DE102008033432A1 - Method for controlling steering intervention for motor vehicle, involves detecting traffic lane on which vehicle moves and position of vehicle to traffic lane - Google Patents

Method for controlling steering intervention for motor vehicle, involves detecting traffic lane on which vehicle moves and position of vehicle to traffic lane

Info

Publication number
DE102008033432A1
DE102008033432A1 DE102008033432A DE102008033432A DE102008033432A1 DE 102008033432 A1 DE102008033432 A1 DE 102008033432A1 DE 102008033432 A DE102008033432 A DE 102008033432A DE 102008033432 A DE102008033432 A DE 102008033432A DE 102008033432 A1 DE102008033432 A1 DE 102008033432A1
Authority
DE
Germany
Prior art keywords
lane
vehicle
change
characterized
driver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE102008033432A
Other languages
German (de)
Inventor
Andre Krampe
Michael Dr. Rohlfs
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
Original Assignee
Volkswagen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen AG filed Critical Volkswagen AG
Priority to DE102008033432A priority Critical patent/DE102008033432A1/en
Publication of DE102008033432A1 publication Critical patent/DE102008033432A1/en
Application status is Ceased legal-status Critical

Links

Classifications

    • 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
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18163Lane change; Overtaking manoeuvres
    • 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
    • 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
    • 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
    • B60W50/16Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • 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
    • B62D15/025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0265Automatic obstacle avoidance by steering
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2050/146Display means

Abstract

A method for controlling a steering intervention for a vehicle (15) comprises the following steps: detection of a lane (13) on which the vehicle (15) moves, and a position (20, 22) of the vehicle (15) to the lane (13), determining whether a lane change to another lane (14) by a driver of the vehicle (15) is intended, determining whether a lane change to the other lane (14) is safely possible, and driving the steering intervention to hold the vehicle (15) in the detected lane (13), depending on the detected position (20, 22), the determination of whether a lane change is intended, and the determination of whether a lane change is safely possible.

