DE102010010856A1 - Method for automatic supporting of driver of motor vehicle with its driving situation, involves detecting vehicle environment and producing electronic image, where electronic image is applied for recognition of lane or track - Google Patents

Abstract

The method involves detecting the vehicle environment and producing an electronic image. The electronic image is applied for recognition of a lane (1a,1b) or a track (1,2) and objects (B) in the vehicle environment. The dynamic motion quantities of the motor vehicle (A) are detected. The position of the motor vehicle is determined corresponding to the data of the electronic image of the vehicle environment and dynamic motion quantities of the motor vehicle. An independent claim is also included for a driver assistance system for automatic supporting of a driver of a motor vehicle.

Description

The invention relates to a method for automatically assisting a driver of a motor vehicle in his driving task according to the preamble of patent claim 1.

From the "Manual Driver Assistance Systems", Hermann Winner, Stephan Hakuli and Gabriele Wolf (ed.), Vieweg + Teubner Verlag 2009, pp. 572-575 are crossing assistance systems, in particular inflection / crossing assistance and left-turn assistance described.

Invasion / Cross Assistance is understood to mean the assistance of a warrant driver when entering and crossing a priority road. Systems that assist the warranted driver in entering / crossing and already during intersection approach, as well as starting from a standstill, use an on-board sensor based environment detection. Active accident prevention requires early identification and assessment of potentially impending collisions. If accident prevention measures are required to assist the driver in detected dangerous situations, different information and warning levels or full interventions to prevent accidents are provided in a situation-adaptive manner. If the driver does not respond to the warning or the danger situation is detected later, for example at lower driving speeds or due to changed conditions, then an acute warning is provided, which can be implemented, for example, as a visual indication or as an acoustic warning, possibly supplemented by an active braking as part intervention.

If the vehicle standing directly at the intersection drives from a standstill, it is not possible to avoid driving into the intersection by means of a warning since there is no time available for a driver reaction. In this case, a collision should be avoided by stopping the startup when accelerator pedal operation by the driver.

As left-turn assistance, the driver's assistance in making a turn maneuver, i. H. understood in the conflict situation with oncoming road users. If the driver stops his vehicle in the middle of the crossing, where he has a sufficient view of possibly large gaps in oncoming traffic, this is recognized as a turn request, while waiting for a turn the driver purely visually informed about potentially dangerous oncoming traffic and the choice of a adequately sized gap is supported. A disadvantage of this situation is that the vehicle is already very close to the conflict zone and thus the driver is not sufficient time for the reaction to a warning is available, the driver should start despite oncoming traffic. In such a case, a collision should be avoided with an autonomous intervention in the form of a driver overridden detention of the vehicle.

If the driver turns off without stopping when approaching an intersection where he wants to turn left, because he sees a gap in oncoming traffic, the key problem is that the actual turn is only visible to the system when the steering wheel angle and steering wheel speed exceed certain thresholds. Information about oncoming traffic, such as that used for the turn-off, is no longer available due to the need for immediate intervention. Even a warning is no longer effective here. In such a case, therefore, an overridden by the driver deceleration of the vehicle to avoid accidents is required.

The disadvantage of these known systems is that these systems intervene only when a danger and / or risk of collision is already recognized by the system and an intervention must inevitably occur to prevent an accident.

Furthermore, this classic strategy that the driver initially receives a warning, followed by their disregarding a preparation phase for an intervention and finally in a further non-reaction of the driver, for example. A steering and / or braking intervention is performed, the disadvantage of That complex traffic situations of such driver assistance systems are often not detected or recognized in the situation appropriate and therefore there is a risk that too often or too late is warned or not all traffic situations are modeled in such a system to avoid false warnings or incorrect interventions.

Finally, it is known that in certain cultures, for example in Asian cultures, drivers perceive it as exposing themselves to their passengers when they are warned by a driver assistance system so that they can also recognize these passengers.

From the DE 101 37 292 A1 a driver assistance system for a motor vehicle with a power-assisted steering system is known in which environmental data of a, preferably instantaneous traffic situation is detected or estimated, the movement data, preferably the current movement data of the vehicle is detected or estimated, further the detected or estimated environmental data with the Movement data of the motor vehicle are compared and a change in the support of the steering wheel in accordance with the comparison is carried out, especially when a movement of the steering wheel in the direction of an alignment of the vehicle course to the road course, the steering assistance amplified and / or reduced in the direction of a greater deviation.

