DE102004057060A1 - Drive assistance device for detecting vehicle, has unit for detecting lane and for localizing of objects in surroundings of motor vehicle, and unit operable by evaluating device and for displaying of warning signals - Google Patents

Abstract

The device has a unit for detecting a lane and for localizing of objects in surroundings of a motor vehicle (1). A unit operable by an evaluating device (7) or by the evaluating device with the unit for detecting a vehicle oncoming on the own lane is provided for displaying of warning signals. The warning signal is an electromagnetic signal processable and receivable from the oncoming vehicle. An independent claim is also included for a method for detecting a motor vehicle oncoming on the lane.

Description

Technical area:

The The invention relates to a driving assistance device for the detection of on the own lane oncoming vehicles, with means for environment detection, in particular for lane detection and for Localization of objects in the vicinity of the motor vehicle according to the preamble of Claim 1, as well as a method for detecting on its own Lane oncoming vehicles according to the preamble of claim 10.

With Increasing traffic also increases the risk of overtaking maneuvers accidents especially on federal and rural roads without separate lanes, and their often serious consequences. Often such would be accidents avoid or, at least, their consequences are less serious, when the driver of one of the two vehicles at the impending danger a collision or at least the fact that he is on the own lane is approaching a vehicle would be pointed out.

From the DE 195 34 942 C1 a method for collision avoidance of an oncoming vehicle and a evasive vehicle by means of neural networks is known, which makes it possible to provide the driver of the evasive vehicle in real time a safe evasion strategy in the event of a collision danger of two vehicles, against any possible behavior of the oncoming vehicle avoids a collision or minimizes the consequences of an accident.

there However, in most cases it is quite sufficient instead one constantly to disposal Asked evasion strategy, which is a very large computing power requires the driver of the motor vehicle before a recognized, oncoming Vehicle, whereby the driver first decides which alternative strategy he wants to grasp and if anything an evasive maneuver is necessary.

From the DE 199 38 691 A1 a method for traffic-controlled influencing and / or support of motor vehicles is known, in which detects all objects including their relative speed to the vehicle by means of distance measurement and to detect local conditions such as intersections, junctions and right-to-left right-of-way rules to detect a general, reduced-speed urban traffic situation and the data is used to influence acceleration and deceleration / braking.

adversely At this procedure is that when capturing objects on the own lane oncoming vehicles are not recognized can.

Technical task of Invention:

Of the The invention is therefore based on the object, a driving assistance device to develop which on their own lane responsive Vehicles recognize and at least the driver of their own motor vehicle hereof, as well as a method for the detection of on the own lane oncoming vehicles.

Disclosure of the invention and their advantages:

Of the The first part of the task is in a driving assistance device of solved at the beginning of the genus by an evaluation device with means for detecting one the own traffic lane oncoming vehicle, as well as of the Evaluation device in a recognized, on its own lane oncoming vehicle, operable Means for issuing a warning signal to the driver of the motor vehicle.

By the means for detecting the surroundings, all objects are detected, in particular, in front of the motor vehicle, the position data obtained thereby being "tracked" relative to the motor vehicle, ie continuously updated can be seen as such that their relative speed to the motor vehicle v _{rel is} greater than the intrinsic speed v _{inherent to} the motor vehicle, not as commonly known as driving assistance devices for distance control, as adaptive cruise control, short ACC, generally common hidden Tracing or overtaking typically involves detecting two oncoming vehicles with v _rel > v _own on their own, or two lanes, one of which may be one's own lane, for example, lane detection of a vehicle speed The control device may determine whether or not the or one of the oncoming vehicles is in their own lane. When approaching in its own lane vehicle a warning signal is issued to the driver of their own motor vehicle.