Description

  • The The present invention relates to a method for controlling a steering intervention for a Vehicle, a method for supporting the operation of a vehicle, a control system for controlling a steering intervention for a vehicle and a driver assistance system for a vehicle.
  • at modern vehicles, such. B. Passenger cars or lorries, So-called driver assistance systems are used to improve traffic safety to increase during operation of the vehicle. For example, a so-called side assistance system (Side Assist) used, for example, in the rearview mirror of the vehicle Provide an indication which signals the driver of the vehicle when another vehicle approaches quickly from behind or located in the so-called blind spot. If the driver also indicates an imminent lane change by setting the turn signal, Such a side assistance system may be a warning, for example a flashing display in the rearview mirror, spend to the driver about it to inform that a lane change is currently dangerous and lead to an accident can.
  • Farther So-called lane assist systems are used, to assist a driver of a vehicle while keeping the lane. If the lane departure warning system has recognized the lane on which the vehicle is currently moving, the system is supported by one corrective steering intervention the driver while keeping the lane. The system tries to prevent leaving the lane when the driver does not want to actively change the lane, for example is indicated by setting the turn signal. This can be an unintentional Leaving the lane, for example due to inattention of the driver, be prevented.
  • Even though the driver assistance systems described above to increase the Road safety of a vehicle in operation contribute these systems have significant functional limitations, so these Systems when different driving situations occur to the driver can only provide inadequate assistance.
  • task It is therefore an object of the present invention to provide methods and systems which continues the driver of a vehicle during operation of the vehicle support and thus improve traffic safety.
  • These Tasks are performed according to the invention a method for controlling a steering intervention for a vehicle according to claim 1, a method for supporting of the operation of a vehicle according to claim 12, a control system for controlling a steering intervention for a vehicle according to claim 22 and a driver assistance system for a vehicle according to claim 24 solved. The dependent ones claims define preferred and advantageous embodiments of the invention.
  • According to the present The invention includes a method for controlling a steering intervention for a vehicle the following steps. First is a lane on which the vehicle is moving, and a Position of the vehicle detected at this lane. In addition will determines if a lane change to another lane through a driver of the vehicle is intended. Finally it is determined whether a lane change to the other lane is possible without danger. Then the steering intervention depending on the detected position the vehicle to the lane, the determination of whether a lane change is intended and determining whether a lane change is safe possible is, activated or activated to the vehicle if necessary in the recorded lane.
  • According to one embodiment the steering intervention is controlled when it is determined that the lane change the other lane is intended and if it is determined that the lane change to the other lane is not possible without danger, and when it detects that the location of the vehicle is to the lane such is that a predetermined minimum distance of the vehicle to one edge of the lane in the direction of the other lane is. In this way, by the steering intervention one of the driver intended lane change counteracted when the position of the vehicle changes in the direction of the other lane, whereby an accident with another vehicle on the other lane can be avoided.
  • Alternatively or additionally, according to one embodiment, a temporal change in position of the vehicle to the roadway can be determined. The temporal change in position can be determined, for example, from the position of the vehicle to the roadway by the position of the vehicle is determined at least two times and from a temporal change in position over time is determined. The steering intervention is then triggered when it is determined that the lane change to the other lane is intended and when it is determined that the lane change to the other lane is not safely possible, and when the vehicle is detected within a predetermined time Edge of the lane in the direction of the other lane will exceed, if the temporal change in position still exists, ie, if the driver does not steer. In this way and This is counteracted by the steering intervention intended by the driver lane change when the position of the vehicle changes in the direction of the other lane, whereby an accident with another vehicle on the other lane can be avoided. The predetermined time may be, for example, in a range of 0.1-3.0 s and, for example, is preferably 0.7 s. The time that is likely to pass until one edge of the lane is crossed in the direction of the other lane is also referred to as "time to lane cross" or "time to line cross" or abbreviated as TLC.
  • The Determine if the lane change to the other lane is safe possible One can determine if there is another vehicle on the other Lane is located in the blind spot of the vehicle, or determining whether another vehicle on the other lane of the vehicle of approaching behind, include. Such information is typically from a page assistance system a vehicle can be provided is a cost-effective implementation the method for controlling a steering intervention possible.
  • The Determine if the lane change by the driver of the vehicle is intended, for example, by detecting an actuation of a Direction indicator, a so-called turn signal, done. So is a reliable one Recognizing a lane change intended by the driver a cost-effective Way assured.
