DE102009045937A1 - Motor vehicle's lane holding method, involves detecting optimized lane in real time by forecasting driving path of individual and adjacent vehicles and detecting environment situation, and evaluating positions of adjacent vehicles - Google Patents

Abstract

The method involves forecasting a vehicle driving path of an individual vehicle (1) and adjacent vehicles, and detecting situation of vehicle environment. Optimized lane is detected in real time by forecasting the driving path of the individual and adjacent vehicles and detecting the environment situation. Positions of the adjacent vehicles are evaluated using a global positioning system, where the adjacent vehicles pass to a navigated path section before the individual vehicle. Evaluation of position data of the adjacent vehicles takes place in the individual vehicle.

Description

The The present invention relates to a method for tracking especially for motor vehicles.

In critical traffic situations with other vehicles can be a driver often not fast enough or not appropriate to the situation react. For this reason, a method is needed through which the vehicle takes the necessary steps to comply an optimized lane offers.

From the publication EP 0 473 866 A2 A collision avoidance system is known in which a sensor detects a plurality of potential collision objects and predicts a possible collision with the aid of the acquired data. To avoid the collision, it is proposed that braking means and / or steering means are activated by a vehicle control unit in order to avoid a collision. It is not stated how a control unit decides whether the steering means, the braking means or both must be used to avoid the collision.

Out US Pat. No. 6,049,295 A1 discloses a method for tracking revealed by means of a junction without traffic signs or a poorly visible road section can be traveled. This method requires a road-solid device and vehicle-mounted devices that communicate with each other by radio.

Out DE 198 30 547 A1 Furthermore, an intersection warning system is known, which also relies on roadside and on-board facilities.

The publication WO 2004/084177 A2 discloses a safety system for vehicles which monitors the vehicle environment and triggers an audible warning signal in the event of imminent collisions. This system monitors at least two zones adjacent to the vehicle. The warning signals are output in a spatially resolved manner by a loudspeaker system distributed in the vehicle, the warning signals being output by the loudspeaker corresponding to the direction of the possible collision. In addition, warning signals with different frequencies are output, the frequencies being assigned to the at least two adjacent zones.

The Use known methods and apparatus for lane keeping in the interpretation of an existing driving situation individual driving situation-typical information to a subsequent To carry out evaluation.

adversely Here is that other information to improve the driving situation assessment is not flexible and easy to evaluate.

The publication DE 102 49 354 A1 discloses a lane keeping system for a motor vehicle and its application. The lane keeping system has a vehicle-mounted environment sensor device for detecting the lane and a warning device for warning the driver in the event that the vehicle threatens to leave the lane at risk. In this system is also - if the driver ignores the first warning - a secondary warning device is provided, which forms a quasi second warning level.

Of the Invention is the object of a method and compliance to provide a lane that has a support indicating to the driver for tracking.

The Task is solved by the characteristics of the independent Claim 1. Further advantageous embodiments are in the specified dependent claims.

In In an advantageous embodiment, compliance is achieved a lane for at least one vehicle, wherein the vehicle Control means via vehicle safety systems and / or Driver assistance systems are addressed to influence the Vehicle movement path exist and information from the neighboring Vehicles are received, the relevant data of their own vehicle permanently determined via the control means, updated and on neighboring vehicles by means of vehicle to vehicle communication and by means of vehicle to infrastructure communication to infrastructure units being sent, with consecutive own position and position the neighboring vehicles are detected and recorded, and off the information received, the data obtained, the current own position and the positions of neighboring vehicles as well as data, which are stored in a memory, a prediction of the vehicle trajectory of the own vehicle and the neighboring vehicles, as well as the Situation detection of the vehicle environment takes place, and by means of Prediction of the vehicle movement path of the own vehicle and the neighboring vehicles and the situation detection of the vehicle environment an optimized lane is determined in real time, with the positions of neighboring vehicles, which are local and temporal your own vehicle passes the section to be traveled have, is evaluated.

In a further advantageous embodiment of the method according to the invention, the off Evaluation of the position data of the neighboring vehicles in their own vehicle.

A particularly advantageous embodiment is characterized by that by means of the vehicle to infrastructure communication the position data be transmitted to a server and the evaluation of Position data of the neighboring vehicles and the determination of the optimized lane to a server and the position information the optimized lane by means of vehicle to infrastructure communication is transmitted to the vehicles.

A Another particularly advantageous embodiment is characterized from that the vehicle to infrastructure (FzI) communication means carried out a mobile-based communication for toll collection becomes.

at a further advantageous embodiment, the vehicle is done to infrastructure communication as communication between the vehicle and barks equipped with transponders and transponders Position information about the optimized lane in the area the bark included.