The Means for environment detection can eg one or more RADAR and / or LIDAR sensors, and / or one or more imaging sensors for monocular or be stereoscopic capture of the environment. The means of detection of on the own lane oncoming vehicles are there at least partially identical to the means for detecting the surroundings, such as For example, one or more imaging sensors, in the optical or infra-red video cameras, LIDAR or RADAR sensors. The means for issuing a warning signal may, for example an audible warning about a voice playback or output device of a navigation device or via the Speaker of a radio, a display device for reproducing optical signals in the field of view the driver, vibrating or pulsating areas of the steering wheel or the driver's seat including seat and seat backrest and / or reversible belt tensioner, minimal braking intervention, or visual warnings below the threshold of conscious visual perception be.

• – Fahrspurzuordnung einer Fahrgeschwindigkeitsregelungsvorrichtung „Adaptive Cruise Control" ACC, typischerweise basierend auf Lenkwinkel und/oder Gierrate und/oder Raddrehzahlen und/oder Fahrbahnrandbebauung wie beispielsweise stationäre Objekte und/oder Tracking bewegter Objekte, welche die Anzahl der erkannten Fahrspuren links und rechts des eigenen Kraftfahrzeugs sowie deren Fahrtrichtungen und zeitliche Fortführung der delektierten Zusammenhänge liefert,
• – Fahrspurerkennung, beispielsweise anhand der Fahrbahnmarkierungen mittels eines bildgebenden Sensors,
• – digitale Straßenkarte mit darin enthaltenen Angaben über die Anzahl der Fahrspuren und deren Fahrtrichtungen im befahrenen Streckenabschnitt, sogenannte Advanced-Driver-Assistance-System Karten, kurz ADAS-Karten, wobei hierbei auch Einbahnstraßen berücksichtigt werden können,
• – Telemetriedaten, welche die Anzahl und die Fahrtrichtungen der Fahrspuren, sowie die Position des eigenen Kraftfahrzeugs in der Fahrspur und/oder Daten mit Position, Geschwindigkeit anderer Verkehrsteilnehmer zur Verfügung stellen,

sind.An advantageous embodiment of the driver assistance device according to the invention provides that the means for detecting a vehicle approaching on its own lane a combination of the means for environment detection with at least one of the following information

• Lane assignment of a cruise control device "Adaptive Cruise Control" ACC, typically based on steering angle and / or yaw rate and / or wheel speeds and / or roadside development such as stationary objects and / or tracking moving objects, the number of recognized lanes left and right of their own motor vehicle as well as their driving directions and temporal continuation of the delektierten relationships,
• Lane detection, for example based on the lane markings by means of an imaging sensor,
• - digital road map with information contained therein about the number of lanes and their directions in the traveled section, so-called Advanced Driver Assistance System maps, short ADAS maps, in this case, one-way streets can be considered,
• Telemetry data, which provide the number and directions of the lanes, as well as the position of the own motor vehicle in the traffic lane and / or data with position, speed of other road users,

are.

A advantageous embodiment of the driver assistance device according to the invention is characterized by an optical and / or acoustic and / or haptic output of the warning signal to the driver of his own motor vehicle.

A Another advantageous embodiment of the driving assistance device according to the invention is characterized by an automatic output of an oncoming traffic warning signal to the oncoming vehicle.

A advantageous embodiment of the driver assistance device according to the invention provides that the oncoming traffic warning signal an optical and / or is acoustic signal.

A Another advantageous embodiment of the driving assistance device according to the invention provides that the oncoming traffic warning signal from the oncoming Vehicle, in particular its driver assistance devices and / or Communication equipment can be received and processed electromagnetic Signal is.

A particularly advantageous embodiment of the driving assistance device according to the invention is characterized by additional Means for detecting a risk of collision with the on its own lane oncoming vehicle. The means for detecting a risk of collision can For example, the evaluation device and associated with this, distance sensors, such as RADAR or LIDAR sensors or imaging Sensors, also sensors arranged in a stereo configuration, from which a stereoscopic evaluation are made can. these can in particular part of the means for environment detection and / or part of Means for detecting on-board vehicles oncoming vehicles could be, from the signals from the evaluation continuously the Position data of the oncoming vehicle according to its Distance and angle relative to the direction of travel of your own motor vehicle are calculated, while at a constant "standing" angle and at the same time decreasing Distance below an adjustable and in particular relatively and / or own speed-dependent Distance a collision hazard is detected.

