DE102012204948A1 - Method for assisting driver when driving vehicle at changing lanes, involves assigning vehicle and detected objects to tracks of roadway, and generating warning signal when detected object regarding vehicle is located on relevant track - Google Patents

Abstract

The method involves providing environment data by environment sensor systems, and evaluating the data regarding objects i.e. other vehicles (26, 27, 32), in lateral and/or rear environment of a vehicle (12) by using static or dynamic image processing methods. The vehicle and the detected objects are assigned to tracks (22-24, 34-36) of a roadway (10). A warning signal is generated when the detected object regarding the vehicle is located on the relevant track. The data is comprised video views that are captured from the lateral and/or rear vehicle environment by optical sensors (18, 20). The sensor systems consist of radar detectors, lidar sensors, ultrasonic sensors or infrared sensors. Independent claims are also included for the following: (1) a computer program comprising a set of instructions for performing a method for assisting a driver when driving a vehicle (2) a driving assistance system.

Description

State of the art

The invention relates to a method for assisting a driver when driving a vehicle and to a computer program product for carrying out the method and to a driver assistance system of this type.

Driver assistance systems are additional devices in a vehicle that serve to assist the driver in certain driving situations. To this end, driver assistance systems typically include multiple subsystems, such as a parking assistant, a distance controller, or a lane assistant. Such subsystems can be configured as predicative security systems that monitor areas that are not immediately visible to the driver and, in the case of dangerous situations, such as when a collision with an obstacle threatens, issue warnings to the driver.

Particularly in the case of vehicles, the area on the side and behind the vehicle, in spite of the rearview mirror, can only be viewed very restrictedly. To monitor these areas, various subsystems can be integrated into the driver assistance system, such as a Blind Spot Assist, a Side View Assistant (SVA), or a Track Assist, which can also be linked. For example, the functionality of the track assistant usually also includes a blind spot monitoring, which is performed in the context of the blind spot assistant. Thus, a blind spot area is monitored on neighboring tracks of environment sensors. If one of the sensors of the environment sensor system detects an object, a plausibility check is typically carried out and, if appropriate, a warning is output to the driver.

Systems are known from the prior art, the ultrasonic sensors used for blind spot monitoring, the ultrasonic sensors are respectively installed front and rear side of the bumpers of the vehicle. The two rear sensors monitor the blind spot and the two front sensors are used for the plausibility check. If the front left sensor detects an object in front of the sensor on the left, an oncoming vehicle can be closed. Also parking vehicles, road infrastructure and own overtaking processes are detected in this way and do not lead to an alarm point.

Out DE 10 2005 054 972 A1 For example, blind spot monitoring is known that collects information from the vehicle environment and, in the event of an existing intent to make a lane change, issues a warning when other road users are in the blind spot area. In this case, it is determined on the basis of image information and / or information of a navigation system, whether an adjacent lane is present, which can be changed to. For this purpose, in particular road maps can be used in which information about the number of lanes are stored. The warning is suppressed, if it results from the data that a lane change is not necessary or not allowed.

Known driver assistance systems warn the driver of lane changes or turnarounds before potentially dangerous driving situations in which a collision threatens. Although such systems take into account factors in which a warning can be suppressed, however, it can still come to warning signals that confuse the driver and thus distract unnecessary. Driver assistance systems are subject to high demands with regard to their reliability. A distinction between "real" and "fake" warning situations is therefore of great importance.

Disclosure of the invention

• (a) Bereitstellen von Umfelddaten durch Umfeldsensorik;
• (b) Auswerten der Umfelddaten in Bezug auf Objekte im seitlichen und/oder hinteren Umfeld des Fahrzeuges;
• (c) Zuordnen des Fahrzeuges und der erfassten Objekte zu Spurdaten einer Fahrbahn;
• (d) Generieren eines Signals, wenn sich das erfasste Objekt in Bezug auf das Fahrzeug auf einer relevanten Spur befindet.