A particularly advantageous embodiment is characterized in that the Transponder position information in the form of a distance to the optimized Lane included.

In In another embodiment, the memory is a digital map configured and in the digital map becomes your own position and the received position of the adjacent vehicles registered and the optimized lane determined, taking in the digital map is deposited, which reception quality for the determination your own position is to be expected.

at Another particularly advantageous embodiment is the own Position determined by GPS. It should be noted that in the Context of the present invention GPS representative of All Global Navigation Satellite Systems (GNSS) are available such as GPS, Galileo, GLONASS (Russia), Compass (China), IRNSS (India).

at In a particularly advantageous embodiment, information evaluated the the radiation properties of the communication system represent and in the data field for optional Information is stored.

A particularly advantageous embodiment is characterized in that based on the geometric information and this extra Information is decided which vehicle for the Forwarding a message is appropriate.

By the inventive use of driving information from other vehicles can advantageously an ideal line or a Lane even in construction sites and in bad weather conditions be determined. This makes it possible for the driver as well support in such difficult situations deliver.

By The integration of different systems will all be functional Maintain advantages of each subsystem and additionally their overall performance is increased. While the individual Subsystems can reduce accidents by using minimize the risk of certain hazards that are only for Own vehicle apply, according to the invention can complex Driving situations are solved, in particular numerous Vehicles are involved. Furthermore, risks are related reduced with a vehicle collision, because it is not only on certain cases, such as avoiding rear-end collisions.

The Invention will be described below with reference to an embodiment with reference to the accompanying drawings explained.

It demonstrate:

1 a block diagram with the device according to the invention in the interaction of different vehicle systems

2 an example of a data model

In the vehicle 1 There are at least one communication, a positioning, vehicle safety, driver assistance system 11 / 12 / 13 / 14 ,

1 Thus, one possible configuration configuration represents device construction of the method according to the invention in a vehicle 1 , It can, for example, other functional components for z. B. the chassis control units, such as the active suspension or Höheneinstellsysteme be addressed by the inventive method or apparatus according to the invention.

As a communication system 11 Standardized and / or optical radio-based information transmission systems are used for communication between more than two vehicles. The communication system 110 supports different mobile transmission methods, which carry out an information distribution in the so-called broadcast mode. A broadcast in a computer-based network is a message in which data packets are transmitted from one point to all users of a network. Under Transfer is generally the sending and Emp catching data packets understood.

Positioning Systems 12 serve to determine your own position. Positioning systems are GPS transmitters and receivers as well as navigation systems. According to the invention, integrated position determination systems that combine both functionalities in one device can also be used.

As vehicle safety systems 13 All brake systems and steering systems available in the vehicle can be used with electronic control. Vehicle safety systems can use the Electronic Break System (EBS) 131 , the Engine Management System (EMS) 132 , Anti-lock braking system (ABS) 133 , Actuator Slip Control (ASR), Electronic Stability Program (ESP), Electronic Differential Lock (EDS), Transmission Control Unit (TCU), Electronic Brake Force Distribution (EBV) and / or Engine Drag Torque Control (MSR).

Driver assistance systems 14 are electronic auxiliary devices in vehicles to assist the driver in certain driving situations. Here are often safety aspects, but also the increase in ride comfort in the foreground. These systems partially or autonomously intervene in the drive, control (eg, gas, brake, steering) or signaling devices of the vehicle, or warn the driver of the driver just before or during critical situations through suitable man-machine interfaces. Such driver assistance systems are for example parking aid (sensor arrays for obstacle and distance detection), Brake Assist (BAS), Cruise Control, Adaptive Cruise Control or Adaptive Cruise Control (ACC) 141 , Distance Alert, Turn-off Assistant, Traffic Jam Assistant, Lane Detection System, Lane Keeping Assist / Lane Assistant (lane departure warning, lane departure warning (LDW)) 142 Lane keeping support), lane change assist, lane change support, Intelligent Speed Adaptation (ISA), adaptive cornering light, tire pressure monitoring system, driver condition detection, traffic sign recognition, platooning, automatic emergency braking (ANB), up and down Dipped beam assistant for the driving lights, night vision system.