A additional advantageous embodiment of the driver assistance device according to the invention is characterized by an output of a control signal for actuating a or more actuators of vehicle-relevant functions, in particular the brake and / or the steering and / or the example of Engine, engine control, transmission and transmission control existing Drivetrain at a detected risk of collision, instead of or in addition to the warning signal.

A additional particularly advantageous embodiment of the driving assistance device according to the invention provides that in case of a detected risk of collision to an adjustable Time before an impending collision and / or an adjustable, for example, intrinsic speed or relative speed dependent distance to a on the own lane oncoming vehicle adapted to the current driving situation maneuver of the last moment by operation one or more actuators of vehicle-relevant functions is performed, in particular a maximum reduction of the airspeed at high airspeed at the time of initiation of the maneuver of the last moment, or a controlled exit from the road at low airspeed and non-existent stationary objects, with which there would be a risk of collision. It is initially up to the presettable time or relative distance no influence the actuators so that the driver can decide for himself which Dodge strategy he pursues. Only when the thresholds are not reached for the estimated Time to collision and / or the relative distance to on your own Lane oncoming vehicle become one or more actuators automatically operated.

• – Fahrspurzuordnung einer Fahrgeschwindigkeitsregelungsvorrichtung „Adaptive Cruise Control" ACC, typischerweise basierend auf Lenkwinkel und/oder Gierrate und/oder Raddrehzahlen und/oder Fahrbahnrandbebauung wie beispielsweise stationäre Objekte und/oder Tracking bewegter Objekte, welche die Anzahl der erkannten Fahrspuren links und rechts des eigenen Kraftfahrzeugs sowie deren Fahrtrichtungen und zeitliche Fortführung der detektierten Zusammenhänge liefert,
• – Fahrspurerkennung, beispielsweise anhand der Fahrbahnmarkierungen mittels mindestens eines bildgebenden Sensors,
• – digitale Straßenkarte mit darin enthaltenen Angaben über die Anzahl der Fahrspuren und deren Fahrtrichtungen im befahrenen Streckenabschnitt, sogenannte ADAS-Karten, wobei hierbei auch Einbahnstraßen berücksichtigt werden können,
• – Telemetriedaten, welche die Anzahl und die Fahrtrichtungen der Fahrspuren, sowie die Position des eigenen Kraftfahrzeugs in der Fahrspur zur Verfügung stellen,

zugeordnet wird.The second part of the object is achieved in a method of the type mentioned by objects in the environment of the own motor vehicle, in particular in an angular range in the direction of travel are detected by suitable means and the relative speed is compared with the airspeed of the motor vehicle, the object as a oncoming vehicle is detected when the relative speed is greater than the airspeed and own lane based on one or more of the following information

• Lane assignment of a cruise control device "Adaptive Cruise Control" ACC, typically based on steering angle and / or yaw rate and / or wheel speeds and / or roadside development such as stationary objects and / or tracking moving objects, the number of recognized lanes left and right of their own motor vehicle as well as their driving directions and temporal continuation of the detected relationships,
• Lane detection, for example based on the lane markings by means of at least one imaging sensor,
• - digital road map with information on the number of lanes and their directions in the traveled section of the route, so-called ADAS maps, whereby one-way streets can also be taken into account,
• Telemetry data, which provide the number and directions of travel of the lanes, as well as the position of the own motor vehicle in the lane,

is assigned.