Furthermore, this known driver assistance system is designed to determine a desired trajectory and a nominal trajectory angle from the detected or estimated road course, for determining a actual trajectory and a Istbahnwinkels from the detected or estimated vehicle course, for comparing the desired trajectory or the nominal trajectory angle with the actual or the actual trajectory and Finally, to assist the driver to correct the current actual path or actual path angle in the direction of the desired path or the nominal path angle. In addition to the steering assistance, assistance is also provided by a brake control of a brake system of the motor vehicle.

Finally, with this known driver assistance system, the steering operation of the driver is checked by determining or estimating the operation of the steering wheel by the driver, and in the case where it is detected that the driver has released the steering wheel, a change of the steering assistance is omitted.

In this known driver assistance system, there is a risk that a driver feels patronized by this known system, since he is constantly monitored and that is immediately intervened in a deviation from a determined desired trajectory in the steering or the braking system of the motor vehicle.

The object of the invention is therefore to provide a comparison with the known driver assistance systems improved method for automatically assisting a driver of a motor vehicle in his driving task of the type mentioned above, with which the aforementioned disadvantages are avoided.

This object is achieved by a method having the features of patent claim 1.

According to the invention, a lane corridor drivable by the motor vehicle from the current position is determined from the position data of the motor vehicle and the data of the electronic image of the vehicle environment, wherein the lane corridor is bounded on both sides by a lane corridor border and falls below a distance of the motor vehicle to a lane corridor border the driver oversteer Querführungs- and / or longitudinal guidance intervention is performed, in particular by acting on a steering of the motor vehicle with a steering torque, by changing the steering ratio characteristic of an active steering of the motor vehicle, by changing the accelerator pedal characteristic of the accelerator pedal of the motor vehicle and / or by change the engine torque of the engine of the motor vehicle.

In a simple and surprising manner, the solution according to the invention shows that such a driver assistance system manages without warnings by generating a lane corridor with a left and a right lane corridor edge as a so-called "virtual wall" or "virtual wall" in that, depending on the current detected situation the driver is made to perform certain maneuvers.

This is by haptic feedback, ie by a counter-torque on the steering of the motor vehicle, by changing the steering ratio characteristic of an active steering of the motor vehicle, eg. A more indirect steering, by changing the accelerator pedal characteristic, eg. In the direction of a flatter acceleration curve the accelerator pedal of the motor vehicle and / or realized by changing the engine torque of the engine of the motor vehicle. It is also possible to change the characteristics listed with regard to the response, that is, for example, to achieve a delayed response.

For example, if the driver wants to change the lane and steers the motor vehicle in such a way that the predetermined distance to the left lane corridor edge is undershot, preferably this edge anfährt (ie the distance is zero) and in this situation, a vehicle coming from behind is detected, pushes the driver to the inventive "virtual wall" by, for example, applied a counter-torque on the steering wheel or the accelerator pedal characteristic of the accelerator pedal of the motor vehicle is changed.

The lane corridor is generated in such a way that the motor vehicle, if it moves within this lane corridor, is located approximately in the middle of the current lane, or possibly opposite a preceding vehicle, a following vehicle and / or a vehicle left or right has the optimal distance on a neighboring lane.

This distance can be chosen variably, wherein the vehicle behaves within the lane corridor like a vehicle without inventive method to assist the driver in his driving task. At a wide Lane Corridor thus results in almost a behavior as in a "normal" vehicle.

The most significant advantages of the method according to the invention are, on the one hand, the lack of warning given by the driver, as a result of which he is no longer exposed to the passengers since they can not recognize that possibly a dangerous traffic situation could exist and, on the other hand, that with this method according to the invention prophylactically certain situations can be prevented, even before the driver indicates that he wants to perform a driving maneuver that could lead to a dangerous situation and help him not to get into a dangerous traffic situation.

In a particularly advantageous embodiment of the invention, it is provided that the detection of the vehicle environment comprises the lying in the direction of travel of the motor vehicle road junctions and intersections, preferably by means of a navigation system and / or a digital map, and the lane corridor depending on the detected road junctions and / or road intersections is produced. This makes it possible to recognize which maneuvering possibilities the driver has, for example, a branching into a side street, a turning at a road intersection or a lane change, if, for example, two lanes are available in its direction of travel.

Furthermore, according to an embodiment of the invention, it is advantageous to generate the lane corridor as a function of a travel route predetermined by means of a navigation system. Thus, for example, the branches and intersections lying on the route can be determined in order to optimally adapt the lane corridor to this. In particular, this also reduces the possibilities of misinterpretations and incorrect interventions.

