路分支出的。
4.根据权利要求1所述的方法,其中,对所述警告信号和/或所述转向干预的抑制是基于对所述第二车辆(25)是否位于在所述即将发生的车道变更之后由车辆(21)即将行驶的车道(23)中的评估。
5.根据权利要求4所述的方法,其中,所述评估基于导航系统(14)或云存储设备提供的或存储在车道变更辅助系统中的地图数据(15)来进行。
6.根据权利要求4所述的方法,其中,所述评估基于来自定位系统的描述所述车辆(21)的位置和/或方位的数据来进行。
7.根据权利要求14所述的方法,其中,所述评估是基于后视摄像机进行的。
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DE102018220127.7 | 2018-11-23 | ||
DE102018220127.7A DE102018220127A1 (de) | 2018-11-23 | 2018-11-23 | Spurwechselassistenzsystem |
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CN111216725A true CN111216725A (zh) | 2020-06-02 |
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DE102021205766A1 (de) | 2021-06-08 | 2022-12-08 | Volkswagen Aktiengesellschaft | Verfahren zum Betreiben eines Fahrerassistenzsystems eines Fahrzeugs und Fahrzeug |
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DE19921449C1 (de) * | 1999-05-08 | 2001-01-25 | Daimler Chrysler Ag | Leithilfe bei einem Fahrspurwechsel eines Kraftfahrzeuges |
US7797107B2 (en) * | 2003-09-16 | 2010-09-14 | Zvi Shiller | Method and system for providing warnings concerning an imminent vehicular collision |
JP4246693B2 (ja) * | 2004-12-24 | 2009-04-02 | 富士通テン株式会社 | 運転支援装置 |
US20110098922A1 (en) * | 2009-10-27 | 2011-04-28 | Visteon Global Technologies, Inc. | Path Predictive System And Method For Vehicles |
US20120283942A1 (en) * | 2009-11-12 | 2012-11-08 | T Siobbel Stephen | Navigation system with live speed warning for merging traffic flow |
DE102010014499B4 (de) | 2010-04-10 | 2012-01-26 | Audi Ag | Verfahren zum Betrieb eines Spurhalteassistenzsystems für mehrspuriges Abbiegen in einem Kraftfahrzeug |
US9050980B2 (en) * | 2013-02-25 | 2015-06-09 | Honda Motor Co., Ltd. | Real time risk assessment for advanced driver assist system |
US9988047B2 (en) * | 2013-12-12 | 2018-06-05 | Magna Electronics Inc. | Vehicle control system with traffic driving control |
JP6465730B2 (ja) * | 2015-04-21 | 2019-02-06 | アルパイン株式会社 | 電子装置、走行車線識別システムおよび走行車線識別方法 |
US10002471B2 (en) * | 2015-09-30 | 2018-06-19 | Ants Technology (Hk) Limited | Systems and methods for autonomous vehicle navigation |
US11242051B1 (en) * | 2016-01-22 | 2022-02-08 | State Farm Mutual Automobile Insurance Company | Autonomous vehicle action communications |
US20170232965A1 (en) * | 2016-02-17 | 2017-08-17 | Delphi Technologies, Inc. | Adaptive cruise control with operator intention inference |
US9947145B2 (en) * | 2016-06-01 | 2018-04-17 | Baidu Usa Llc | System and method for providing inter-vehicle communications amongst autonomous vehicles |
WO2018182590A1 (en) * | 2017-03-29 | 2018-10-04 | Intel Corporation | Cooperative v2x communication |
JP2019067061A (ja) * | 2017-09-29 | 2019-04-25 | アイシン・エィ・ダブリュ株式会社 | 運転支援システム、運転制御システム、経路案内システムおよび運転支援プログラム |
US11084491B2 (en) * | 2018-04-11 | 2021-08-10 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
US11104334B2 (en) * | 2018-05-31 | 2021-08-31 | Tusimple, Inc. | System and method for proximate vehicle intention prediction for autonomous vehicles |
US11548508B2 (en) * | 2018-06-26 | 2023-01-10 | Nissan Motor Co., Ltd. | Driving assist method and driving assist device |
JP7110812B2 (ja) * | 2018-08-06 | 2022-08-02 | マツダ株式会社 | 車両制御装置および車両制御方法 |
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