• – Warnung des Fahrers des eigenen Kraftfahrzeugs bei einem auf der eigenen Fahrspur entgegenkommenden Fahrzeug mittels eines optischen, akustischen oder haptischen Warnsignals,
• – Warnung des Gegenverkehrs durch ein optisches oder akustisches oder elektromagnetisches Warnsignal,
• – Verzögerung des eigenen Kraftfahrzeugs durch Betätigung der Bremse oder Eingriff in die Steuerung des Antriebstranges um eine mögliche Kollision mit dem erkannten, auf der eigenen Fahrspur entgegenkommenden Fahrzeug zu vermeiden,
• – in Verbindung mit einer Lenkungsstellvorrichtung Eingriff in die Fahrzeuglenkung und Lenkung des eigenen Kraftfahrzeugs an den Rand oder in einen anderen, sicheren Bereich der eigenen Fahrspur,
• – in Verbindung mit einer Lenkungsstellvorrichtung und weiteren Sensoren zur Umfelderfassung, welche die benachbarten Fahrspuren rückwärtig überwachen sowie mehreren Fahrspuren in der eigenen Fahrtrichtung Durchführung eines automatischen Spurwechsels
• – einseitiges Einbremsen des Fahrzeugs zur Lenkung des eigenen Kraftfahrzeugs an den Rand oder in einen anderen, sicheren Bereich der eigenen Fahrspur,
• – Auslösen und/oder Vorkonditionieren der passiven Sicherheitsvorrichtungen des eigenen Kraftfahrzeugs, beispielsweise Auslösen reversibler Gurtstraffer,
• – Warnung des auf der eigenen Fahrspur entgegenkommenden Fahrzeugs mittels Fahrzeug-zu-Fahrzeug Kommunikationsvorrichtungen,
• – sofern das eigene Kraftfahrzeug das überholende Fahrzeug ist, Beschleunigen und Einscheren vor dem zu überholenden Fahrzeug, sofern dies aufgrund der Leistungsreserven und der Fahrsituation, beispielsweise der Wettersituation, möglich ist.

An advantageous embodiment of the method according to the invention is characterized by one or more of the additional method steps

• Warning the driver of his own motor vehicle of a vehicle approaching on his own lane by means of an optical, acoustic or haptic warning signal,
• Warning of oncoming traffic by an optical or acoustic or electromagnetic warning signal,
• Delaying one's own motor vehicle by operating the brake or by interfering with the control of the drive train in order to avoid a possible collision with the recognized vehicle coming into its own lane,
• In connection with a steering control device intervention in the vehicle steering and steering of the own motor vehicle to the edge or in another, safe area of the own lane,
• - In conjunction with a steering control device and other sensors for environment detection, which monitor the adjacent lanes backward and several lanes in its own direction Carrying out an automatic lane change
• - one-sided braking of the vehicle to steer the own motor vehicle to the edge or in another, safe area of the own lane,
• Triggering and / or preconditioning the passive safety devices of the own motor vehicle, for example triggering reversible belt tensioners,
• Warning of the oncoming lane vehicle by means of vehicle-to-vehicle communication devices,
• - If the own motor vehicle is the overtaking vehicle, accelerating and shearing in front of the vehicle to be overtaken, if this is possible due to the power reserves and the driving situation, such as the weather situation.

Summary the drawing in which shows

1 a schematic representation of a Traffic situation with an overtaking, on the own lane oncoming vehicle and a thereby running process according to the invention, as well as

2 a schematic representation of a traffic situation with an overtaking, on the own lane oncoming vehicle and a thereby running, other inventive method.

Ways to execute the Invention:

In 1 is a street 3 with two lanes F, one in each direction, from the perspective of a motor vehicle 1 shown. The car 1 moves on its own lane F _eigen , whereas oncoming lane vehicles 4 normally move on the opposite lane F _against . To overtake must be an oncoming vehicle 4 Change the lane F, making it to a _{self-responsive} on the own carriageway F vehicle 2 becomes.