• 1. Empfang und Aktualisierung der Informationen aus den benachbarten Fahrzeugen
• 2. Aktualisierung und Übertragung der Daten des eigenen Fahrzeugs
• 3. Genaue Kartenaktualisierung
• 4. Voraussage der Bewegungsbahn für das eigene Fahrzeug und die benachbarten Fahrzeuge

The sequence of the method according to the invention consists of the following phases:

• 1. Receiving and updating the information from the neighboring vehicles
• 2. Updating and transmitting the data of the own vehicle
• 3. Exact map update
• 4. Prediction of the trajectory for the own vehicle and the neighboring vehicles

1. reception and updating the information from the neighboring vehicles

Receiving and updating the information from the neighboring vehicles takes place in such a way that the neighboring vehicles their position and dynamic information packages (PDP) 2 to continuously transmit via the communication system located in the respective vehicle and responsible for the exchange of information between at least two vehicles.

in this connection is according to the invention when receiving and sending updating information from neighboring vehicles by means of vehicle to vehicle communication or by means of the vehicle to infrastructure communication so-called hopping used around to increase the range of the respective transmissions and thus receiving and sending the update of the information on remotely neighboring vehicles or infrastructure units to improve. For this, the in the position and dynamic information packages (PDP) contained information evaluated to the increased Network load through the vehicle to vehicle (FzF) communication or to reduce the vehicle to infrastructure (FzI) communication.

The position and dynamic information packages representing and distributing the respective vehicle 2 contain information, eg. B. the vehicle identifier 21 GPS data with accurate information about tracking 22 , the individual vehicle parameters 23 , such as B. the vehicle geometry with length 231 , Width 232 , Turning circle, type of vehicle (car / off-road vehicle / small truck / lorry / etc.) 233 , the previously known information of vehicle dynamics 24 with z. B. max. Longitudinal acceleration and deceleration 241 , Max. lateral acceleration 242 , Max. vehicle speed 23 , the current vehicle speed 245 , the longitudinal acceleration, the lateral acceleration, the current yaw rate, the current steering angle.

Furthermore, the position and dynamic information packages include 2 Information about the vehicle safety systems and driver assistance systems currently active in the respective vehicle 25 , as well as information about the lane parameters 26 , such as B. angle of repose and estimated friction. Further fields are provided in the position and dynamic information packages 2 for optional information 27 ,

The position and dynamic information of all neighboring vehicles, with which the own vehicle communicates, are stored in a dynamically updated, internal memory, which serves as a database can be configured, stored.

If the sending vehicle already has an active position and dynamic information package in the database, d. H. it already "knows" from the receiving, own vehicle, get the data with the latest position and dynamics information packages updated.

When the vehicle is just entering the communication area, it is entered into the database with the original position and dynamics information packets. The position and dynamics information packages 2 If a vehicle leaves the zone and no longer sends data after an active period of time, it will be removed from the database after a specified time.

In an advantageous embodiment, in addition to the geometric information, information is also evaluated that the radiation properties of the respective communication system 11 in the data field for optional information 27 , as well as the geographical situation or position of the vehicle considered or evaluated. Based on the geometric information and this additional information is decided according to the invention, which vehicle is best suited for the forwarding of a message, ie which vehicle currently has the largest communication coverage. For this purpose, a weighting for the hopping and thus the congestion control is created from various additional information.

For example, get vehicles with a communication system 11 with higher antenna output a higher weighting. This may be due to higher antenna gain, lower line losses, higher transmitter power, etc.

communications systems 11 with better antenna positions with respect to shading are also weighted higher. Here, the shading by the own vehicle as well as the height of the antenna in relation to the road surface and thus the potential shading by other participants. An example of such a weighting would be that a traffic light is rated better than a truck, and this in turn is better than a sports car.

communications systems 11 For example, with a better geographical position with regard to shading, you can also weight higher. So a vehicle on a free-standing hill gets a higher rating than a vehicle in a street canyon or a vehicle next to a wall.

With This weighting ensures that despite less hops the largest possible number of participants gets forwarded message to be sent. This will be advantageous also reduced the utilization of the wireless network.

According to the invention the weighting function is designed so that even with incomplete knowledge the surrounding vehicles or geographic environment properties an appropriate, non-disruptive forwarding decision can be taken.

By the use of radiation properties and geographical information, for example, by weighting the geometric routing decision with additional information and / or use the radiation characteristics of a radio subscriber for weighting and / or use the geographical situation of a participant for weighting in determining the hopping the network load can be reduced, without to affect the range of communication.

2. Updating and transfer the data of the own vehicle

The updating and transmission of the own position and dynamic data of the own vehicle takes place in such a way that in the own vehicle the same data as described described and computes and the entire position and dynamics data package 2 be transmitted by the own communication system to the neighboring vehicles.

