DE102012025328A1 - Method for assisting driver by assistance device of motor vehicle during lane change, involves determining convoy speed of vehicles, manipulating actual speed of motor vehicle, detecting gaps in target lane, and automatically changing lane - Google Patents

Abstract

The method involves identifying a lane change intention (29) of the driver (3), and determining a convoy speed (11) of the convoy of vehicles. The actual speed (13) of the motor vehicle (1) is manipulated such that it differs from the convoy speed to an extent to a maximum relative speed (33). The actual speed is regulated to the reference speed (41). Gaps in the target lane are detected while regulating the actual speed to the reference speed. The lane change is automatically carried out when one of the suitable gaps is detected. An independent claim is included for an assistance device for assisting a driver of a motor vehicle during a lane change from an actual traffic lane to a target traffic lane with a convoy of vehicles.

Description

The invention relates to a method for assisting a driver of a motor vehicle with a lane change from an actual lane to a destination lane with a vehicle convoy, a device according to the invention, and a motor vehicle equipped with the assistance device.

Assisting a driver of a motor vehicle with a lane change from an actual lane to a destination lane is known. It may happen that the target lane is traveled by a vehicle crew. The vehicle convoy usually has gaps, it being possible that not every one of the gaps is capable of carrying out a safe lane change: It is therefore known to monitor an antechamber of the usually adjacent target lane by means of detectors, in which case a target vehicle can be determined behind which a lane change is performed can be. The DE 10 2009 033 800 A1 relates to a method for assisting a driver in preparing a lane change with a vehicle from a current lane to a destination lane by means of a longitudinal control device provided in the vehicle. There is a monitoring of a vestibule of the adjacent target lane, a determination of one of the vehicle detected on the target lane as the target vehicle, behind which can be changed to the destination lane. There is a docking of the own vehicle on the instantaneous lane in a first target distance behind the target vehicle on the target lane, which is reduced according to specifiable criteria of the distance of the own vehicle to the target vehicle to a second target distance by means of the longitudinal control device. It is carried out docking to the laterally preceding target vehicle. The first desired distance and the second desired distance are selected such that the own vehicle can thread into a traffic gap behind the target vehicle.

The object of the invention is to provide an improved support to a driver of a motor vehicle in a lane change from an actual lane to a destination lane with a vehicle convoy, which enables a safe and fastest possible lane change even with a very dense traffic on the target lane.

The object is achieved by a method according to claim 1. Under a lane change intention can be understood that the driver wants to shear from the actual lane in the Zielfahrspur. In particular, the recognized lane change intention can be understood to mean any size, for example a binary variable, which indicates whether or not the lane change intent of the driver exists. The recognition of the lane change intention can be effected in any desired manner, in particular by interrogating an operator input, in particular an actuation of a direction indicator of the motor vehicle, a special operator input for triggering the assistance in the lane change, a possibly existing and autonomously and / or partially autonomously guided route Route guidance and / or depending on a behavior of the driver. The column speed can be determined by means of suitable sensors for detecting an environment of the motor vehicle. The actual speed can be influenced by means of a longitudinal control device of the motor vehicle, in particular as a function of a predetermined and / or predefinable setpoint speed. Alternatively or additionally, the actual speed can also be influenced in the sense of a man-in-the-loop control by displaying the corresponding desired speed, wherein the driver of the motor vehicle can decide for himself whether he prepares for this speed and / or Performing the lane change and / or want to control. Advantageously, the actual speed is influenced in such a way that it differs from the column speed at most by the maximum relative speed. Alternatively or additionally, the actual speed is influenced in such a way that it differs exactly or as exactly as possible from the column speed by the maximum relative speed. It is thus provided that the motor vehicle passes before the final execution of the lane change with the maximum relative speed or possibly slower at the vehicle convoy or is overtaken by this. This makes it possible to detect a larger portion of the vehicle column in preparation for the lane change. In particular, this makes it possible to detect a higher number of gaps in the vehicle convoy, which may be eligible for a Einschern in question, and / or to measure accordingly. Advantageously, the lane change can be performed faster and safer. The actual execution of the lane change can be carried out autonomously and / or at least partially autonomously. Alternatively or additionally, the driver of the motor vehicle to support only the possibly found and appropriate gap can be displayed.

