DE102014207541A1 - Road mark related driver assistance - Google Patents

Abstract

The invention relates to a driving assistance method for a road vehicle, in particular for a motor vehicle, It is determined on the basis of data which characterize the spatial location of a lane marking in the vehicle apron, if the vehicle in an already initiated or planned driving maneuver the lane marking probably with at least one vehicle is run over. If so, at least one of the following signals is output to the vehicle: a warning signal to the driver; at least one control signal to one or more vehicle components for automatically influencing the driving maneuver so that in this case the recognized road marking is not or only in relation to the case without such interference reduced dimensions of a wheel of the vehicle is run over. The invention also includes corresponding driver assistance system as well as a road vehicle equipped therewith.

Description

The present invention relates to the field of driver assistance methods and systems for improving road safety in road vehicles, especially in motor vehicles.

A number of such electronically controlled systems for improving driving safety or driving comfort are already known from the prior art. These include, for example, anti-lock braking systems (ABS) or stabilization systems, such as, for example, DSC (Dynamic Stability Control).

In addition, navigation systems with which a current position of the vehicle can be determined satellite-based to a few meters, regularly in use, especially in automobiles. Such navigation systems are generally based on the so-called Global Positioning System (GPS) or alternative solutions, such as the European "Galileo" system or the Russian "GLONASS" system. Furthermore, the navigation systems generally have electronic map material, by means of which route determination and guidance is made possible. Such known navigation solutions may in particular be systems permanently installed in the vehicle or solutions external to the vehicle, which are available as programs on smartphones or portable computers, for example. However, current navigation systems are currently regularly unable to track the position of a vehicle on a multi-lane road.

Furthermore, it is known to control vehicles at least temporarily teilautonom or fully autonomous. This means that the control of the vehicle then takes place at least partially (partially autonomously) or completely (fully autonomously) automatically by a technical system instead of the driver. In particular, it is also known to pre-plan a travel path to be traveled by the vehicle through such systems, at least for an immediately preceding travel piece of a travel path.

The German patent application DE 10 2009 033 124 A1 describes a method for determining an on or Ausschervorgangs a vehicle driving ahead of its own motor vehicle. In this case, the own motor vehicle has a driver assistance system serving the longitudinal guidance and a camera receiving the vehicle apron in the form of two-dimensional images, at least one lane marking which limits the driver's own lane being detected in a recorded image.

In the as WO 2010/099789 A1 published international patent application, a driver assistance system is described, in which the environment of a vehicle is recorded by means of an electronic image and this electronic image is used to detect a lane or a lane and objects in the vehicle environment.

Against this background, it is the object of the present invention to further improve driving safety and driving comfort for road vehicles, in particular for motor vehicles.

This is achieved according to the invention by the teaching of the independent claims. Preferred embodiments and developments of the invention are subject of the dependent claims.

The invention is based on the recognition that road markings often have a reduced grip compared with the surrounding road surface for wheels or tires of road vehicles. This can be the case, in particular when the road is wet or freezing. The reasons for this can especially in the opposite to the road surface usually different material of the lane markings, whose usually smoother surface structure or their usually slight grandeur over the surface of the surrounding road surface are. The reduced grip may result in riding situations where the adhesion between a vehicle wheel and the roadway is reduced or even substantially lost when the vehicle wheel passes over a lane mark.

A first aspect of the invention relates to a driver assistance method for a road vehicle, in particular for a motor vehicle. In this case, it is determined on the basis of data which characterize the spatial position of a lane marking in the vehicle apron, whether the vehicle in an already initiated or planned driving maneuver the lane marking is likely to be run over with at least one vehicle. If so, at least one of the following signals is output: (i) a warning signal to the driver; (Ii) at least one control signal to one or more vehicle components for automatically influencing the driving maneuver, so that in this case the detected lane marking is not or only in relation to the case without such influence reduced dimensions of a wheel of the vehicle is run over.

A "road vehicle" or "vehicle" for the purposes of the invention is to be understood as meaning a wheeled vehicle which is suitable, in particular provided, for traveling on a road. These include in particular motor vehicles such as passenger cars (cars), trucks (trucks), buses, and motorcycles of any kind, as well as at least partially powered by muscle power bicycles.

A "driving maneuver" of a vehicle in the sense of the invention means a movement of the vehicle opposite or on a traffic surface. In particular, the following vehicle movements are driving maneuvers in the sense of the invention: entering a traffic area, in particular a road or lane, starting, overtaking, driving past or avoiding an obstacle or another vehicle, turning, turning or changing lanes. For the purposes of the invention, a driving maneuver is "planned" when a system intended for partially autonomous or fully autonomous control of the vehicle has determined or selected the driving maneuver to be carried out by the vehicle.

Under an "influence on the maneuver" or "driving maneuver influencing" in the context of the invention is the influence, in particular warning, the driver of a vehicle to entice this to a driving maneuver influencing reaction and / or the control of suitable vehicle components for direct technical To understand the influence of a driving maneuver.

For the purposes of the invention, the "vehicle apron" of a vehicle is the vehicle environment lying in front of the vehicle as seen in the direction of travel, in particular a region of a roadway lying in this vehicle environment.