One particular subpackage of measured data included in the listed Function components are delivered, will be transferred directly into the Position and dynamic data packet entered, such. For example, the yaw rate from the EBS. The remaining data is derived, such. B. the maximum Torque, the gear ratio and the Vehicle weight, which together the acceleration capacity of the vehicle. The method thus calculates all of The data to be derived from the existing information sources and transmits the entire data package. The position and the dynamics data of your own Vehicles are used by the neighboring vehicles in the same way and processed way.

The exact data of the vehicle position are in the determination of Lane of particular importance. The exact position data of a Each vehicle will be charged in the following manner.

3. Exact map update

The position data of the first position reference tuning system, which may be implemented as a GPS transmitter / receiver, are used as basic information. This data is transmitted to the map of the second positioning system, such as a navigation system. Finally, the information from the driver assistance systems is supplemented by the data of the navigation system, resulting in a precise map indicating the position of each vehicle located on the various lanes of the road. This high resolution position data is required for the identification of dangerous dynamic maneuvers at high speed.

at the Kartenanaktualisierung is inventively to Improvement of positioning additionally card-based Map-matching applied. In case of bad or interrupted reception The positioning of the GPS signals is modeled by Dead Reckoning corrected or updated by using the board sensors of the Vehicle is used. You can do this z. As yaw rate, wheel speeds, etc., and A-GPS be evaluated to get a positioning faster, by not receiving the necessary correction data by the GPS receiver must be, but this at the start through another channel will be provided.

In a digital map is deposited according to the invention, which quality of the GPS reception or which restrictions are expected in the GPS reception at the respective position. So z. B. be recorded
"Tunnel → no GPS reception" or
"Street canyon → maximum 2 satellites to see", etc.

These Information is used to determine the positioning algorithm the GPS to suit the situation. Can z. B. due the ambient conditions only 2 satellites can be received, so can an algorithm can be used with these 2 satellites and possibly the vehicle sensors determines the position, but no position signal only because of the satellite issues.

additionally Dead reckoning can be improved by going ahead It is known with what accuracy in GPS positioning too is calculated. So the dead-reckoning algorithm can be very early decide how strong the positioning on vehicle sensors and how strong is based on the GPS signals.

are the typical mistakes in an area known, for. B. "Position error typically 10 meters to the east ", so such Corrections are included directly. Possibly. have to do this Details are given individually depending on the GPS receiver, to be adapted to the respective characteristics

There typically used a map for map matching anyway is to improve the positioning is the additional Effort, correction data or data on the quality of the GPS signals in the map store and the positioning system available to put, very low.

In An advantageous embodiment is in the digital Map noted that at the current position is not using GPS signals is to be expected. The positioning algorithm then becomes completely based on a pure evaluation of data from vehicle sensors switched over and it advantageously eliminates the otherwise typical Transient.

In another embodiment of the exact map update is recorded in the digital map that only a few satellites are visible. The position algorithm uses these satellites therefore as a support and calculated from them no direct Position. The actual position determination then comes a model-based Method using vehicle sensors used.

4. Prediction of the trajectory for own vehicle and neighboring vehicles and destination the optimized lane

A important variable in the prediction of one optimized lane, is the estimate of trajectories for the own vehicle and those of the neighboring vehicles. This is based on the data of the second positioning system, the determined exact map, the position and dynamic information package the vehicle dynamics and the potentially optimized Lane.

While This phase reduces the inventive method First, the number of vehicles observed by exclusion non-relevant vehicles of Relevant. All vehicles as not relevant, have no influence on the traffic situation, at the one's own vehicle due to its physical distance, the direction of travel or speed is involved. Especially the vehicles are evaluated for prediction, the temporally and locally in front of the own vehicle the concerning Road section have traveled.

If enough response time is available, only the system warns the driver and informs him of the most effective corrective action, via easy-to-interpret on-dash or on-dash symbols electrical or electronic player. In general, the driver is left with vehicle control as long as it is possible and a collision is avoided.

If from the situation a dangerous situation and thus a collision situation is, d. H. the smallest further reactionless time delay may be too cause a collision, takes over the inventive method the control of the vehicle safety and vehicle assistance systems to the to initiate direct intervention in the control of the own vehicle and to correct the trajectory of the own vehicle such. B. by braking and / or accelerating and / or steering.

The Controls of driver assistance and vehicle safety systems and the control means controlled by these lead directly enforce or demand the required corrective actions restore vehicle stability. By the cause the execution of the corrective action the vehicle assistance systems will ensure that during the intervention does not cause any passive obstacles or vehicles to appear unexpected.

If sufficient reaction time is available warns just the procedure the driver and inform him about the most effective corrective action, over easy-to-interpret characters on the dashboard or above an electrical or electronic player. in the Generally the driver is given the vehicle control, as long as possible and maintaining the optimal lane will be.

