DE102014004739A1 - Method for operating a driver assistance system of a vehicle - Google Patents

Abstract

The invention relates to a method for operating a driver assistance system of a vehicle (2), wherein if there is a risk of collision with a detected object (3) standing in front of the vehicle (2) and towards which the vehicle (2) is moving, a driver of the vehicle ( 2) Supportive action for collision avoidance or collision consequence reduction is carried out if the object (3) has previously been rated as relevant. According to the invention, in order to assess the relevance of the object (3), it is first checked whether there is an entry for the object (3) in a digital road map that identifies the object as relevant or not relevant, and if such an entry is present, the relevance evaluation of the object ( 3) made according to the entry. Otherwise, the object (3) is initially rated as potentially relevant and when the vehicle (2) approaches the object (3) that is in danger of collision, a collision warning is triggered as a supporting action and the driver's reaction to the collision warning is recorded. Depending on the severity of the driver's reaction, the relevance assessment of the object (3) is changed from potentially relevant to relevant or not relevant, and a georeferenced entry is created in the digital road map for the object (3), which object (3) corresponds to the changed one Marks relevance assessment as relevant or not relevant.

Description

The invention relates to a method for operating a driver assistance system of a vehicle according to the preamble of patent claim 1.

From the DE 10 2012 014 624 A1 For example, a method of collision avoidance or collision mitigation for a vehicle is known. In the method, a warning and / or autonomous emergency braking is triggered as a function of a distance of the vehicle to an object located in front of the vehicle. In this case, the warning and / or the autonomous emergency braking is only triggered in the case of a stationary object if the object has previously been evaluated as relevant, in particular if the object is detected during a straight-ahead driving situation of the vehicle during a predetermined minimum period of time. The presence of a straight-ahead driving situation is only recognized when an amount of a transverse deviation change of the object located in front of the vehicle within a predetermined past time interval is smaller than a predetermined Maximalquerablageänderung and / or if an amount of a predicted Querablage located in front of the vehicle object within a predetermined look-ahead interval less than a given maximum cross-slope prediction.

The invention has for its object to provide a comparison with the prior art improved method for operating a driver assistance system of a vehicle.

The object is achieved by the features specified in claim 1.

Advantageous embodiments of the invention are the subject of the dependent claims.

A method for operating a driver assistance system of a vehicle provides that, in the event of a collision with a detected object standing in front of the vehicle to which the vehicle is approaching, a collision avoidance or collision avoidance action assisting a driver of the vehicle is performed if the object has previously been identified as relevant. According to the relevance assessment of the object is first checked whether the object is an entry in a digital road map that identifies the object as relevant or not relevant, and in the presence of such an entry, the relevance rating of the object is made according to the entry. Otherwise, the object is first evaluated as potentially relevant and, in the event of a collision-threatening approach of the vehicle to the object, a collision warning is triggered as a supporting action and a driver reaction of the driver to the collision warning is detected. Depending on the driver's reaction, in particular depending on the severity of the driver's reaction, the relevance score of the object is changed from potentially relevant to relevant or irrelevant, and a geo-referenced entry in the digital roadmap is created for the object corresponding to the changed relevance score relevant or not relevant.

By means of the method, the execution of the action assisting the driver is optimized with respect to an imminent collision with the detected object, whereby, especially during repeat trips, a false alarm rate, ie. H. an unnecessary implementation of the supporting action is at least reduced in relation to the detected standing object. By reducing the false alarms, the risk that the driver of the vehicle is no longer responding, for example, to an output of the collision warning as a driver assisting action, is at least reduced.

Preferably, the relevance evaluation of the initially evaluated as potentially relevant object is then confirmed in relevant if the driver of the vehicle on the object triggered collision warning in comparison to the driving situation prior to triggering the collision warning reinforced steering and / or braking intervention.

Preferably, the described type of relevance evaluation is applied only to stationary objects that are located in a travel tube of the vehicle and / or in a tolerance range adjacent to the travel tube.