In your own vehicle 1 are arranged sensors for environment detection. The sensors are an imaging sensor 5 and a distance sensor 6 ,

The outputs of the imaging 5 and the distance sensor 6 are doing with an evaluation device 7 connected, which from the video stream of the imaging sensor 5 as well as the measurement data of the distance sensor 6 the position of the on the own lane figs oncoming vehicle 2 , consisting of relative distance a _rel and collision angle α _Koll continuously relative to its own motor vehicle 1 determined, as well as the relative speed v _{rel of} the vehicle 2 to own motor vehicle 1 , which can be derived from the time differential of the distance a _rel , and the assignment of the oncoming vehicle 2 own lane F _own . Corresponding information is also provided by oncoming vehicles 4 detected. Evaluation algorithms of a plurality of driving assistance devices are preferably located in the evaluation device, for example, a driving speed control device "Adaptive Cruise Control", ACC, which permits lane recognition.

Known ACC discard the information on the oncoming traffic, since this information for the lane detection and for the function of ACC are not required and thus less resources such as computing power, computing time, space requirements or program code needed. By contrast, the driver assistance device according to the invention uses the information about all detected objects 8th , even those that are considered an oncoming vehicle 2 based on the comparison of the relative velocity v _rel to the object 8th with the airspeed v _eigen own vehicle 1 be identified. In addition, being an oncoming vehicle 2 recognized object 8th assigned to a lane F, so that information a _rel , v _rel , α _{Koll is} available, which is the risk of collision removed and which for triggering security measures, such as the issuance of warning signals or the initiation of evasive maneuvers or other, the severity of a Accident-reducing measures can be used.

The procedure for detecting on-board vehicles on the own lane following detection of one or more oncoming vehicles is in the lower part of FIG 1 shown.

In this case, the variables relative distance a _rel , relative velocity v _rel , collision angle α _Koll , collision areas, and lane recognition F _eigen , calculated by the evaluation device from the sensor data, are analyzed in several stages and with specific threshold values, for example the intrinsic speed v _{own of} the own motor vehicle 1 , the assignment to own lane figs of your own motor vehicle 1 , an adjustable and driving speed-dependent minimum distance α _min , as well as a constant collision angle α _Koll compared, whereupon decisions are made in each case.

In the first stage I, the relative velocity v _{rel of} a detected object 8th with the airspeed v _{own of} the motor vehicle 1 compared. Is the relative velocity v _rel greater than the airspeed v _eigen own vehicle 1 , so the decision is made that it is in any case an oncoming vehicle 4 is.

In stage II, for example, based on the lane assignment of the ACC the oncoming vehicle 4 assigned lane F with its own lane F _eigen compared. If both lanes are identical, then the decision is made that it is an on its own lane F _{own responsive} vehicle 2 is.

Now in stage III it is examined whether there is a risk of collision or not. For this purpose, the collision angle α _Koll of the _self-driving lane F on the own lane is in a straight line 2 with your own motor vehicle 1 It then examines whether this angle remains constant, that is, "stands" or whether the angle _{changes.Where there} is a collision angle α _Koll , the decision is made that there is a risk of collision exists, so that after stage III, the output of a warning signal takes place. The output of a warning signal can additionally by an adjustable, upper threshold value a _{upper threshold} for the distance a _relative to the own lane on the F _{intrinsically} oncoming vehicle 2 be made dependent. In the case of a curved route, the curvature and the distance in the collision angle are also taken into account.

Now falls in stage IV, the relative distance a _rel at a constant collision angle α _Koll under a vehicle speed-dependent minimum distance α _min , the decision is made that a collision is imminent, then a brake intervention is made to prevent an accident or the severity of the upcoming To reduce accidents.

The Output of the warning signal is conceivable even after stage II, as well as another or additional Reaction as the braking intervention after stage IV.

In the 2 is the same traffic situation as in 1 shown schematically. In the in 2 An additional time parameter t _{Koll is} considered, which is compared with a threshold value t _min for the estimated time remaining until a collision. The procedure is initially up to stage II with the procedure of in 1 identical method shown. After it has been determined in stage II if the lane F of the oncoming vehicle of its own lane F _own corresponds, run the two stages III and IV in parallel side by side. In this case, in stage III the estimated remaining time until collision t _{Koll is} compared with a first threshold value for the remaining time t _min1 until the collision or alternatively the remaining relative _distance a _{rel is} compared with a first threshold value a _rel1 for the relative _distance . If, in stage III of the method, t _{Koll is} less than t _min1 or a _{rel is} less than a _min1 , it is provided to output a warning signal. After issuing the warning signal, the lane F of the oncoming vehicle is again compared with the own lane F _eigen . If F = F _own , a warning signal is issued again. If the two lanes no longer match, the procedure is aborted.