A preferred embodiment of the method is carried out according to claim 2. Advantageously, by means of the desired speed, the actual speed can be regulated such that the desired relative speed, which does not exceed the maximum relative speed either upwards or downwards, is passed by the vehicle column. Advantageously, a comparatively large section of the vehicle column can thereby be observed, if appropriate with regard to existing gaps are measured. Advantageously, faster and better one of the gaps suitable for lane change can be found. Advantageously, starting from the limited relative speed of the lane change can be performed safely. If the actual speed of the motor vehicle still differs from the column speed by a value greater than the maximum relative speed, it is advantageously possible to set the actual speed down and / or up. Optionally, this can be done by means of the longitudinal control device accelerating or possibly braking the motor vehicle.

A further preferred embodiment of the method is carried out according to claim 3. Advantageously, by driving past the vehicle convoy, they can be examined for the appropriate gaps. Advantageously, as soon as one of these suitable gaps is detected, the lane change can be carried out safely. Advantageously, thereby also time can be saved, in particular in comparison to an equally fast Nebenherfahren. Advantageously, a sensory area for detecting one or more gaps in the vehicle convoy can be used several times.

A further preferred embodiment of the method is carried out according to claim 4. During a lapse of time, the vehicle crew can be inspected for the appropriate gaps. After the expiration of the period can be advantageously concluded that the traffic in the vehicle convoy is obviously so dense that a usual Einscheren is not possible or very difficult. Advantageously, however, by setting the direction indicator, the lane change intent of other drivers of the vehicle crew will be announced. In this case, there is advantageously a higher probability that they will make room, thus creating one of the appropriate gaps. Advantageously, thereby also making the lane change faster and safer.

A further preferred embodiment of the method is carried out according to claim 5. If the lane change intention has been detected, the period can be started immediately. Advantageously, it can be ensured that an unnecessary setting of the direction indicator does not occur immediately when recognizing the lane change intent. As long as there is the possibility of finding one of the suitable gaps, it is possible to wait until it has been approached. However, if after expiration of the period of time it turns out that none of the suitable gaps are present, the lane change setting can be accelerated by setting the direction indicator. In particular, it is conceivable, if immediately one of the gaps has been recognized, to dispense with starting the period of time, especially since it can be started immediately with the lane change, which is associated with an operation of the direction indicator anyway. Optionally, by setting up the lane change, either manually by the driver, semi-autonomously and / or autonomously set the direction indicator.

A further preferred embodiment of the method is carried out according to claim 6. Advantageously, the mean local distance between two vehicles of the destination lane can be used as a measure of a traffic condition of the vehicle crew. If the mean local distance is comparatively small, it can be concluded that a lane change is comparatively difficult to perform. In this case, advantageously the maximum relative speed can be selected to be comparatively low. As a result, a security can be increased when recognizing the appropriate gaps and, if appropriate, subsequently to be performed lane change. In the event that the mean local distance is already comparatively large anyway, it can be concluded that an even larger and therefore suitable for the lane change gap can be found. Therefore, the maximum relative speed can be set comparatively high. In addition, it can be achieved that despite the larger average local distance in a relatively short time a sufficient number of gaps can be examined.

A further preferred embodiment of the method is carried out according to claim 7. Advantageously, in addition to the mean local distance, alternatively or additionally, the column velocity can also be included in the maximum relative velocity. In particular, the maximum relative speed can then be selected to be comparatively small if the column speed of the target lane itself is also comparatively small. At higher column speeds, a greater maximum relative speed may optionally be allowed.

A further preferred embodiment of the method is carried out according to claim 8. Advantageously, during the course of the time span, the column located on the target lane can be examined for the appropriate gaps. Advantageously, this is due to the compliance of the maximum relative speed such that optionally at any time the lane change can be performed and / or that a reliable detection of the possibly suitable gaps is possible.