According to the invention, a method for assisting a driver when driving a vehicle is proposed, comprising the following steps:

• (a) providing environmental data by environmental sensors;
• (B) evaluating the environmental data relating to objects in the lateral and / or rear environment of the vehicle;
• (c) associating the vehicle and the detected objects with lane data of a lane;
• (d) generating a signal when the detected object is on a relevant track with respect to the vehicle.

• (i) Umfeldsensorik zum Erfassen von Umfelddaten;
• (ii) eine Komponente zum Auswerten der Umfelddaten in Bezug auf Objekte im seitlichen und/oder hinteren Umfeld des Fahrzeuges;
• (iii) eine Komponente zum Zuordnen der erfassten Objekte und des Fahrzeuges zu Spurdaten der Fahrbahn; und
• (iv) eine Komponente zum Generieren eines Signals, wenn sich das erfasste Objekt in Bezug auf das Fahrzeug auf einer relevanten Spur befindet.

According to the invention, a driver assistance system for assisting the driver when driving the vehicle is also proposed, which comprises the following components:

• (i) environment sensor system for detecting environmental data;
• (ii) a component for evaluating the environmental data relating to objects in the lateral and / or rearward environment of the vehicle;
• (iii) a component for associating the detected objects and the vehicle with lane data of the lane; and
• (iv) a component for generating a signal when the detected object is on a relevant track with respect to the vehicle.

In the context of the invention, the relevant lane refers to a lane that the driver intends to drive on. The relevance of a track is so depending on the situation. Thus, the relevant lane may be an adjacent lane if, for example, a lane change is intended as part of an overtaking process. In situations where the driver is on a lane of a multi-lane roadway which is separated from an exit by at least one further lane and for example intends to depart from the multi-lane carriageway, the relevant lane may also include multiple lanes. Furthermore, when turning into a driveway, the relevant lane may include cycle and pedestrian lanes.

In an implementation of the method according to the invention, the environment sensor system can be integrated into a driver assistance system within the framework of various subsystems and can include sensor systems with one or more sensors. Examples of such sensors are optical sensors, in particular mono or stereo cameras, radar sensors, LIDAR sensors, ultrasonic sensors and / or infrared sensors. The sensors provide environmental data that characterize the vehicle environment, in particular by detecting objects in the vehicle environment. Furthermore, the environment data may also include data from combined sensor systems of the environmental sensor system. Examples of combined sensor systems represent the combination of at least one optical sensor and at least one ultrasonic sensor, at least one radar sensor and at least one ultrasonic sensor or at least one radar sensor and at least one optical sensor.

The method according to the invention can be used, in particular, within the framework of a subsystem which monitors the lateral and / or rear surroundings of the vehicle. In this case, the lateral and / or rear environment of the vehicle describes the environment in which a laterally and / or rearwardly mounted on the vehicle sensor can detect objects. This results in the lateral and / or rear environment of the detection range of a side and / or rear of the vehicle mounted sensor. If a plurality of sensors are mounted laterally and / or rearwardly of the vehicle, the lateral and / or rearward environment results from the superposition of the individual, possibly overlapping, detection areas of the sensors mounted laterally and / or rearward on the vehicle.

In the context of the invention, in particular the blind spot area of the vehicle environment is relevant, which is not visible to the driver through one of the rearview mirrors. In particular, the method according to the invention can be used in subsystems such as a blind spot assistant, a lane change assistant, a lane departure assistant (LDW) and / or a side view assistant (SVA).

In a further implementation of the method according to the invention, the environment data may include video views of a camera system with one or more cameras that capture at least parts of a lateral and / or rear vehicle environment. Thus, at least one side camera, which is integrated, for example, in a side mirror, and / or at least one reversing camera can be used to detect objects in the lateral and / or rear vehicle surroundings. Alternatively or additionally, at least one reversing camera with a wide-angle lens may also be provided on the vehicle in order to detect objects in the lateral and / or rear vehicle surroundings.