  • Of the Steering engagement can, for example, a movement of the steering wheel, a counter steering against a steering movement of the driver and / or a vibration on the Steering wheel of the vehicle include. A movement of the steering wheel, for example an application of an elevated Torque against the driver's steering movement include, so that the driver through the raised Counterforce when steering the lane change is made difficult or even Completely is prevented. A countersteering against a steering movement of the driver For example, such that the wheels at least partially independent of the steering movement of the driver are controlled such that the Vehicle remains in the lane. Finally, the aforementioned mechanisms also in dependence of how far the vehicle is already in an edge of the lane Direction of the other lane has approximated, with different intensity or used in combination.
  • According to one another embodiment the present invention, the steering intervention is controlled when it is determined that no lane change is intended and if it is detected that the position of the vehicle to the lane so is that a given minimum distance of the vehicle to a Edge of the lane is below. In this embodiment is thus reliably prevented that an inadvertent lane change, for example due to an inattention of the driver, takes place.
  • alternative or additionally can according to one embodiment the steering intervention can be controlled even if it is determined that no lane change is intended, and when it is detected that the vehicle within a predetermined time an edge of the lane in the direction of the other lane will exceed, if one as described above temporal change in position still exists, d. h., When the driver does not deflect. Also in this embodiment Thus, it prevents an unintentional lane change, for example due to an inattention of the driver, takes place.
  • According to the invention is further a method of assisting the operation of a vehicle, which provides the following Steps includes. First is a lane on which the vehicle is moving, and a Position of the vehicle detected at this lane. Furthermore determines whether a lane change to another lane, For example, an adjacent lane, is safely possible. Dependent on the detected position of the vehicle to the lane and the determination whether the lane change is possible or not without risk, will issued a warning to a driver of the vehicle. The warning may be output, for example, if it is determined that the lane change to the other lane is not possible without danger, and when it is detected that the vehicle is within the lane below a predetermined minimum distance to the edge of the lane in Direction of the other lane is located. This will regardless of whether the driver of the vehicle intends a lane change or Not issued a warning if there is a risk that that Vehicle collided with another vehicle on the other lane.
  • alternative or additionally can according to one embodiment the warning will be issued even if it is determined that the lane change to the other lane is not possible without danger, and when it is detected that the vehicle is within a predetermined Time to cross one edge of the lane in the direction of the other lane becomes, if a temporal change of position as described above still exists, d. h., When the driver does not deflect.
  • According to another embodiment additionally determines whether a lane change to the other lane is intended by the driver of the vehicle. When it is determined that the lane change to the other lane is not safely possible and the lane change is intended by the driver of the vehicle, a warning is issued to the driver. As a result, a warning can already be output to the driver of the vehicle before a possible lane change has been determined due to a change in position of the vehicle within the lane. Thus, an early warning of the driver is possible if an intended lane change is not possible safely. The intention to change the lane may, for example, be done by detecting actuation of a direction indicator of the vehicle.
  • As previously described, determining whether the lane change is on the other lane is possible without danger is done by determining whether there is another Vehicle on the other lane in the blind spot of the vehicle or if another vehicle is on the other lane approaching the vehicle from behind. It can, for example, the speed of the approaching behind Vehicle considered so that, for example, only a lane change as dangerous is classified when approaching from the rear of the vehicle with a predetermined Minimum speed, for example in relation to one's own vehicle, approaches.
  • The Displaying the warning for For example, the driver may activate a flashing display in a rearview mirror of the vehicle. About that In addition, an audible, visual or visual indication is shown in FIG a dashboard of the vehicle or an optical in the windshield the vehicle is displayed.
  • According to one another embodiment includes the method of assisting the operation of a vehicle the step of outputting information to the driver of the vehicle indicating that a lane change to a other lane is not possible without danger if this was previously was determined. The information output can z. B. activate a permanent display in a rearview mirror of the vehicle. About that There is also a corresponding information display in a dashboard of the vehicle possible. This preserves the driver of the vehicle information about the environment of the vehicle even before taking action for one Lane change, such. B. setting a direction indicator or changing the position of the vehicle within the current lane in the direction of the other lane, grabs.