It is particularly advantageous according to a development of the invention, if by means of a detection of the steering wheel angle of a steering wheel of the motor vehicle, the accelerator pedal position of an accelerator pedal of the motor vehicle and / or the position of the indicator lever of a direction indicator of the motor vehicle, the driver's request for performing a driving maneuver, especially a lane change, one Turning process, overtaking and the like. Determined and generated in dependence of the driver's request, the lane corridor. It is advantageous to consider the road intersections lying in the direction of travel in determining the driver's request.

It is possible according to a further advantageous embodiment of the invention to perform a longitudinal guidance and / or transverse guidance support to support the driver's request.

This makes it possible to optimally adapt the lane corridor to the driver's desired maneuver so that the driver is optimally supported at the same time. For example, if the steering operation is too early for an intended turn, a counter-torque is applied to the steering, and if the correct location and timing is reached, a supporting steering torque.

In an overtaking maneuver, the driver can be assisted by the fact that more is accelerated than the driver has requested by the operation of the accelerator pedal in order to complete the overtaking process earlier due to a faster lane change.

It is particularly advantageous if the driver's request for carrying out a driving maneuver is stored, preferably for a predetermined period of time, if the detected driver's request is not carried out due to the lane corridor generated for this purpose and only when a lane corridor enabling the execution of the stored driver's request is generated or present , the driver is supported by a Querführungs- and / or longitudinal guidance support to carry out his driving desire.

According to a further preferred embodiment of the invention, provision is made for driver assistance functions, in particular longitudinal guidance assistance, preferably an adaptive cruise control (ACC) system and / or a transverse guidance assistance, preferably a track center guidance system and / or a guidance system, within the traffic lane corridor. System is effective. If the vehicle moves within the lane corridor, conventional driver assistance and driving safety functions can be activated there or remain active, in particular those systems which make it easier for the driver to position the vehicle in the lane center or at the correct distance from other road users, for example by means of the vehicle ACC system, which also includes such ACC systems that can slow down to a stop of the vehicle.

Furthermore, according to an embodiment of the invention, the lane corridor is generated with the lane edges such that the resulting vehicle position of the lane center of the detected lane corresponds. This results in a narrow lane corridor, which leads to a strong leadership of the vehicle, resulting in a support for the driver as "on rails".

In order to ensure that the driver has the guidance of the vehicle at all times, according to a development of the invention, it is constantly checked whether the driver is still performing his own driving task or if he is driving the vehicle virtually autonomously, by the current actuation of a steering wheel or an accelerator pedal of the motor vehicle determined by the driver and a warning is generated at a detected non-actuation.

Finally, according to a final embodiment of the invention, a driver attention observation, z. For example, a drownsiness detection or a driver monitoring provided to determine whether the driver is still alert or overtired and whether the driver is still watching the traffic.

The inventive method can be integrated in existing driver assistance systems of motor vehicles in an advantageous manner, since the components required for this purpose are already present in modern vehicles.

The invention will be explained in more detail with reference to the drawings. Show it:

1 a schematic representation of a traffic situation to explain the inventive method for assisting a driver when turning left, and

2 a schematic representation of another traffic situation to explain the method according to the invention to assist a driver when approaching a road intersection and a lane change.

1 shows a roadway 1 forming lanes 1a and 1b with a motor vehicle A on the lane 1a , wherein in the direction of travel of the motor vehicle A is a roadway 2 branches off to the left. The motor vehicle A has a driver assistance system for carrying out the method according to the invention with an environment sensor system for generating an electronic image of the surroundings of the motor vehicle A, with lane detection and object recognition being carried out therefrom by means of image evaluation. Furthermore, the motor vehicle A is equipped with an electric power steering.

The environment sensor system can be supplemented by digital map data and / or data from a vehicle-to-X communication, for example such branches 2 to recognize. The image analysis leads to a division of the drivable surfaces of the vehicle environment of the motor vehicle A in such areas in which the motor vehicle A may move and those areas in which the motor vehicle A may not move, which are thus traversable, but for example, be limited by route information of a navigation device of the motor vehicle A, by the dynamic driving possibilities of the motor vehicle A and other road users, such as. The motor vehicle B on the opposite lane 1b the roadway 1 ,

From the dynamic movement quantities of the motor vehicle A and the data of the electronic image of the vehicle surroundings, the position of the motor vehicle A with respect to the lane is determined 1a the roadway 1 determines and generates therefrom a lane corridor for the motor vehicle A, wherein the lane corridor is bounded on each side by a lane corridor edge.

First, the driver of the motor vehicle A is supported to keep his vehicle within the lane corridor by, for example. When falling below a predetermined distance or in the impending driving over a lane corridor while steering a counter-torque perceives that causes him to return to the lane corridor back.

