DE102004048047A1 - Driver warning and/or active intervention method for motor vehicle, involves providing safety margins of lane markings and providing warning to driver and/or interference in driving dynamic, when falling below safety margins - Google Patents

Abstract

The method involves detecting lane markings (3) in an environment of a vehicle by an image sensor and providing safety margins of the markings. Warning to a driver and/or interference in a driving dynamic takes place, when falling below the safety margins. The safety margins are selected as a function of traffic conditions and vehicle handling conditions. A safety value is selected from a storage device for the selection of the margins. An independent claim is also included for a device for driver warming and/or for active intervention.

Description

The The invention relates to a method and a device for driver warning and / or to actively intervene in the driving dynamics, if an exit the lane threatens.

systems to the driver warning in the event of imminent departure from the lane already known from the prior art. Such systems include usually a sensor system suitable for track recognition as well as an evaluation means, what a run over is evaluated by lane markers and where appropriate, the driver over a appropriate warning means to leave the lane attention is done. Driver assistance systems in which an active intervention into the driving dynamics, so far constitute an exception, since due to legal regulations for this only a very limited scope to disposal stands. Future driver assistance systems should have a multi-level concept, for example in a first stage will issue a warning to the driver, in a second stage safety systems are pre-activated and in a third stage an active intervention in the driving dynamics and / or activation of security systems. Known Driver assistance systems are usually the same for different drivers designed. Future Driver assistance systems should therefore be different to the driving stem Driver e.g. be adaptable on the basis of stored parameters. Especially in connection with a lane departure warning system could thus Avoiding non-relevant warnings that distract the driver unnecessarily would.

In the DE 19937489A1 A method for monitoring a lane change of a motor vehicle is described. Lane markings are recorded electronically and a warning signal is generated in critical situations. Here, on the one hand, a differentiated recognition of situations should be possible and, on the other hand, warning threshold values should be adaptable to individual perceptual conditions. To accomplish this, lane monitoring is combined with image-based vehicle environment sensing to detect if vehicles or obstacles with critical relative speed are approaching or approaching other lanes.

DE 10210548A1 describes a transverse guidance system for motor vehicles. The transverse guidance system in this case comprises a sensor device for detecting the actual position of the vehicle relative to the boundaries of the traveled lane, a default device for a desired value of the transverse position and an evaluation unit for outputting a determined by target / actual comparison output signal. In particular, the presetting device comprises an adjusting element for manually setting a lateral deviation of the desired value from the track center. The desired value can also be adapted automatically to the width of the lane detected with the aid of the sensor device. A lane departure warning occurs if the target / actual deviation exceeds a certain tolerance value.

DE 10214612 A1 describes a device for transverse guidance assistance in motor vehicles. In this case, the actual position of the vehicle relative to lane markings is detected by means of a sensor device. A controller generates a driver assist steering torque based on a comparison of the actual position with a predetermined setpoint. Furthermore, there is an action device for detecting a predefined class of actions of the driver and a switching device for switching over the operating mode of the transverse guidance device when a driver's action belonging to the predefined class is detected. One of the actions may include that over a longer period of time, the actual value of the transverse position of the vehicle forced by the steering intervention deviates from the valid setpoint value. In this case, the change of the operating mode consists in an adjustment of the setpoint to the actual value.

In the DE 10311518 A1 a method and a device for driver information or the response when leaving the lane is described. In this case, the course of at least one edge marking of the lane and the expected path of the vehicle is determined. In determining the expected trajectory, future reactions of the driver are taken into account, taking into account future steering reactions away from the side markers. The side markings are detected by means of an image sensor system. A possible leaving the lane is determined based on a certain safety distance, in particular when crossing the edge marking by the future lane of the vehicle and possibly warned the driver or intervened in the steering.

Of the Invention is based on the object, a method and a Device for driver warning and / or for active intervention in to specify the driving dynamics, which depend on the situation in a reliable manner can be reacted to a threatened leaving the lane.

The object is achieved according to the invention by a method with the features of claim 1 and by a device with the Characteristics solved according to the patent claim 13. Advantageous embodiments and further developments are shown in the subclaims.

According to the invention becomes a driver alert and / or active intervention procedure in the driving dynamics, if threatened to leave the lane proposed. The device according to the invention comprises a vehicle environment information gathering unit, where a safety distance from a lane marking deposited is, when it falls below a driver warning and / or a Intervention in the driving dynamics takes place. In an innovative way the safety distance depends on the traffic situation or the driving behavior or a combination thereof. For this there is a means for selecting the safety distance and a memory device, from which a security value is read, in which traffic and / or driving behavior specific Default values are stored. Due to the choice different safety values, it is by the use of Invention only possible Depending on the situation be able to react in good time to an impending departure from the traffic lane.