The captured environment data, particularly video views, may be examined for side and / or rear vehicle environment objects by applying static image processing techniques, such as segmentation or histogramming, to the video views. Additionally or alternatively, dynamic image processing methods may also be used which, for example, analyze the optical flow in a sequence of video views and / or perform a pattern-based search in which discrete structures in video views are identified on the basis of a predetermined pattern. Furthermore, other sensor systems, such as radar sensors, LIDAR sensors, ultrasonic sensors or infrared sensors, for detecting objects in the side and / or rear vehicle environment can be used.

In a further implementation of the method according to the invention, the lane data of the lane, which preferably comprises a plurality of lanes, can be provided from digital map data and / or from video views. The lane data characterize the carriageway and its traffic routing. For example, lane data includes information on the number of lanes, the division of lanes for both directions of travel or whether there is a one-way road situation, the width of the lane or individual lanes, overtaking prohibition zones and the like. Track constrictions, such as Einfädelspuren, turn lanes or exits or roundabouts may be included as information on the road and the traffic guidance in the lane data.

Track data may be stored in digital map data on a machine readable storage medium, such as on a permanent or rewritable storage medium or in association with a computing device or on a removable CD-ROM, DVD or USB stick. Additionally or alternatively, digital Map data may be provided on a computing device such as a server for download, for example via a data network such as the Internet, or a communication link such as a telephone line or a wireless link. Such digital map data may comprise digital information provided, for example, by a navigation system through the use of GPS data or by the use of cloud services, the means necessary for this also being able to be integrated in the driver assistance system. Cloud services provide a database of virtual map or geoinformation that can be used to characterize the current environment of the vehicle.

Alternatively or additionally, the lane data may be determined from video views of the street. For example, image processing techniques, such as edge detection or segmentation, can be used to isolate and interpret pavement markers from the video view. Also, other vehicles traveling on the pavement can give indications of the number of lanes, the division of the lanes for both directions of travel or whether a one-way street situation, the width of the lane or individual lanes and the like. For example, the distances to other vehicles while driving can be determined.

Taking the lane data into consideration, the vehicle and objects detected in the side and / or rear vehicle surroundings may be assigned to individual lanes. The assignment of track data may include that a track is assigned to detected objects relative to the track traveled by the vehicle. Additionally or alternatively, the assignment of lane data may include associating a lane with the vehicle and the detected object, respectively.

In particular, video views of the lateral and / or rear vehicle surroundings can be used for the assignment of the track in order to determine the position of the objects relative to the vehicle and to assign them to a corresponding track. Additionally or alternatively, distance data characterizing the distance from detected objects to the vehicle can also be used to assign a track to detected objects relative to the vehicle. Such data may originate, for example, from ultrasonic sensors. Furthermore, the assignment of the track traveled by the vehicle can be carried out using a navigation system in combination with digital map data.

Depending on the lane data associated with the vehicle and detected objects, it is determined whether the detected object is on a relevant lane with respect to the vehicle. In this case, the intended trajectory of the vehicle can be taken into account, in particular by using information from at least one further system integrated in the vehicle, in particular from a further subsystem of the driver assistance system. Such information can be obtained for example from a route planner of a navigation system, a steering angle sensor, a turn signal indicator, the Giewinkel and / or the gas or brake pedal position. For example, depending on the desired lane change and on the track on which objects are located, it can be determined whether there is a risk of collision. If, for example, an object is located on a lane that is separated from the lane of the vehicle by another lane, the vehicle can still drive on the lane located directly next to the vehicle without collision, and no signal is generated. However, if the object is in the blind spot area on the track next to the vehicle, a lane change is not possible and a signal is generated.

When a detected object is related to the vehicle on a relevant lane, the generated signal may trigger an issue of a warning, an engagement of the driver assistance system with at least one active vehicle component, or both. The output of the warning to the driver can be done visually, acoustically and / or haptically. The engagement of the driver assistance system in active vehicle components may include, for example, a steering wheel jerk, an intervention in a brake system, an engine system, a steering system, a suspension component, or a combination thereof.