In the illustrated traffic situation according to 1 intends the driver of the motor vehicle A in the road 2 divert. It must be prevented that the vehicle A when turning left with the oncoming traffic, ie the motor vehicle B on the opposite lane 1b crashes. Therefore, it is necessary on the one hand, that this motor vehicle B is detected and on the other hand recognized by the driver assistance system, whether or when the driver wants to turn left. This is recognized by the fact that a steering maneuver carried out by the driver is brief (for example 100 m) before the turn-off into the roadway 2 is interpreted as a driver request.

Instead of a warning to the driver is constantly monitored, at least before coming turn-off by means of the environment sensor of the motor vehicle A oncoming traffic, so in particular the motor vehicle B detected. The driver assistance system also recognizes by means of the environmental sensor system of the motor vehicle A or by means of a digital map the driving maneuvers that can be carried out in the direction of travel, thus also that there is a possibility of turning into the roadway 2 gives.

Due to the recognized motor vehicle B on the opposite lane 1b a corresponding lane corridor is created with lane edges so that initially a turn is prevented when the driver steers too early, ie it is given in a steering in the direction of oncoming traffic a counter-torque on the steering and / or the steering ratio very indirect only in this direction designed. Thus, the motor vehicle A remains in by the Lane corridor predetermined optimal area of the carriageway 1 ,

As soon as no oncoming traffic is detected and the optimal branch point in the roadway 2 is given by the lane corridor, is indicated by a supporting steering torque in the direction of the oncoming traffic to the driver that he the turning maneuver into the road 2 can perform. With this steering, the driver is additionally supported so as not to steer too far or too little. If the motor vehicle A also has an active accelerator pedal, the speed of the motor vehicle A is kept in an optimum range via a modified characteristic curve of the accelerator pedal.

If the driver of vehicle A does not recognize that he wants to turn, an appropriate driving corridor is generated. If the driver wants to turn and does not pay attention to the vehicle B, he reaches the limit of the driving corridor very quickly and gets there a counter-torque to the steering system. As a result, the driver is shown that turning is currently not possible. Only when vehicle B has passed the vehicle A, the driving corridor is changed so that the turn is possible and thus the counter-torque also withdrawn.

In the traffic situation according to 2 a motor vehicle A goes to an intersection K, this vehicle A corresponding to the vehicle A from 1 is equipped with a driver assistance system for carrying out the method according to the invention.

The driver of the motor vehicle A is when approaching the by two lanes 1 and 2 formed crossing K supported by the driver assistance system of the motor vehicle A in terms of a cross-traffic assistant. According to 2 the motor vehicle A moves in the lane 1a the roadway 1 , where a collision at a collision point P on the intersection K with two on the road 2 threatens the crossing K approaching vehicles C1 and C2. Another vehicle B is on the opposite lane 1b the roadway 1 at the junction K.

In this traffic situation, the collision with the crossing vehicles C1 and C2 on the lanes 2a and 2 B be prevented. For this purpose, a corresponding lane corridor is generated, which takes into account the possibility of collision with the vehicles C1 and C2, ie is limited in the direction of travel of the vehicle A. In order for the driver to hold his vehicle A in this lane corridor, longitudinal guidance assistance is performed.

For this purpose, similar to an ACC system, the speed of the vehicle is controlled so that there is no risk of collision at the intersection K. About an active accelerator pedal by an applied counter-torque and / or by changing the accelerator pedal characteristic already in advance of the intersection K of the driver of the motor vehicle A is guided so that he approaches the intersection K with the correct speed and / or even noticed that a potentially dangerous place is approaching him. It is always paid attention to the compliance with the right of way and the driver only informed or supported, which violates the right of way rules. Otherwise, the situation could arise that the vehicles A, C1 and C2 slow down to a standstill, since the delay does not avert the risk of collision, but only shifts it. If no active accelerator pedal is installed in the vehicle A, an ACC-like strategy can instead be selected, ie the engine torque can be reduced. The procedure described creates a kind of "safety zone" for the driver when he can be guided by the vehicle A.

The following is based on the 2 the inventive method for assisting the driver of the vehicle C1 on the lane 2a the roadway 2 in a driving maneuver "lane change on the lane 2 B "Explained in terms of a lane change assistant.

Also this vehicle C1 on the lane 2a is with an electric power steering, a driver assistant according to the vehicle A after 1 and 2 trained and also has an environment sensor, which is also suitable for monitoring the side and rear space.