Preferably, an autonomous maneuver following the collision warning is initiated as a supporting action in addition to the collision warning, wherein the collision warning is triggered preferably in the event of collision with an object that has been previously relevant or potentially relevant, and wherein the autonomous maneuvers following the collision warning are preferably only triggered in the event of collision with an object that has previously been evaluated as relevant.

Preferably, the autonomous maneuver is performed as autonomous emergency braking and / or as an autonomous evasive maneuver.

Embodiments of the invention are explained in more detail below with reference to drawings.

Showing:

1 schematically a truck entering a curve with a stationary stationary object,

2 schematically a truck driving onto a roadway section with a stationary object and

3 schematically a entering in a curve with a stopped vehicle truck.

Corresponding parts are provided in all figures with the same reference numerals.

1 shows a curve of a road section 1 with two lanes 1.1 . 1.2 , taking on a left lane 1.1 no vehicle is located and on a right lane 1.2 a vehicle 2 , subsequently as a truck 2 designated, enters the curve.

Right next to the right lane 1.2 stands an object 3 , which is arranged stationary, wherein it is at the object 3 for example, is a fixed unit in the form of a wall.

The truck 2 includes an environmental detection, the at least one in and / or on the truck 2 arranged detection unit 2.1 having. The registration unit 2.1 detects within its detection range continuously signals, the object standing in the area of the curve 3 is detected.

In addition to the environmental detection has the truck 2 via a driver assistance system (not shown) for collision avoidance or collision sequence reduction. For this purpose, the driver assistance system is coupled with the environmental detection. In this case, the driver assistance system can be an apparatus for adaptive cruise control and / or a device for the automatic initiation of emergency braking and / or a device for carrying out autonomous evasion maneuvers.

As described above, by means of the at least one detection unit 2.1 the object in the curve 3 recorded, where the truck 2 in straight ahead on the object 3 moved. Due to this present situation, the driver assistance system generates a control signal for automatically outputting a collision warning because of a supposedly imminent collision between the truck 2 and the standing object 3 ,

The standing object 3 is located next to the right lane 1.2 So not on the roadway section 1 and poses essentially no danger to the truck 2 so that the automatic output of the collision warning represents a false alarm.

To the number of false alarms in the form of the automatic output of collision warnings in relation to a threatening collision of the truck 2 with a standing in front of this, standing object 3 at least, the application of the method described below is provided.

The method provides that by means of one in the truck 2 is available, whether an entry in relation to the detected in the curve standing object 3 exists that identifies the object as relevant or not relevant. If there is an entry that identifies the object as irrelevant, for example, because it is the captured object 3 is a fixed unit that is not in the right lane 1.2 or in a tolerance range next to the right lane 1.2 is located on the object 3 no collision warning issued. On the other hand, if there is an entry that contains the object 3 marked as relevant, then becomes in a collision dangerous approximation of the truck 2 to the object 3 triggered the collision warning. Subsequent to the collision warning, an autonomous maneuver, in particular an autonomous emergency braking maneuver and / or an autonomous evasive maneuver, can be initiated in a next escalation stage while the risk of collision persists.

Travels the truck 2 the roadway section 1 first and / or the detected object 3 is newly built and / or arranged and in the digital road map is no entry regarding this object 3 before, so will the object 3 initially rated as potentially relevant. Approaching the truck 2 the detected object 3 dangerously close, in particular to a predeterminable minimum distance, the collision warning is output by means of the driver assistance system and the driver's reaction to the collision warning is detected.

Responds a driver of the truck 2 to the collision warning not with a relatively strong steering and / or braking intervention, the preliminary evaluation of the object is rejected as potentially relevant and the object is assessed as relevant. Otherwise the rating will be confirmed from potentially relevant to relevant. Subsequently, for the object ( 3 ) a georeferenced entry is created in the digital road map that the object ( 3 ) is marked as relevant or not relevant according to the applicable relevance rating. If the object 3 has been marked as not relevant in this way, is at a renewed Passing this object 3 no collision warning is issued.

In 2 is shown another embodiment, wherein the truck 2 on an access lane 1.3 a roadway section 1 drives on which a stationary object 3 located.

The truck 2 drives in straight ahead on the stationary object 3 to and the driver assistance system automatically gives the collision warning regarding the impending collision with the object 3 out.