According to the invention, a computer program is also proposed according to which one of the methods described herein is performed when the computer program is executed on a programmable computer device. The computer device may be, for example, a module for implementing a driver assistance system or a subsystem thereof in a vehicle. The computer program may be stored on a machine-readable storage medium, such as on a permanent or rewritable storage medium or in association with a computer device or a removable CD-ROM, DVD or USB stick. Additionally or alternatively, the computer program may be provided for download on a computing device such as a server, for example via a data network such as the Internet or a communication link such as a telephone line or a wireless link.

The driver assistance system according to the invention is preferably designed for carrying out the method described above. In this case, the individual components represent functional components or routines that are executed, for example, as part of a computer program on an electronic unit, such as a programmable computer device. The computer device may be, for example, a control unit (ECU) for implementing a driver assistance system or a subsystem thereof in a vehicle.

The environment sensor system of the driver assistance system may include, for example, optical sensors, in particular mono or stereo cameras, ultrasonic sensors, radar sensors or infrared sensors, LIDAR sensors that monitor a lateral and / or rear environment of the vehicle. In a preferred embodiment of the driver assistance system environment sensors are used to carry out the method described above, which are integrated as part of a parking assistant, a blind spot assistant, a lane change assistant, a lane keeping assistant or the like.

Advantages of the invention

The invention makes it possible to assist the driver of the vehicle in a lane change or a turning operation by triggering warnings to the driver or interventions in active vehicle components only in "real" dangerous situations. Thus, the driver is not confused with "false" warnings or interventions in active vehicle components and increases its concentration on the upcoming maneuver. Overall, the implementation of driving maneuvers is thus made safer by the driver is only pointed to "real" dangerous situations and can avoid collisions with other vehicles, for example, when changing lanes. The consideration of track data in relation to the objects offers additional comfort. Driving situations in which several lanes are available for lane change or a turn can be better estimated. In particular, false warnings to the driver can be avoided, which further improves the utility and the acceptance of the assisted driving.

Situations in which objects are located in the blind spot next to vehicles and make the lane change or the turn difficult, occur frequently in both urban and non-urban traffic. A driver assistance system developed according to the invention can thus contribute to an improved driver assistance, on the one hand to prevent collisions in such situations and, on the other hand, not to irritate the driver through unnecessary warnings or interventions in active vehicle components. In addition, many driver assistance systems already have environment sensors, such as camera systems, ultrasonic sensors and navigation systems, which provide the necessary data. Therefore, the implementation of the invention can be achieved by a simple software update and it requires no further installations, which allows a cost-effective implementation.

Brief description of the drawings

Further aspects and advantages of the invention will now be described in more detail with reference to the accompanying figures. Hereby show:

1 a vehicle equipped with a driver assistance system according to the invention in an exemplary driving situation;

2 the vehicle off 1 in another exemplary driving situation;

3 in the form of a flow chart, an operation of the driver assistance system according to the invention from the 1 and 2 ,

Embodiments of the invention

In 1 is a vehicle 12 equipped with a driver assistance system according to the invention 14 shown in a driving situation in which the vehicle 12 a multi-lane carriageway. In the situation shown by way of example, the roadway 10 in each case three tracks 22 . 23 . 24 . 34 . 35 . 36 split, one of which in one direction 28 all three tracks 22 . 23 . 24 are driven. On the opposite lane, a vehicle moves 32 in the opposite direction 29 on the track 34 , When the driver of the vehicle 12 For example, it intends a lane change, it must be its lateral and rear environment, especially in relation to other vehicles 27 . 26 monitor.

To the driver of the vehicle 12 to support in this situation sees the driver assistance system according to the invention 14 optical sensors, such as mono or stereo cameras 18 . 20 , in front of, for example, the side of the vehicle are installed. The data of the optical sensors 18 . 20 be in a control unit 16 of the driver assistance system 14 collected and evaluated. In addition, the driver assistance system 14 next to the optical sensors 18 . 20 others in 1 shown sensor systems, such as ultrasonic sensors or infrared sensors include.