If from the situation a dangerous situation and thus a collision situation and the optimal lane is no longer complied with, d. H. the smallest further reactionless time delay can lead to a collision takes over the inventive method the regulation of the vehicle safety and vehicle assistance systems to facilitate immediate intervention in to initiate the control of the own vehicle and the trajectory to correct your own vehicle such. B. by braking and / or Accelerate and / or steer.

The Controls of driver assistance and vehicle safety systems and the control means controlled by these lead directly the required corrective measures to maintain the optimal lane or provide the vehicle stability possibly restored. By the cause of the execution the corrective action by the vehicle assistance systems ensures that during the procedure no passive Obstacles occur or vehicles appear unexpectedly.

The inventive method sets during the intervention always a higher priority of vehicle safety systems fixed, which have a passive obstacle detection. In the meantime, the data field (Flag) 'Collision avoidance active' set in the position and dynamic data packet of the own vehicle, to the road users in the neighboring vehicles on the own corrective measures in a possible dangerous situation to point.

The Steps 1-4 are in each loop of the invention Process executed. This high resolution Control loop enables the corrective measures to execute correctly at high speed. The engagement in the vehicle control requires high reliability for the entire device. This is about the failure safety concept built-in vehicle safety systems, such as EBS, ESAS, and driver assistance system ACC ensured.

The method according to the invention increases traffic safety, because there are complex and dangerous traffic situations of beginning to avoid. A network of vehicles over who access the inventive method can, represents a distributed traffic regime. Thus It makes a cost-effective alternative to the so-called intelligent Traffic control systems, as no complicated and expensive structures on the road and highway are required.

at further advantageous embodiments of the invention Method and apparatus of the invention You can also use a different system architecture than above described and illustrated. Reason for this is the fact that the control functions of the built-in vehicle dynamics, driver assistance and driver information systems combined and in another Way can be organized, such. B. by Merging or separating the functions within the built-in electronic control units. The overall functioning remains same.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• EP 0473866 A2 [0003]
• - US 6049295 A1 [0004]
• - DE 19830547 A1 [0005]
• WO 2004/084177 A2 [0006]
• - DE 10249354 A1 [0009]

Claims (10)

Method for maintaining a traffic lane for at least one vehicle, wherein the vehicle control means, which are addressed via vehicle safety systems and / or driver assistance systems for influencing the vehicle trajectory and information is received from the neighboring vehicles, the relevant data of the own vehicle permanently determined by the control means , updated and sent on adjacent vehicles by means of vehicle-to-vehicle communication and by vehicle-to-infrastructure communication to infrastructure units, continuously detecting and detecting their own position and position of the neighboring vehicles, and from the information received, the data obtained, the current one own position and the positions of the adjacent vehicles and data that are stored in a memory, a prediction of the vehicle movement path of the own vehicle and the adjacent vehicles, as well as the situat An identification of the vehicle environment is carried out, characterized in that by means of the prediction of the vehicle movement path of the own vehicle and the adjacent vehicles and the situation detection of the vehicle environment an optimized lane is determined in real time, the positions of the adjacent vehicles, the location and time before the own vehicle have passed to be traveled section, is evaluated. Method according to claim 1, characterized that the evaluation of the position data of the neighboring vehicles done in your own vehicle. Method according to claim 1, characterized that by means of the vehicle to infrastructure communication the position data be transmitted to a server and the evaluation of Position data of the adjacent vehicles and the determination optimized Lane to a server and the position information of the optimized Lane by means of vehicle to infrastructure communication to the Vehicles is transmitted. Method according to claim 3, characterized that the vehicle to infrastructure communication (FzI) is a mobile-based Communication for toll collection is. Method according to claim 3, characterized that the vehicle to infrastructure communication as communication between the vehicle and barges equipped with transponders are, configured, and the transponder position information about contain the optimized lane in the vicinity of the bark. Method according to claim 5, characterized in that that the transponder position information in the form of a distance to Optimized lane included. Method according to one of claims 3 to 6, characterized in that the memory as a digital map is configured and in the digital map your own position and the received position of the adjacent vehicles registered and the optimized lane is determined, being in the digital Map is deposited, which reception quality for the determination your own position is to be expected. Method according to claim 7, characterized that your own position is determined by GPS. A method according to claim 3, characterized in that information is evaluated, the radiation properties of the communication system 11 represent and in the data field for optional information 27 are stored. Method according to claim 9, characterized in that that based on the geometric information and this extra Information is decided which vehicle for the Forwarding a message is appropriate.