When driving again, the truck 2 when using the method, the standing object 3 happen without the collision warning being issued.

In 3 the truck drives 2 in the right lane 1.2 in a curve in which a vehicle, in particular due to an accident, stands. The vehicle is detected by the environmental detection as a stationary object 3 recorded and it is determined based on the digital road map, whether an entry with respect to the stationary object 3 present and whether the standing object 3 for the truck 2 in the right lane 1.2 is relevant.

Since it is at the detected stationary object 3 There is no entry and the truck is a stolen vehicle 2 approaches the vehicle so that the collision warning is automatically output with respect to a threatening collision.

The driver of the truck 2 responds to the collision warning. He brakes and / or leads a steering intervention due to the stationary object 3 through, in particular on the left lane 1.1 to drive past the stopped vehicle. The method provides that the stagnant vehicle as a stationary object 3 Georeferenced entered in the digital road map and marked as relevant.

When the curve is repeatedly passed, the vehicle that has remained lying down is a stationary object 3 with high probability no longer in the curve in the right lane 1.2 , so that the entry in the digital road map is obsolete and can be deleted.

By means of the method, the number of false alarms due to stationary objects 3 in particular with regard to stationary structural measures on a roadway section 1 , be diminished. During repeated driving on the carriageway section 1 the automatic output of the collision warning becomes a detected stationary object due to the constructional measure 3 suppressed, wherein the automatic output collision warning in a stopped vehicle and / or lost cargo as a stationary objects 3 or standing object 3 on the appropriate lane 1.1 . 1.2 , of the truck 2 is issued. The output occurs because no relevant entry is stored in the digital road map.

Furthermore, it can be provided that in the case of an existing, sufficiently large memory unit, a GPS coordinate-related curvature profile of the roadway section 1 and / or the appropriate lane 1.1 . 1.2 is stored and retrievable for improved future road assessment.

LIST OF REFERENCE NUMBERS

1

road section

1.1

left lane

1.2

right lane

1.3

entry lane

2

vehicle

2.1

acquisition unit

2.2

GPS acquisition unit

3

object

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 102012014624 A1 [0002]

Claims (6)

Method for operating a driver assistance system of a vehicle ( 2 ), in the event of collision with a detected, preceding vehicle ( 2 standing object ( 3 ) to which the vehicle ( 2 ), a driver of the vehicle ( 2 ) collision avoidance or collision mitigation action is performed when the object ( 3 ) has previously been evaluated as relevant, characterized in that - for the relevance evaluation of the object ( 3 ), whether the object contains an entry in a digital road map that identifies the object as relevant or not relevant, and if such an entry is present, the relevance evaluation of the object ( 3 ) is made according to the entry, - that the object ( 3 ) is assessed as potentially relevant in the absence of such an entry in the digital road map, - that in the event of a collision-threatening approach of the vehicle ( 2 ) to the potentially relevant object ( 3 ) a collision warning is triggered as a supporting action and a driver reaction to the collision warning is detected, - that the relevance evaluation of the potentially relevant object ( 3 ) is changed to relevant or irrelevant depending on the driver reaction, - that for the object ( 3 ) a georeferenced entry is created in the digital road map that the object ( 3 ) is marked as relevant or not relevant according to the relevance rating. Method according to claim 1, characterized in that the potentially relevant object ( 3 ) is confirmed as being relevant if the driver intervenes in an increased steering and / or braking manner in response to the collision warning. Method according to claim 1 or 2, characterized in that the relevance evaluation of stationary objects ( 3 ) is carried out only on objects that are in a travel tube of the vehicle ( 2 ) and / or in a tolerance range adjacent to the travel tube. Method according to one of the preceding claims, characterized in that as a supporting action comprises the collision warning and an autonomous maneuver following the collision warning. A method according to claim 4, characterized in that the collision warning is triggered in case of risk of collision with a relevant or potentially relevant object and that the autonomous maneuver is triggered only in case of risk of collision with a relevant object. A method according to claim 4 or 5, characterized in that the autonomous maneuver is carried out as autonomous emergency braking and / or as an autonomous evasive maneuver.

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