  • According to the present The invention further provides a control system for controlling a steering intervention for a Vehicle provided. The control system includes a lane detection apparatus for Detecting a lane on which the vehicle is moving, and a position of the vehicle within this lane. The tax system further comprises a lane change determination device for Determine whether a lane change to another lane by a driver of the vehicle is intended. Such a lane change determination device For example, it may be a turn signal switch of the vehicle. Farther The control system includes a monitoring device for determining whether the lane change to the other lane is safe possible is a steering intervention device, which with a steering of the vehicle is coupled and which for an engagement in the steering is configured, and a processing unit, which with the lane detection device, the lane change determination device, the monitoring device and the steering intervention device is coupled. The processing unit evaluates signals of the lane detection device, the lane change determination device and the monitoring device and controls the steering intervention device in response to this Signals on. With the help of such a control system can thus the previously described method for controlling a steering intervention for a Vehicle performed become. Accordingly, such a control system comprises advantages described in connection with the method.
  • Finally, poses the present invention is a driver assistance system for a vehicle ready. The driver assistance system includes a lane detection device for detecting a traffic lane on which the vehicle is moving, and a position of the vehicle to the lane. The driver assistance system further comprises a monitoring device for determining whether a lane change to another lane is safe possible is an output device for outputting a warning to a Driver of the vehicle and a processing unit, which with the Lane detection device, the monitoring device and the output device is coupled. The processing unit is configured, signals from the lane detection device and the monitoring device process and depending of these signals to control the display device. Such a thing Driver assistance system is thus to carry out the previously described Method for supporting the Operation of a vehicle designed and has the associated Advantages.
  • According to another embodiment, the driver assistance system may further include the control system for controlling a steering intervention for Include vehicle as previously described. In such a combined system, the track detection device, the monitoring device, and the processing unit may be used both for performing the method for controlling a steering intervention for a vehicle and performing a method for assisting the operation of a vehicle as described above. By sharing these devices, the combined driver assistance system can be realized inexpensively.
  • The The present invention will be described below with reference to FIGS Drawings explained with reference to preferred embodiments.
  • 1 FIG. 12 is a flowchart of a method for controlling a steering intervention for a vehicle according to an embodiment of the present invention.
  • 2 FIG. 12 is a flowchart of a method of assisting the operation of a vehicle according to an embodiment of the present invention.
  • 3 12 schematically shows a lane having two lanes and a vehicle equipped with a control system for controlling a steering intervention for a vehicle according to an embodiment of the present invention and a driver assistance system for a vehicle according to an embodiment of the present invention.
  • 1 FIG. 3 illustrates a flow chart of an embodiment of the method for controlling a steering intervention for a vehicle. In one step 1 a lane on which the vehicle is moving and a position of the vehicle on the lane are detected. In one step 2 For example, by evaluating a turn signal switch of the vehicle, it is determined whether the driver of the vehicle intends to change the lane to another lane. If a lane change is intentional, will in one step 3 determines whether a lane change to the other lane is possible without danger. This can be done, for example, by checking a room next to the vehicle on the other lane for the presence of another vehicle, and / or by checking whether another vehicle on the other lane is approaching the vehicle from behind. When in step 3 it is determined that a lane change is safely possible, no steering intervention is required and the process begins with step 1 from the front. Will in step 3 however, it is determined that another vehicle is in the other lane beside the vehicle, for example, in a blind spot of the vehicle, or that a vehicle is approaching the vehicle from behind 4 evaluated the location of the vehicle to the lane. If the vehicle falls below a predetermined minimum distance to one edge of the lane in the direction of the other lane, in step 5 a steering intervention performed. Otherwise, the procedure with step 1 continued. The predetermined minimum distance may be, for example, 0.1-1 m, preferably 0.3 m. The steering intervention may include, for example, a countersteering or a vibration of the steering wheel. After steering intervention, the method with step 1 continued.
  • 2 FIG. 12 is a flowchart of one embodiment of the method for assisting the operation of a vehicle. In one step 6 a lane on which the vehicle is moving and a position of the vehicle within that lane are detected. In one step 7 is, as described above, determines whether a lane change to another lane, such as an adjacent lane, is safely possible. If a lane change is possible without danger, because there is neither another vehicle next to the vehicle on the other lane nor approaching another vehicle on the other lane from behind, the procedure in step 6 continued. If, on the other hand, another vehicle is on the other lane or if another vehicle is approaching on the other lane, then in step 8th a corresponding information issued to the driver of the vehicle. This can be done for example by a permanent display in a rearview mirror, wherein a left rearview mirror of the vehicle, for example, outputs information indicating that a lane change to the left is not safely possible, and wherein a right side mirror, for example, outputs information indicating that a Lane change to an adjacent right lane is not safe. Moreover, such a display can also be output in a dashboard of the vehicle, for example, separately for the right and the left side.