In a particularly profitable way of the invention is the Art existing lane markers in the vehicle environment a traffic-specific Default. This makes it possible in an advantageous manner that the safety distance depending on is selected by the line type and / or the line width of track markers. there For example, at the vehicle edge are usually solid Lane markers exist, whereas centerlines are both pulled through as well as being interrupted, depending on whether outdated may or may be a passing ban or a one-sided overtaking ban prevails. Also, double-drawn lane markers are known or become common in the urban area special patterns such. Arrows at turning lanes on the road surface attached, which as traffic-specific default values to choose from a safety distance can be used. Dependent on of the road type can also differ the line width of lane markings, for example, are common the track edge markings of a highway are significantly wider than those Track edge markings of a country road. Depending on the line type and / or the line width of lane markers is then selected the safety margin. hereby will it be possible Depending on traffic conditions in case of imminent departure from the lane in time a driver warning deliver and / or actively intervene in the driving dynamics.

In Another profitable way of the invention is the track width the busy street a traffic-specific default value. The track width can be for example, by means of an image sensor system in a simple manner determine. The traffic-specific safety distance can be on at least one of the track edge marking and / or the center line and is chosen such that the vehicle moves as a starting default value in the middle of the track. Failure to comply with the specified safety distance in time before leaving the lane a driver warning and / or an active intervention in the driving dynamics. This can be compliance the safety margin are checked continuously, e.g. also retroactively in a range of e.g. one minute, with the mean and the variance related to the deviation from the lane center or related determined on the deviation of at least one of the lane markings becomes. This value can not conflict with others Safety values, the safety distance is then selected again, whereby the safety distance adaptively adaptable to the driving behavior is. Alternatively, it is also possible compliance with the safety distance at fixed time intervals e.g. after every 100 milliseconds.

Also It is possible in an advantageous way that the type of traffic Street is a traffic specific default value. This can, for example Motorways, motor roads, Federal roads Highways, streets within closed villages or paths in parking lots etc. be distinguished in a profitable way from each other. Dependent on from the street kind Different safety distances are required. Drivers tend For example, on the highway frequently, at high speeds to move in the lane center and otherwise at the edge lanes rather at the outer edge to drive along the lane marker. While mostly on a country road a movement along the right lane edge marking preferred In order to thereby a sufficient distance to oncoming traffic to guarantee. Other traffic-specific default values can also include special events or situations such as Be construction sites. Depending on whether a construction site is bypassed left or right or how big the distance to other road users is, can individually different safety distances may be required.

In a particularly preferred embodiment of the invention, the relative position of the vehicle with respect to lane markings in the vehicle environment may be a driving behavior-specific default value. Depending on driving habits of the driver, the safety distance is related to different positions of a lane marking. For example, the Si safety distance as start value initially related to the middle of the respective lane marking. The safety distance can then also be related to the inner edge or outer edge of a lane marking as a function of the driving behavior of the respective driver. For example, in a driver, who often tends to drive in the center of the lane, the safety distance should be moved inwards by taking into account as the reference point for the safety distance, the inner edge of lane markings. Whereas in the case of a driver who frequently drives along the right-hand lane marking, the safety distance should be related to the outer edge of the right-hand lane marking. Basically, however, it is also possible to set the reference point for the safety distance at a certain distance next to the lane marking. In this context, it is also possible to issue a driver warning only after a complete overrun of the lane marking and / or to perform an active intervention in the vehicle dynamics. This is particularly interesting at low speeds and avoids unnecessarily frequent warnings, for example, if the driver drives the lane marking while maneuvering in a parking space and does not drive over it completely.

In a further advantageous embodiment of the invention when selecting the safety margin intentions of the driver considered. This may be, for example, intended direction of travel act, for example, by activating the turn signal or due to steering movements. as it were can other driving parameters such as changes the speed of travel by braking or accelerating at the Selection of the safety distance are used. Associated signals For example, about the Vehicle bus provided. Also, in this context, as Means for detecting intentions of the driver, in a particularly profitable way an interior camera be present. This can be, for example Detect head movements as well as line of sight and eye blink of the driver those on a future Driving behavior can be concluded or at least an estimate of the Driver attention can be done.

at the selection of the safety distance can be in an advantageous manner also the frequency considered by driver warnings and / or active interventions become. Should it turn out that the safety distance despite the consideration of traffic and / or driving behavior specific default values too small was and therefore too frequent or too early is warned, the frequency can be particularly preferred the driver warnings and / or active interventions to select the safety distance be used, the safety margin in particular then re-elected if too often is warned or detected by an interior camera that the driver deliberately does not react to past warnings has and intends to disregard the safety margin was.