The object is also achieved by an assistance device according to claim 9. The assistance device is in particular set up, designed, constructed and / or equipped with software for carrying out a previously described method. Advantageously, the lane change can be performed faster and safer by means of the assistance device. The assistance device can in particular be present as a permanently installed part of the motor vehicle. Alternatively or additionally, the assistance device can be completely or at least partially mobile and / or portable, that is to say separable and / or data-technically connectable to the motor vehicle. Incidentally, the advantages described above arise.

The object is also achieved by a motor vehicle with an assistant device described above. Advantageously, a driver of the motor vehicle can be supported in terms of a faster feasible and / or safer lane change. Incidentally, the advantages described above arise.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims.

Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. Described and / or illustrated features may form the subject of the invention itself or in any meaningful combination, optionally also independent of the claims, and in particular may also be the subject of one or more separate application / s. The same, similar and / or functionally identical parts are provided with the same reference numerals.

Show it:

1 a schematic side view of an assistance device having a motor vehicle, by means of the assistance device, a driver of the motor vehicle is supported in a lane change;

2 a schematic plan view of the in 1 shown motor vehicle before a lane change in a vehicle convoy;

3 in the 2 shown vehicle column together with the motor vehicle, in contrast, no suitable for a lane change gap in the vehicle column is present; and

4 a flowchart of a method for assisting the driver of the in the 1 - 3 shown motor vehicle in the lane change.

1 shows a schematic side view of a motor vehicle 1 , The car 1 has an assistant device 43 on, by means of a driver 3 of the motor vehicle 1 in a lane change from an in 1 not shown actual lane is supported in a target lane. The assistant device 43 has a sensor device 23 on. By means of the sensor device 23 is an environment 45 of the motor vehicle 1 detectable. In particular, objects, in particular other road users, which are the motor vehicle 1 surrounded, detectable. The sensor device 23 is a measurement control 47 downstream. By means of the measuring control 47 can the environment 45 descriptive data, in particular speeds, relative speeds, accelerations, relative accelerations, distances and / or the like, on the motor vehicle 1 as well as the objects occurring variables are generated and / or determined.

In addition, the motor vehicle has 1 via a human-machine interface 21 , By means of the man-machine interface 21 can the driver 3 the car 1 lead and / or exchange information with it. This can be the driver 3 of the motor vehicle 1 through a behavior 31 at the man-machine interface 21 , in particular by operator inputs and / or the like effect. At the human-machine interface 21 can thereby a lane change intent 29 the driver 3 entered and / or determined. The lane change intent 29 is the assistant device 43 to disposal. The assistant device 43 is data technology with the man-machine interface 21 connected.

Otherwise, the assistance device 43 a longitudinal control device 25 on. In the longitudinal control device 25 it may be an existing anyway in the motor vehicle control and / or control device for controlling, controlling and / or influencing an actual speed 13 of the motor vehicle 1 act. For influencing the actual speed 13 is the longitudinal control device 25 a drive source 27 and / or a brake, not shown, of the motor vehicle 1 controlling upstream. Advantageously, thereby the actual speed 13 be increased or reduced. Corresponding sensors for determining the actual speed 13 are in 1 simplified not shown.

The closer functioning of the assistant device 43 will be described below on the basis of 2 - 4 explained in more detail.

2 shows a plan view of an actual lane 5 that of the motor vehicle 1 currently driven and a destination lane 7 in which the motor vehicle 1 would like to do a lane change. The lane change is in 2 by means of a curved arrow 49 symbolizes.

The car 1 drives the actual lane 5 with the actual speed 13 ,

The destination lane 7 is from a vehicle crew 9 traveled. The vehicle crew 9 has a plurality of other road users and has on average a column speed 11 on. The column speed 11 is different from the actual speed 13 an actual relative speed 51 ,

The variety of other road users of the vehicle crew 9 drive the destination lane 7 with a middle local distance 19 to each other. As in 2 To detect, between two of the road users the mean local distance deviates 19 significantly, leaving a gap suitable for lane change 15 is available. In this suitable gap 15 is by means of a dashed border line the motor vehicle 1 drawn after the successful lane change.