  • Then in one step 9 the location of the vehicle within the current lane on which the vehicle is moving determined. If it is determined that the vehicle is approaching an edge of the lane, for example, by a minimum distance of, for example, 0.1-1 m, z. B. 0.3 m, the edge of the track is undershot, is in one step 10 issued a warning to the driver of the vehicle. By way of example, this warning can comprise a flashing output in one of the rearview mirrors, comparable to the information output, or alternatively or additionally comprise an acoustic warning signal. Will, however, in step 9 it is determined that the vehicle is still sufficiently within the lane, in step 11 determines if the driver a lane change intended to another lane. This can be done for example by evaluating a signal from a turn signal switch of the vehicle. Will in step 11 If it is detected that the driver intends to change the lane, as described above, in step 10 a corresponding warning is issued. After the warning in step 10 has been issued, the method with step 6 continued. Was in step 11 on the other hand, if it is determined that the driver does not intend to change the lane, the procedure will proceed without issuing a warning in step 6 continued.
  • 3 shows a roadway 12 with a right lane 13 and a left lane 14 , In the right lane 13 there is a vehicle 15 which looks like the arrow 16 displayed on the roadway 13 from left to right in 3 emotional. On the lane 14 there is another vehicle 17 , which is also like the arrow 18 displayed on the lane 14 moved from left to right.
  • The vehicle 15 includes a tax system 25 (Dashed line) for controlling a steering engagement, which is a track detection device 19 which is configured such that it recognizes that the vehicle 15 on the lane 13 moved and, moreover, the location of the vehicle 15 related to the lane 13 detected. The location of the vehicle 15 to the lane 13 can for example be detected by a right distance 20 of the vehicle 15 to a right hand lane 21 and a left distance 22 from the vehicle 15 to a left lane 23 is detected. The tax system 25 further comprises a lane change determination device 24 for determining whether a lane change to another lane 14 intended by a driver of the vehicle. This lane change determination device 24 For example, a turn signal lever switch of the vehicle 15 include. Furthermore, the control system includes 25 a monitoring device 26 for determining whether the lane change to the other lane 14 is possible safely. This monitoring can be done for example by means of a camera, a radar detection device, a laser detection device or the like. The tax system 25 further comprises a steering intervention device 27 which with a steering 28 of the vehicle 15 is coupled. The steering intervention device 27 For example, a vibration on the steering wheel of the steering 28 to alert the driver to a dangerous situation. Alternatively or additionally, the steering intervention device 27 for example, increase the steering resistance or directly countersteer against a control of the driver cause. Finally, the tax system includes 25 a processing unit 29 , which with the lane detection device 19 , the lane change determination device 24 , the monitoring device 26 and the steering intervention device 27 is coupled. The processing unit 29 For example, it may be a microprocessor-controlled control unit which is electrically coupled to the aforementioned devices to receive signals from these devices or to output signals to the devices, in particular the steering-engagement device.
  • With the help of the previously described control system 25 may be the method described above for controlling a steering intervention for the vehicle 15 as previously described.
  • The vehicle 15 of the 3 further comprises a driver assistance system 30 (dash-dotted line). The driver assistance system 30 includes the lane detection device 19 , the monitoring device 26 , an output device 31 for issuing a warning to a driver of the vehicle 15 and the processing unit 29 , The processing unit 29 is with the lane detection device 19 , the monitoring device 26 and the dispenser 31 coupled. The processing unit 29 is configured to receive signals from the lane departure detection device 19 and the monitoring device 26 receives and in response to these received signals the output device 31 as described above in connection with the description of the method for assisting the operation of a vehicle. The output device 31 For example, a visual indicator in a rearview mirror of the vehicle 15 include, for example, when a warning to the driver is flashing or lit in a predetermined color, and which for outputting information that a lane change is currently not possible without danger, for example, outputs a continuous light display. In addition, the output device 31 Also include an acoustic output device for outputting a sound or voice signal to the driver or a corresponding display in a dashboard of the vehicle 15 include.
  • How out 3 can be seen, the lane detection device 19 , the monitoring device 26 and the processing unit 29 both from the tax system 25 as well as the driver assistance system 30 used. The processing unit 29 Therefore, it is designed to concurrently perform both the method of controlling a steering intervention and the method of supporting the operation of a vehicle as described above. By sharing the lane detection device 19 and the monitoring device 26 is a realization of the tax system 25 and the driver's chassis tenzsystems 30 particularly cost-effective, the driver at the same time powerful auxiliary systems are provided to increase the safety of the vehicle during operation.
  • 1-11
    step
    12
    roadway
    13
    right lane
    14
    left lane
    15
    vehicle
    16
    direction of travel
    17
    additional vehicle
    18
    direction of travel
    19
    Lane detection device
    20
    distance right hand lane
    21
    right lane edge
    22
    distance left lane
    23
    left lane edge
    24
    Lane change determining device
    25
    control system
    26
    monitoring device
    27
    Steering intervention device
    28
    steering
    29
    processing unit
    30
    Driver assistance system
    31
    output device