The optical sensors 18 . 20 of the driver assistance system 14 especially monitor one Blind Spot area 30 , which is not immediately visible to the driver. Is there a vehicle? 26 . 27 in the blind spot area 30 of the vehicle 12 , the driver of the vehicle 12 such vehicles 26 . 27 difficult to recognize. With a lane width of 2 to 4 meters and a maximum detection range with approximately ultrasonic sensors of up to 5 meters, the sensors can drive vehicles on the second 23 or the third track 24 detect. This may result in false warnings that the driver due to a vehicle on the third lane 24 warn, although a lane change on the second lane 23 was intended. Such false warnings create confusion for the driver and can distract the driver from the flow of traffic.

In order to prevent such situations, the driver assistance system according to the invention leads 14 a plausibility check by. So become the objects 26 . 27 placed in the detection range of the optical sensors 18 . 20 , in particular the blind spot area 30 , entering lane data assigned. So is the vehicle 12 on the third lane 24 and enters the blind spot area 30 a warning to the driver or an intervention in active vehicle components can be suppressed if a lane change to the second lane 23 is intended. The intended lane change can be detected, for example, by the steering movement or by setting the turn signal. In addition, the warning thresholds or warning levels can be increased in stages. For example, with an object 26 . 27 in the blind spot area 30 an optical warning, for example, appear in the exterior mirror, which is converted to an audible warning when a lane change is displayed. Furthermore, the warning levels with decreasing distance between the vehicle 12 and captured objects 26 . 27 increase.

In contrast to the case described above, the driver is warned or engaged in active vehicle components when the vehicle 27 on the second lane 23 into the detection range of the optical sensors 18 . 20 , in particular in the blind spot area 30 , enters and a lane change of the vehicle 12 from the first track 22 on the second track 23 is intended. Such matching of detected objects 27 . 26 with track data, especially the track on which the captured objects 27 . 26 relative to the vehicle 12 have the advantage of avoiding false warnings. As a result, the driver assistance system 14 the driver can support more reliable, what the acceptance of a driver assistance system 14 increased for the driver.

2 indicates another exemplary driving situation, in analogy to 1 a vehicle 12 intends a track 40 to cross. In the driving situation according to 2 sets the track 40 a walking and / or bike path 40 when entering a driveway 42 is crossed. On the pedestrian and bicycle path 40 there is a cyclist 38 in the direction of travel 28.1 emotional. If the cyclist enters the detection area of the optical sensors 18 . 20 of the vehicle 12 a distinguishes the driver assistance system according to the invention 14 between a lane of the roadway 10 and a walking and cycling path 40 , This distinction can be made for example by the analysis of video data of the optical sensors or database information, such as a navigation system or from digital map databases. This is the driver assistance system 14 It is known, for example, when setting the turn signal or detecting a steering lock to a turn 28.2 in which a pedestrian and / or cycle path is crossed.

In the example in 2 the situation shown gives the driver assistance system according to the invention 14 only then a warning off or performs an intervention in active vehicle components, if a turn was initiated, for example, on the steering angle or the setting of a turn signal. For the straight ahead in direction 28.1 On the other hand, there are no further warnings due to the detected cyclist 38 necessary. In addition, the warning thresholds or warning levels can be increased in stages. For example, with an object 38 in the blind spot area 30 For example, an optical warning may appear in the exterior mirror when displaying a turn 28.1 or a lane change is converted to an audible warning. Furthermore, the warning levels with decreasing distance between the vehicle 12 and captured objects 26 . 27 increase.

3 shows a flowchart 50 to clarify the operation of the components of the 1 and 2 shown, driving assistance system according to the invention 14 , First, in step 52 Environment data by the environmental sensors, in particular optical sensors, such as mono or stereo cameras 18 . 20 , detected. So can the environment sensor 18 . 20 the ECU 16 of the driver assistance system 14 in step 52 Provide data representing the lateral and / or rearward environment of the vehicle 12 , in particular a blind spot area 30 , include. The environment sensor 18 . 20 includes optical sensors 18 . 20 , the side and possibly rear of the vehicle 12 are installed. The vehicle 12 with the driver assistance system according to the invention 14 may also include other sensor systems, such as ultrasonic sensors, LIDAR sensors or infrared sensors.