In 2 has the motor vehicle 1 a comparatively large distance to the appropriate gap 15 on, in particular, four other road users between the motor vehicle 1 and the gap the target lane 7 traveled. It is conceivable that, if necessary, even more of the other road users to the appropriate gap 15 between this and the motor vehicle 1 the destination lane 7 traveled. In particular, it is possible that the appropriate gap 15 due to a given measuring range of the sensor device 23 can not be recognized immediately. Advantageously, however, moves the motor vehicle 1 with the actual relative speed 51 at the vehicle crew 9 past. This can be done after covering a certain relative distance to the vehicle convoy 9 past the gap 15 by means of the sensor device 23 be recognized.

Advantageously, it is provided that by means of influencing, in particular controlling and / or regulating the actual speed 13 , the actual relative speed 51 changed and / or influenced, in particular regulated and / or controlled. Advantageously, the actual relative speed 51 to a maximum relative speed 33 be set. Alternatively or additionally, the longitudinal control device 25 be set, in particular be acted upon by a corresponding setpoint that the actual relative speed 51 , In particular, an amount of the actual relative speed 51 is less than the maximum relative speed 33 , Advantageously, this can lead to an overly fast passing of the vehicle column 9 be prevented, in a secure way, the appropriate gap 15 can be detected and if this is actually detected, also in a safe way, the lane change in the gap 15 can be performed in it.

3 shows in principle the in 2 shown traffic situation with the motor vehicle 1 , in contrast, no suitable for the lane change gap 15 in the vehicle convoy 9 is available.

Advantageously, in this case also the vehicle convoy 9 looking for the appropriate gap 15 to be passed. If this lasts longer than a predetermined and / or predefinable time period, a direction indicator may be used to signal the lane change intent 17 in the direction of the destination lane 7 be set. The direction indicator 17 of the motor vehicle 1 So can advantageously indicate the lane change intent to the other road users, so that they possibly make room, so the suitable for the lane change gap 15 release.

4 shows a schematic flow diagram for assisting the driver 3 of the motor vehicle shown in the preceding figures 1 in the lane change of the actual lane 5 in the destination lane 7 with the vehicle crew 9 ,

In a first step 35 becomes the lane change intent 29 the driver 3 recognized for the lane change. The lane change intent 29 in particular via the man-machine interface 21 depending on the behavior 31 the driver 3 , in particular depending on an operator input, determined.

In a second step 37 becomes the column speed 11 determined. This is done in particular by means of the sensor device 23 of the motor vehicle 1 ,

In a third step 39 become the actual speed 13 of the motor vehicle 1 and a predetermined and / or predeterminable and / or calculable maximum relative speed 33 processed. These two quantities become a nominal speed 41 for influencing the actual speed 13 and thus the actual relative speed 51 determined. Depending on the target speed 41 represents the longitudinal control device 25 the actual speed 13 , Advantageously, thereby the actual relative speed 51 to the maximum relative speed 33 adjusted and / or at least limited to these.

The assistant device 43 in particular has further control and / or control systems of the motor vehicle 1 on and / or connects their functions together. In particular, such systems may be a distance control and / or a lane keeping system. Alternatively or additionally, the assistance device 43 have and / or access a system that is on demand, in particular by the driver 3 and / or by another assistance system and / or triggered by a route guidance makes the lane change. This lane change is advantageously carried out only if the in 2 shown suitable gap exists and has been recognized. Advantageously, due to the limitation on the maximum relative speed 33 a safer recognition of the appropriate gap 15 respectively. Advantageously, this increases the probability of performing the lane change.

If the lane change intent 29 is present and / or recognized and the assistance device 43 none of the appropriate gaps 15 identified, in which the lane change can be made and if the actual relative speed 51 between your own actual speed 13 and the column speed 11 the other road users on the destination lane 7 (v _{Relay lane} = v _is - v _lane ) greater than the value v _{Maxrel target lane} , becomes your own actual speed 13 automatically at a value v _Max = v _{Target lane} + v _{Maxrel target lane} limited or reduced.