The driver assistance system of the vehicle C1 generates a lane corridor according to the invention with lane corridor boundaries that are on the neighboring lane 2 B moving vehicle C2 considered. If the driver of the vehicle C1 tries to change the lane, he steers in the direction of the lane 2 B of the vehicle C2, this is detected as a driver request "lane change" and applied a counter-torque on the steering, otherwise a threat of collision with the vehicle C2. This indicates to the driver that the execution of a lane change is not possible or not to be carried out. This driver request is saved for example. 5 s. If the possibility of changing lanes is detected by the driver assistance system within this period of time, a corresponding traffic lane corridor is generated and at the same time a corresponding steering torque in the direction of the traffic lane 2 B applied to the steering, whereby the driver is indicated that he can now change the lane.

The longitudinal and transverse guidance supports explained in these exemplary embodiments can be overruled by the driver at any time.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10137292 A1 [0010]

Cited non-patent literature

• "Manual Driver Assistance Systems", Hermann Winner, Stephan Hakuli and Gabriele Wolf (eds.), Vieweg + Teubner Verlag 2009, pp. 572-575 [0002]

Claims (13)

Method for the automatic assistance of a driver of a motor vehicle (A, C1) in his driving task, in which - the vehicle environment is detected and an electronic image is generated therefrom, - the electronic image for recognizing a traffic lane ( 1a . 1b . 2a . 2 B ) and / or roadway ( 1 . 2 ) as well as of objects (B, C1, C2) in the vehicle environment is used, - dynamic movement quantities of the motor vehicle (A, C1) are detected, - the position of the motor vehicle (A, C1) with regard to the traffic lane ( 1a . 1b . 2a . 2 B ) and / or roadway ( 1 . 2 ) is determined on the basis of the data of the electronic image of the vehicle environment and the dynamic motion quantities of the motor vehicle (A, C1), characterized in that - from the position data of the motor vehicle (A, C1) and en data of the electronic image of the vehicle environment of the motor vehicle (A, C1) is determined from the current position passable lane corridor, wherein the lane corridor is bounded on both sides of each of a lane corridor border, and - falls below a distance of the motor vehicle (A, C1) to a lane corridor edge override by the driver a transverse guide - And / or longitudinal guidance intervention is carried out, in particular by acting on a steering of the motor vehicle (A, C1) with a steering torque, by changing the steering ratio characteristic of an active steering of the motor vehicle (A, C1), by changing the accelerator pedal characteristic of the accelerator pedal Motor vehicle (A, C1), by Beau Fungung the accelerator pedal with a counter-torque or a supporting torque and / or by changing the engine torque of the engine of the motor vehicle (A, C1). A method according to claim 1, characterized in that - the detection of the vehicle environment lying in the direction of travel of the motor vehicle (A, C1) road branches ( 2 ) and road intersections (K), preferably by a navigation system and / or a digital map, and - the lane corridor depending on the detected road junctions ( 2 ) and / or road intersections (K) is generated. A method according to claim 1 or 2, characterized in that the lane corridor is generated in dependence of a predetermined route by means of a navigation system. Method according to one of the preceding claims, characterized in that by detecting the steering wheel angle of a steering wheel of the motor vehicle (A, C1), the accelerator pedal position of an accelerator pedal of the motor vehicle (A, C1) and / or the position of the turn signal lever of a direction indicator of the motor vehicle (A, C1) of the driver's request for performing a driving maneuver, in particular one Lane change, a turn, overtaking and the like. Is determined, and - Is generated in response to the driver's request, the lane corridor. A method according to claim 4, characterized in that in support of the driver's request a longitudinal guide and / or transverse guidance support is performed. Method according to claim 4 or 5, characterized in that the road intersections (K) and / or road branches ( 2 ) are taken into account in the determination of the driver's request. Method according to one of claims 4 to 6, characterized in that - The storage of the driver's request for performing a driving maneuver takes place, if the detected driver's request is not performed due to the lane corridor generated for this purpose, and A transverse guidance and / or longitudinal guidance assistance takes place if a lane corridor enabling the execution of the stored driver request is generated. A method according to claim 7, characterized in that the driver's request is stored for a predetermined period of time. Method according to one of the preceding claims, characterized in that within the lane corridor driver assistance functions, in particular a longitudinal guidance support, preferably an adaptive cruise control (ACC) system and / or a transverse guidance support, preferably a track center guidance system and / or a tracking system is effective. Method according to one of the preceding claims, characterized in that the lane corridor is generated with the Fahrprourrändern such that the resulting vehicle attitude of the lane center of the detected lane ( 1a . 2a ) corresponds. Method according to one of the preceding claims, characterized in that the current operation of a steering wheel or an accelerator pedal of the motor vehicle (A, C1) is determined by the driver and a warning is generated at a detected non-actuation. Method according to one of the preceding claims, characterized in that a driver attention detection is performed. Driver assistance system for carrying out the method according to one of the preceding claims.

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