In the stage IV running parallel to stage III, the estimated remaining time until a collision t _Koll with a second threshold value t _min2 or alternatively the remaining relative _distance a _{rel is} compared with a second threshold value for the relative _distance a _min2 . If t _{Koll is} smaller than t _min2 or a _{rel is} smaller than a _min2 and _{if there} is no own overtaking, then an automatic braking intervention takes place. After the braking intervention, the lane of the oncoming vehicle F is again compared with its own lane F _eigen . If F = F _own , a renewed braking intervention takes place. If the two lanes no longer match, the procedure is aborted.

Claims (11)

Driving assistance device for detecting on the own lane oncoming vehicles, with means for Environment detection, especially for lane detection and localization of objects in the vicinity of the motor vehicle by an evaluation device with means for detecting one the own traffic lane oncoming vehicle, as well as of the Evaluation device actuated Means for issuing a warning signal. Driving assistance device according to claim 1, characterized characterized in that means for detecting one on one's own Lane oncoming vehicle a combination of means for environment detection with at least one of the following information - lane assignment a cruise control device, - lane detection an imaging sensor, - digital road map with information contained therein about the number of lanes and their driving directions in traffic Stretch, - Telemetry data are. Driving assistance device according to claim 1 or 2, characterized by an optical and / or acoustic and / or haptic output of the warning signal. Driving assistance device according to one of the preceding Claims, characterized by an automatic output of an oncoming traffic warning signal to the oncoming vehicle. Driving assistance device according to claim 4, characterized in that the oncoming traffic warning signal is an optical and / or is acoustic signal. Driving assistance device according to one of the preceding Claims, characterized in that the oncoming traffic warning signal is one of the oncoming vehicle received and processable electromagnetic Signal is. Driving assistance device according to one of the preceding Claims, characterized by additional Means for detecting a risk of collision. Driving assistance device according to one of hergehen claims, characterized by an output of a control signal for actuating one or more actuators of vehicle-relevant functions, in particular the brake and / or the steering and / or the drive train at a detected risk of collision, instead of or in addition to the warning signal. Driving assistance device according to one of the preceding Claims, characterized in that at a detected risk of collision at an adjustable time before an imminent collision and / or an adjustable distance to one's own lane Oncoming vehicle adapted to the current driving situation maneuver of the last moment by pressing one or more Actuators vehicle-related functions is performed. Procedure for detecting on your own lane oncoming vehicles, with objects around their own Motor vehicle are detected and their relative speed with the Airspeed of the motor vehicle is compared, the Object is recognized as an oncoming vehicle when the Relative speed greater than the own speed is and the own lane on the basis of a or more of the following information - lane assignment a cruise control device, - lane detection an imaging sensor, - digital road map with information contained therein about the number of lanes and their driving directions in traffic Stretch, - Telemetry data associated becomes. A method according to claim 10, characterized by one or more of the additional ones steps - Warning the driver of his own motor vehicle at one on his own Lane oncoming vehicle by means of a warning signal, - Warning of oncoming traffic by a warning signal, - delay of own motor vehicle, - Intervention in the vehicle steering and steering of their own motor vehicle the edge or another safe area of your own lane, - Implementation of a automatic lane change - one-sided braking of the Vehicle for steering the own motor vehicle to the edge or in another, safe area of your own lane, - trigger and / or Preconditioning of the passive safety devices of one's own Motor vehicle, - Warning of the vehicle coming in its own lane, - provided the own motor vehicle the overtaking vehicle is, accelerating and shearing.