Claims (26)

  1. A method for controlling a steering intervention for a vehicle, comprising the steps of: - detecting ( 1 ) a lane ( 13 ) on which the vehicle ( 15 ), and one layer ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ), - determining ( 2 ), whether a lane change to another lane ( 14 ) by a driver of the vehicle ( 15 ), and - determining ( 3 ), whether a lane change to the other lane ( 14 ) is safe, characterized by - driving ( 5 ) of the steering intervention to the vehicle ( 15 ) in the detected lane ( 13 ), depending on the situation ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ), determining whether a lane change is intentional, and determining whether a lane change is safely possible.
  2. A method according to claim 1, characterized in that the steering intervention is controlled when it is determined that the lane change to the other lane ( 14 ) and if it is determined that the lane change to the other lane ( 14 ) is not possible without danger and if it is detected that the situation ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ) is such that a predetermined minimum distance of the vehicle ( 15 ) to a border ( 23 ) of the lane ( 13 ) in the direction of the other lane ( 14 ) is below.
  3. Method according to claim 1 or 2, characterized in that the position ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ) a temporal change in the position of the vehicle ( 15 ) to the lane ( 13 ) is determined, and that the steering intervention is controlled when it is determined that the lane change to the other lane ( 14 ) and if it is determined that the lane change to the other lane ( 14 ) is not possible without danger and if it is determined that the vehicle ( 15 ) of the determined temporal change of position within a given time an edge ( 23 ) of the lane ( 13 ) in the direction of the other lane ( 14 ) will exceed.
  4. Method according to one of the preceding claims, characterized in that the steering intervention is controlled when it is determined that no lane change is intended, and when it is detected that the situation ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ) is such that a predetermined minimum distance of the vehicle ( 15 ) to a border ( 21 . 23 ) of the lane ( 13 ) is below.
  5. Method according to one of the preceding claims, characterized in that from the position ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ) a temporal change in the position of the vehicle ( 15 ) to the lane ( 13 ), and that the steering intervention is driven when it is determined that no lane change is intended, and when it is determined that the vehicle ( 15 ) at the determined temporal change of position within a given time an edge ( 23 ) of the lane ( 13 ) in the direction of the other lane ( 14 ) will exceed.
  6. Method according to one of the preceding claims, characterized in that the determining ( 2 ), whether the lane change to the other lane ( 14 ), it is possible to determine whether another vehicle ( 17 ) on the other lane ( 14 ) in the blind spot of the vehicle ( 15 ).
  7. Method according to one of the preceding claims, characterized in that the determining ( 2 ), whether the lane change to the other lane ( 14 ), it is possible to determine whether another vehicle ( 17 ) on the other lane ( 14 ) the vehicle ( 15 ) from behind.
  8. Method according to one of the preceding claims, characterized in that the determining ( 3 ), whether the lane change by the driver of the vehicle ( 15 ) is intended to detect an actuation of a direction indicator ( 24 ) of the vehicle ( 15 ).
  9. Method according to one of the preceding claims, characterized in that the driving of the steering intervention ( 5 ) moving a steering wheel ( 28 ) of the vehicle ( 15 ).
  10. Method according to one of the preceding claims, characterized in that the driving of the steering intervention ( 5 ) comprises countersteering against a driver's steering movement.
  11. Method according to one of the preceding claims, characterized in that the driving of the steering intervention ( 5 ) a vibration on a steering wheel ( 28 ) of the vehicle ( 15 ).
  12. A method of supporting the operation of a vehicle comprising the steps of: - detecting ( 6 ) a lane ( 13 ) on which the vehicle ( 15 ), and one layer ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ), - determining ( 7 ), whether a lane change to another lane ( 14 ) is safely possible, characterized by - issuing ( 10 ) a warning to a driver of the vehicle ( 15 ) depending on the detected situation ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ) and the provision ( 7 ), whether the lane change is possible without danger.
  13. A method according to claim 12, characterized in that the warning to the driver of the vehicle ( 15 ) is output when it is determined that the lane change to the other lane ( 14 ) is not possible without danger and if it is detected that the situation ( 22 ) of the vehicle ( 15 ) to the lane ( 13 ) is such that a predetermined minimum distance of the vehicle ( 15 ) to a border ( 23 ) of the lane ( 13 ) in the direction of the other lane ( 14 ) is below.