This advantageously drives the motor vehicle 1 with a limited relative speed at the other road users of the vehicle convoy 9 on the destination lane 7 passing and reaching the appropriate gap 15 with a limited delay is more likely.

With an advantageous embodiment, the maximum relative speed 33 be chosen so that the motor vehicle 1 if it is with this maximum relative speed 33 as the set actual relative speed 51 at the vehicle crew 9 passes, is able to perform the lane change automatically, in particular by means of a standard gap change writable by a standard gap. The standard gap has, in particular, average distances, which are usually driven at these speeds.

If the motor vehicle 1 with this to the maximum relative speed 33 limited actual relative speed 51 at the slower vehicle column 9 Passing by, it is expected that after a few overtaking the appropriate gap 15 emerges, in which the optionally automated lane change can be performed.

Thereby, it is advantageously possible that the motor vehicle 1 still relatively fast on the vehicle crew 9 on the slower target lane 7 passes and only when the appropriate gap 15 turns up, the lane change starts, the actual speed 13 only then to a value of the column speed 11 adapted, in particular reduced, becomes.

Depending on a traffic volume, the mean local distance varies 19 between the road users of the vehicle convoy 9 , Thus occur, especially in low traffic larger mean local distances 19 in which the lane change with a greater actual relative speed 51 can be started.

Conversely, in smaller gaps 15 only with a smaller actual relative speed 51 the lane change will be started.

Advantageously, therefore, be provided, the maximum relative speed 33 depending on the mean local distances of the vehicle convoy 9 to determine and / or calculate.

Alternatively or additionally, it may be provided that for automatically performing the lane change the appropriate gap 15 is equipped with certain safety reserves, in particular larger than a minimum size, in which just the lane change is automatically carried out. It is conceivable that therefore the mean local distances 19 , as in 2 shown are so small that the automatic lane change on the part of the assistance device 43 is not performed, even if the lane change intent 29 the driver 3 of the motor vehicle 1 is present.

Advantageously, in such situations by means of the direction indicator 17 the lane change intent is displayed, so that optionally leaves one of the other road users so much distance that one of the appropriate gaps 15 arises. Advantageously, by setting the direction indicator 17 in the direction of the destination lane 7 the likelihood of it being increased. In particular, this can be done even if it is not foreseeable when the automatic lane change can be performed.

Alternatively or additionally, it can first be checked whether the lane change of the actual lane 5 in the destination lane 7 possible and / or allowed. If, in such a case, the actual relative speed 51 is greater than the maximum relative speed 33 , the actual speed 13 be influenced such that the actual relative speed 51 the maximum relative speed 33 or at least not anymore exceeds. In particular, this can be controlled and / or regulated until the lane change intent is no longer present, in particular by the driver 3 of the motor vehicle 1 is withdrawn.

Alternatively or additionally, it is conceivable that the maximum relative speed 33 from the column speed 11 and / or the mean local distances 19 depends, in particular dependent on determined and / or calculated.

Alternatively or additionally, it is conceivable that a threshold value for the average local distances 19 is given, with a falling below this threshold, the reduction of the actual speed to the previously described value of the column velocity 11 plus the maximum relative speed 33 he follows.

Alternatively or additionally, it is conceivable that with such a limitation of the actual speed 13 if none of the appropriate gaps occur within a period of time 15 find, in which the lane change can be performed, the direction indicator 17 on one side to the desired destination lane 7 is activated.

In particular, the actual speed 13 of your own motor vehicle 1 on one to the column speed 11 the vehicle crew 9 adjusted target speed 41 governed or limited if the lane change intent 29 has been recognized, especially if the lane change intent 29 has been recognized in a situation in which the lane change is allowed, in particular indicated by an interrupted lane marking. The adaptation of the target speed 41 takes place such that the desired speed 41 by a predeterminable value is greater or less than the column speed 11 ,

Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description of the figures enable one skilled in the art to practice the exemplary embodiments, and those skilled in the art, having the benefit of the disclosed inventive concept, can make various changes, for example, to the function or arrangement of individual elements recited in an exemplary embodiment, without Protected area, which is defined by the claims and their legal equivalents, such as further explanation in the description.