Farther it is possible, that several safety distances for one Activation of driver warning and / or intervention in vehicle dynamics selected become. It can several safety distances to different lane markers or other environmental features such as. be received oncoming vehicles. For example In each case, a safety distance to a right and left track edge marking as well as on a center line. Alternatively or additionally due to several safety distances also a multi-stage procedure implemented for driver warning and / or for active intervention in the driving dynamics become. For example, two different safety distances to the right track edge marking related. If the first-larger safety distance is not complied with, initially only a driver warning, if the second-smaller safety distance is not complied with In contrast, an active intervention in the steering of the vehicle takes place.

moreover There is a profitable way to choose from a safety distance (d1, d2, d3) the driving course during and / or taken into account after the driver warning becomes. in principle may be due to the driving history during and / or after the driver warning or the active intervention on the driver's intention to be closed at the time of triggering and so that the safety distance can be selected. For example shows the driver by turning back within a reasonable amount of time that the driver warning and / or the active procedure was correct. Will not be directed back and despite the driver warning the safety distance is not respected, it can be assumed that the driver warning is too early is.

In a particularly preferred embodiment of the invention, at least one image sensor system for detecting environmental information is present. By means of an image sensor system, lane markings can be reliably detected and also left and right lane edge markings can be distinguished from one another and thus a lane allocation can be taken into account when selecting a safety distance. In particular, after a recognized lane change, the safety margin can then be selected in a profitable manner on the basis of the safety values of the current traffic situation and / or the driving behavior. Over there from it is possible by means of an image sensor system, in addition to lane markers also any other objects and patterns in the vehicle environment for detecting, such as vehicles, people, road signs and the like. By means of a stereo camera system distance values to lane markings and objects can be additionally determined. Also, 2D image sensors can be combined with 3D sensors or 3D image sensors, such as laser scanners are used.

In addition, can a navigation system may be present which contains map information supplies. Map information will provide more environmental information provided in the context of the invention for selection from safety distances can be used. For example, in maps, information about the track width, the type the street, Construction sites and road signs included. Also, a GPS receiver may be present be by means of which the exact vehicle position can be determined. This will make it possible if no distance measuring 3D sensor or stereo camera system to disposal stands, in conjunction with map information the exact distance to determine lane markings.

A further advantageous embodiment of the invention provides that the device has a communication interface, with which a communication link to in-vehicle and / or vehicle-external systems can be produced. The device according to the invention can for example, information with vehicle dynamics control systems exchange or e.g. Map information from an external service provider recall.

Further Features and advantages of the invention will become apparent from the following Description of preferred embodiments with reference to Characters. Showing:

1 The schematic structure of a device for driver warning or for active intervention in the vehicle dynamics.

2 The use of the invention in a road vehicle within a traffic scene.

In the 1 exemplifies the schematic structure of the device according to the invention ( 40 ) for driver warning or active intervention in the driving dynamics shown. The device ( 40 ) comprises a memory unit ( 10 ), in which inter alia traffic-specific default values ( 11 ) as well as driving behavior specific default values ( 12 ) are deposited. Furthermore, the device comprises ( 40 ) one unity ( 20 ) for detecting information of the vehicle environment, in particular a video camera, and a selection means ( 30 ) for selecting a safety distance on the basis of the memory unit ( 10 ) stored safety values on the basis of traffic-specific default values ( 11 ) and driving behavior-specific default values ( 12 ). The storage unit ( 10 ), the unit ( 20 ) and the selection means ( 30 ) of the device ( 40 ) are in this case with a vehicle bus system ( 80 ), in particular a CAN-BUS connected. The device ( 40 ) exchanges information with a GPS receiver ( 50 ) and a navigation system ( 60 ) out. The device ( 40 ) can also provide information from at least one vehicle dynamics control system ( 70 ) and / or interacting with this interact. If no active intervention in the driving dynamics by means of the driving dynamics control system ( 70 ) is required, but only a driver warning is to be output, this warning signal is output via a not shown here output means, for example by means of a vehicle audio system or an optical display device in. the instrument panel of the vehicle.