The data gained from environment sensors 18 . 20 be in the ecu 16 further processed and in step 54 in terms of objects 26 . 27 in the lateral and / or rear environment of the vehicle 14 analyzed. In the process, the data is in particular on the individual tracks 22 . 23 . 24 . 34 . 35 . 36 the roadway 10 divided up. In step 56 For example, the analyzed environment data can be linked to track data, and each detected object becomes a lane 22 . 23 . 24 . 34 . 35 . 36 assigned.

This allows in step 58 passable tracks for the vehicle 14 determine and generate a signal therefrom, which in turn triggers the issuing of a warning to the driver or an intervention of the driver assistance system in active vehicle components. Thus, in particular such warnings can be suppressed, in which the objects drive on a lane to which the lane change should not take place, and thus requires no warning.

The invention is not limited to the embodiments described herein and the aspects highlighted therein. Rather, within the scope given by the appended claims a variety of modifications are possible, which are within the scope of expert action.

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 102005054972 A1 [0005]

Claims (10)

Method for assisting a driver in driving a vehicle ( 12 ) comprising the following steps: (a) providing environmental data ( 52 ) by environment sensors ( 18 . 20 ); (b) evaluating the environment data ( 54 ) in relation to objects ( 26 . 27 . 32 . 38 ) in the lateral and / or rear environment of the vehicle ( 12 ); (c) Assign ( 56 ) of the vehicle ( 12 ) and the detected objects ( 26 . 27 . 32 . 38 ) to track data ( 22 . 23 . 24 . 34 . 35 . 36 . 40 ) of a roadway ( 10 ); (d) generating a signal ( 58 ), when the detected object ( 26 . 27 . 32 . 38 ) with respect to the vehicle ( 12 ) on a relevant track ( 22 . 40 ) is located. Method according to claim 1, characterized in that the environmental data comprise video views of a system with one or more optical sensors ( 18 . 20 ), which detect at least parts of a lateral and / or rear vehicle environment. Method according to claim 2, characterized in that for evaluating the environmental data ( 54 ) static or dynamic image processing methods are applied to the video views. Method according to one of claims 1 to 3, characterized in that the track data ( 22 . 23 . 24 . 34 . 35 . 36 . 40 ) of the roadway ( 10 ) are provided from digital map data and / or from video views. Method according to one of claims 1 to 4, characterized in that the assignment of track data ( 56 ), captured objects ( 26 . 27 . 32 . 38 ) a trail ( 23 . 24 . 34 . 35 . 36 . 40 ) relative to the lane traveled by the vehicle ( 22 ). Method according to one of claims 1 to 5, characterized in that the assignment of track data ( 58 ), the vehicle ( 12 ) and the detected object ( 26 . 27 . 32 . 38 ) one track each ( 22 . 23 . 24 . 34 . 35 . 36 . 40 ). Method according to one of claims 1 to 6, characterized in that for determining the relevant track ( 23 . 40 ) an intended trajectory of the vehicle ( 12 ) is taken into account. Method according to one of claims 1 to 7, characterized in that the generated signal triggers an output of a warning, an intervention of the driving assistance system in at least one active vehicle component or both. Computer program for carrying out the method according to one of the preceding claims, when the computer program is stored on a programmable computer device ( 16 ) is performed. Driver assistance system ( 14 ) for carrying out the method according to one of the preceding claims, comprising the following components: (i) environmental sensor system ( 18 . 20 ) for acquiring environment data; (ii) a component ( 16 ) for evaluating the environment data ( 54 ) in relation to objects ( 27 . 28 . 32 . 38 ) in the lateral and / or rear environment of the vehicle ( 12 ); (iii) a component ( 16 ) for assigning ( 56 ) of the vehicle ( 12 ) and the detected objects ( 26 . 27 . 32 . 38 ) to track data ( 22 . 23 . 24 . 34 . 35 . 36 . 40 ) of a roadway ( 10 ); and (iv) a component ( 16 ) for generating a signal ( 58 ), when the detected object ( 26 . 27 . 32 . 38 ) with respect to the vehicle ( 12 ) on a relevant track ( 22 . 40 ) is located.

Images