LIST OF REFERENCE NUMBERS

1

motor vehicle

3

driver

5

Is lane

7

target lane

9

Motorcade

11

column speed

13

Is speed

15

suitable gap

17

direction indicator

19

middle local distance

21

Human-machine interface

23

sensor device

25

Longitudinal control device

27

a drive source

29

Intention to change lanes

31

behavior

33

Maximum relative velocity

35

first step

37

second step

39

Third step

41

Target speed

43

assistance device

45

Surroundings

47

measurement control

49

arrow

51

Actual relative speed

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 102009033800 A1 [0002]

Claims (10)

Method for supporting a driver ( 3 ) of a motor vehicle ( 1 ) when changing lanes from an actual lane ( 5 ) in a destination lane ( 7 ) with a vehicle crew ( 9 ), comprising: - recognizing a lane change intent ( 29 ) of the driver ( 3 ) for the lane change, - determining a column _velocity v _target lane ( 11 ) of the vehicle crew ( 9 ), - influencing an actual speed ( 13 ) of the motor vehicle ( 1 ) such that they are at most around a maximum relative speed ( 33 ) v _{Maxrel target lane} of the column _speed ( 11 ) v _{Target lane is} different. Method according to the preceding claim, comprising: - specifying a desired speed ( 41 ) v _Let according to the formula: v _target = v _{target lane} +/- | v _{maxrel target lane} |, with v _setpoint = setpoint speed ( 41 ), v _{destination lane} = column speed ( 11 ), v _{Maxrel target lane} = maximum _{relative speed} ( 33 ), - rules of the actual speed ( 13 ) to the desired speed ( 41 ) v _Soll . Method according to one of the preceding claims, comprising: recognizing gaps suitable for a lane change ( 15 ) in the destination lane ( 7 ) while controlling the actual speed ( 13 ) to the target speed, - to automatically perform the lane change as soon as one of the appropriate gaps ( 15 ) is detected. Method according to the preceding claim, comprising: specifying a period of time, setting a direction indicator ( 17 ) in the direction of the destination lane ( 7 ) if, during the entire period, none of the appropriate gaps ( 15 ) has been recognized. Method according to the preceding claim, comprising: - Start the period of time as soon as the lane change intent has been detected. Method according to one of the preceding claims, comprising: determining an average local distance ( 19 ) between two vehicles of the destination lane ( 7 ), - determining the maximum relative speed ( 33 ) v _{Maxrel target lane} dependent on the mean local distance ( 19 ). Method according to one of the preceding claims, comprising: determining the maximum relative speed ( 33 ) v _{Maxrelzielfahrspur} depending on the column _speed ( 11 ) v _{destination lane} . Method according to one of the preceding claims 4-7, comprising: - starting the time interval as soon as the actual speed ( 13 ) of the motor vehicle ( 1 ) at most by the maximum relative speed ( 33 ) v _{Maxrel target lane} of the column _speed ( 11 ) v _{Target lane is} different. Assistance device ( 43 ) to assist a driver ( 3 ) of a motor vehicle ( 1 ) when changing lanes from an actual lane ( 5 ) in a destination lane ( 7 ) with a vehicle crew ( 9 ), with: - a human-machine interface ( 21 ), by means of which a lane change intention ( 29 ) of the driver ( 3 ) is recognizable for the lane change, - a sensor device ( 23 ), by means of a column speed ( 11 ) v _{destination lane of} the vehicle _crew ( 9 ), - a longitudinal control device ( 25 ), by means of which an actual speed ( 13 ) of the motor vehicle ( 1 ) can be influenced in such a way that it is limited by a maximum relative speed ( 33 ) v _{Maxrelzielfahrspur} or at most by the maximum _{relative speed} ( 33 ) v _{Maxrel target lane} of the column _speed ( 11 ) v _{Target lane is} different. Motor vehicle ( 1 ) with an assistance device ( 43 ) according to the preceding claim 9.

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