  14. Method according to claim 12 or 13, characterized in that from the position ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ) a temporal change in the position of the vehicle ( 15 ) to the lane ( 13 ) and that the warning to the driver of the vehicle ( 15 ) is output when it is determined that the lane change to the other lane ( 14 ) is not possible without danger and if it is determined that the vehicle ( 15 ) at the determined temporal change of position within a given time an edge ( 23 ) of the lane ( 13 ) in the direction of the other lane ( 14 ) will exceed.
  15. Method according to one of claims 12-14, characterized in that the method further comprises the steps of: - determining ( 11 ), whether a lane change to the other lane ( 14 ) by a driver of the vehicle ( 15 ), and - issuing ( 10 ) a warning to the driver of the vehicle, if it is determined that the lane change to the other lane ( 14 ) is not possible without danger, and if it is determined that the lane change by the driver of the vehicle ( 15 ) is intended.
  16. Method according to claim 15, characterized in that said determining ( 11 ), whether the lane change by a driver of the vehicle ( 15 ) is intended to detect an actuation of a direction indicator ( 24 ) of the vehicle ( 15 ).
  17. Method according to one of claims 12-16, characterized in that the determining ( 7 ), whether the lane change to the other lane ( 14 ), it is possible to determine whether another vehicle ( 17 ) on the other lane ( 14 ) in the blind spot of the vehicle ( 15 ).
  18. Method according to one of claims 12-17, characterized in that the determining ( 7 ), whether the lane change to the other lane ( 14 ), it is possible to determine whether another vehicle ( 17 ) on the other lane ( 14 ) the vehicle ( 15 ) from behind.
  19. Method according to one of Claims 12-18, characterized in that the outputting ( 10 ) the warning activating a flashing display in a rearview mirror ( 31 ) of the vehicle ( 15 ).
  20. Method according to one of claims 12-19, characterized in that the method further comprises the step of: outputting ( 8th ) information for the driver of the vehicle ( 15 ), that the lane change to the other lane ( 14 ) is not possible without danger if it has been determined that the lane change to the other lane ( 14 ) is not possible without danger.
  21. Method according to claim 20, characterized in that the outputting ( 8th ) of the information activating a permanent display in a rearview mirror ( 31 ) of the vehicle ( 15 ).
  22. A control system for controlling a steering intervention for a vehicle, comprising: - a lane detection apparatus ( 19 ) for detecting a traffic lane ( 13 ) on which the vehicle ( 15 ), and one layer ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ), - a lane change determination device ( 24 ) for determining whether a lane change to another lane ( 14 ) by a driver of the vehicle ( 15 ) is intended, - a monitoring device ( 26 ) for determining whether the lane change to the other lane ( 14 ) is safely possible, - a steering intervention device ( 27 ), which with a steering ( 28 ) of the vehicle ( 15 ) and which for an intervention in the steering ( 28 ), and - a processing unit ( 29 ), which with the lane detection device ( 19 ), the lane change determination device ( 24 ), the monitoring device ( 26 ) and the steering intervention device ( 27 ), characterized in that the processing unit ( 29 ) is configured, the steering intervention device ( 27 ) in response to signals from the lane departure detection device ( 19 ), the lane change determination device ( 24 ) and the monitoring device ( 26 ) head for.
  23. Control system according to claim 22, characterized in that the control system ( 25 ) is configured to carry out the method according to any one of claims 1-11.
  24. Driver assistance system for a vehicle, comprising: - a lane detection device ( 19 ) for detecting a traffic lane ( 13 ) on which the vehicle ( 15 ), and one layer ( 20 . 22 ) of the vehicle ( 15 ) to the lane ( 13 ), - a monitoring device ( 26 ) for determining whether a lane change to another lane ( 14 ) is safely possible, - an output device ( 31 ) for issuing a warning to a driver of the vehicle ( 15 ), and - a processing unit ( 29 ), which with the lane detection device ( 19 ), the monitoring device ( 26 ) and the output device ( 31 ), characterized in that the processing unit ( 29 ), the output device ( 31 ) in response to signals from the lane departure detection device ( 19 ) and the monitoring device ( 26 ) head for.
  25. Driver assistance system according to claim 24, characterized in that the driver assistance system ( 30 ) is configured for performing the method according to any one of claims 12-21.
  26. Driver assistance system according to claim 24 or 25, characterized in that the driver assistance system ( 30 ) a tax system ( 25 ) for controlling a steering intervention for a vehicle ( 15 ) according to claim 22 or claim 23.
DE102008033432A 2008-07-16 2008-07-16 Method for controlling steering intervention for motor vehicle, involves detecting traffic lane on which vehicle moves and position of vehicle to traffic lane Ceased DE102008033432A1 (en)

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