The 2 shows the use of the method and the device for driver warning or for actively intervening in the driving dynamics in a road vehicle ( 2 ) within a traffic scene. The road vehicle ( 2 ) on a lane within a lane ( 1 ). The two lanes are marked by lane markings ( 3 ) and by a median strip ( 4 ) separated from each other. The lane markings ( 3 ) are configured in such a way that they are detected by an image sensor (not shown here) of the road vehicle ( 2 ) are detectable. In particular, the lane markings are such that by means of the image sensor, the inner edge ( 3a ) from the outer edge ( 3b ) of a lane marking ( 3 ) can be distinguished. While driving the image sensor detects environmental information, wherein at least one safety distance (d1, d2, d3) is predetermined, which falls below a driver warning and / or an intervention in the vehicle dynamics. The at least one safety distance (d1, d2, d3) is selected as a function of the traffic situation or the driving behavior or a combination thereof. For this purpose, a security value is read from a memory unit, not shown here, of the vehicle, in which traffic-specific and / or driving behavior-specific default values are stored. However, this may also be a vehicle-external storage unit, with which the vehicle is connected by radio.

Claims (18)

Procedure for warning the driver and / or for actively intervening in the driving dynamics if a Ver let the lane ( 1 ) threatens, wherein information of the vehicle environment are detected and wherein a safety distance (d1, d2, d3) from a lane marking ( 3 ), when it falls below a driver warning and / or an intervention in the vehicle dynamics ( 70 ) is characterized in that the safety distance (d1, d2, d3) is selected as a function of the traffic situation or the driving behavior or a combination thereof, for which purpose a safety value (d1, d2, d3) from a memory device ( 10 ), in which traffic-specific and / or driving behavior-specific default values ( 11 . 12 ) are stored. Method for warning the driver and / or actively intervening in the driving dynamics according to claim 1, characterized in that the type of existing lane markings ( 3 ) in the vehicle environment a traffic-specific default value ( 11 ). Method for warning the driver and / or for actively intervening in the driving dynamics according to claim 1 or 2, characterized in that the track width of the traveled road a traffic-specific default value ( 11 ). Method for warning the driver and / or for actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that the type of road used is a traffic-specific default value ( 11 ). Method for warning the driver and / or for actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, that the relative position of the vehicle ( 2 ) with regard to lane markings ( 3 ) in the vehicle environment a driving behavior-specific default value ( 12 ). Method for warning the driver and / or for actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that in the selection of the safety distance (d1, d2, d3) intentions of the driver are taken into account. Method for warning the driver and / or for actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that the frequency of driver warnings and / or active interventions is taken into account when selecting the safety distance (d1, d2, d3). Method for warning the driver and / or for actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that a plurality of safety distances (d1, d2, d3) for activation of the driver warning and / or the intervention in the driving dynamics ( 70 ) to be selected. Method for warning the driver and / or for actively intervening in the driving dynamics ( 70 ) according to any one of the preceding claims, characterized in that for the selection of a safety distance (d1, d2, d3) the driving course during and / or after the driver warning is taken into account. Method for warning the driver and / or for actively intervening in the driving dynamics ( 20 ) according to one of the preceding claims, characterized in that the acquired environmental information is image recordings of at least one image sensor system ( 20 ). Method for warning the driver and / or for actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that the environment information is map information of a navigation system ( 60 ). Method for warning the driver and / or for actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that based on GPS information ( 50 ) the current vehicle position is determined. Device for warning the driver and / or actively intervening in the driving dynamics ( 70 ) if it is threatening to leave the lane, one unit ( 20 ) is present for detecting information of the vehicle environment and wherein a safety distance (d1, d2, d3) from a lane marking ( 3 ), when it falls below a driver warning and / or an intervention in the vehicle dynamics ( 70 ) is characterized in that a means of selection ( 30 ) of the safety distance (d1, d2, d3) depending on the traffic situation or the driving behavior or a combination thereof, for which purpose a memory device ( 20 ) from which a safety value is read in which traffic and / or driving behavior-specific default values ( 11 . 12 ) are stored. Device for driver warning and / or active Intervention in the driving dynamics according to claim 12, characterized in that that at least one image sensor system for detecting environmental information is available. Device for warning the driver and / or actively intervening in the driving dynamics ( 70 ) according to claim 12 or 13, characterized in that a navigation system ( 60 ) which provides map information. Device for warning the driver and / or actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that a GPS receiver ( 50 ) is present, by means of which the vehicle position is determined. Device for warning the driver and / or actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that a means, in particular an interior camera, for detecting intentions of the driver is present. Device for warning the driver and / or actively intervening in the driving dynamics ( 70 ) according to one of the preceding claims, characterized in that the device has a communication interface, whereby a communication connection ( 80 ) to in-vehicle and / or out-of-vehicle systems.