A "lane marking" in the sense of the invention is a - usually color - to be understood on the surface of traffic areas of road traffic, the marking of the traffic management or categorization of different traffic areas or serves as traffic signs. A road marking can be applied by means of special road marking paint on the surface of a traffic area, in particular a road, or introduced into the same or be applied by applying or introducing road marking devices (for example, temporary marker strips or metal caps) on the surface of the traffic area.

In the sense of the invention, "driving over" a road marking means an at least partial crossing of at least one surface element of the road marking by at least one vehicle wheel, the vehicle wheel coming into direct contact with the road marking. Accordingly, a driving situation in which a vehicle wheel traverses a gap between different surface elements of the same lane marker (e.g., punctuated lane marker) without touching at least one of the face members is not understood as "passing" a lane marker by that wheel in the meaning of the invention.

A "warning signal" in the sense of the invention is to be understood as a signal which can be detected by the driver, that is to say detected by a human sense, and which is intended to alert the driver to a specific situation or to warn him against it. The signal may in particular be an acoustic, visual, haptic or kinaesthetic signal or a combination of a plurality of such signals, which are emitted by one or more corresponding signal transmitters in the environment of the driver, in particular on the vehicle or optionally in the vehicle interior.

A "control signal" in the sense of the invention means a technical signal, in particular an electrical, optical or mechanical signal, by means of which at least one vehicle component can be controlled. The signal may in particular also be a radio signal.

Thus, according to this method, a lane edge marking is detected in advance of the vehicle before crossing it, and counteracted by the driving maneuver influencing a passing over the same by one or more wheels of the vehicle. In this way, on the one hand the likelihood of a reduction in traction or even an at least substantial loss of liability between the vehicle wheel and the traffic surface, in particular in the case of unfavorable road conditions, can be reduced. This can be especially advantageous if it is the vehicle is a two-wheeler, especially a motorcycle, and so the risk of falling through "slipping" can be reduced. A similar safety gain can be achieved even in two- or multi-lane vehicles, such as cars or trucks, if they are in driving situations in the border area where a loss of grip threatens, such as an evasive maneuver or if to overtake a vehicle in front taking a lane change must be accelerated very quickly. The vehicle can thus choose a route in which the liability is improved over an uninfluenced driving maneuver. As a result, unwanted rolling of the vehicle or an extended braking distance can be avoided in particular. On the other hand, the comfort for the driver and possibly other vehicle occupants can be increased, since vibrations or noises, which when driving over a lane marking occur, can be avoided or at least reduced. Thus the task is solved.

In the following, preferred embodiments and further developments of the method will be described, which, unless expressly excluded, may be combined as desired with one another as well as with the other aspects of the invention described below.

According to a first preferred embodiment, the data characterizing the spatial location of a lane marking in the vehicle apron is provided by at least one of the following steps (variants) on the vehicle: (i) automatically detecting the spatial location of the lane marking based on at least one sensor image, which Lane in the vehicle apron at least partially represents; (ii) receiving the data via a data link from an off-vehicle information source.

In this case, in the first aforementioned variant of this embodiment, the at least one sensor image may be, in particular, a camera image, preferably a series of camera images, as is the case for example with a video sequence. Alternatively or additionally, other sensors that can distinguish a lane marking from their surroundings are conceivable. The detection of the spatial position of the image of the lane marking within the vehicle apron or the sensor images can then take place by means of known image analysis algorithms for the identification of image objects. From this, in turn, with knowledge of the position and orientation of the image sensor on the vehicle can be concluded with known methods on the actual spatial position of the lane marking relative to the vehicle at a given time. These calculations can preferably be carried out by means of at least one microprocessor provided in the vehicle and correspondingly programmed. In this way, the vehicle can autonomously recognize lane markings in its apron and make a corresponding maneuver influencing, without the need for vehicle-external systems would be required.

According to the second aforementioned variant of this embodiment, however, the data can instead or additionally also be received by a vehicle-external information source, in particular via a mobile data connection. In particular, the vehicle-external information source can be a server on which data on the spatial position of the lane marking in the vicinity of the vehicle position are available. In particular, these data may have been previously captured by other vehicles and transmitted to the server. Accordingly, in a further development, the method may also include a step in which data which characterize the spatial position of the lane marking detected on the basis of the sensor image (according to the first variant) are sent to the vehicle-external information source via a data connection. The use of the second variant can be particularly advantageous when the detection of the data according to the first variant is either not provided for lack of a corresponding sensor in the vehicle or the sensor is at least temporarily disturbed in its function. This may in particular be the case even if the sensor itself is indeed intact, but the sensor image is to be received through a soiled or damaged vehicle window, so that there are impairments in image acquisition and, as a consequence, problems in detecting the road marking , A combination of both variants, in particular for increasing the availability or recognition rate of the data, can also be provided.

In accordance with a further preferred embodiment, the method comprises, as further steps, detecting a current spatial position of the vehicle, determining a track-accurate map position of the vehicle by linking the current position with track-accurate map data, classifying the detected roadway marking based on the determined map position, and determining at least one of the signals to be output depending on a result of the classification. In this way, information about the type of road markings present in this traffic area area can be taken from the map data and a corresponding classification can be made. The classification may include associating the recognized lane marker with at least one of the following classes: a solid line, a broken line, a directional arrow, a middle marker between two lanes, a lane edge marker, another lane marker. This can bring with it the advantage that the signal to be output can be selected depending on the type of recognized lane marking, so that an even higher probability of success for the driving maneuver influencing can be achieved in order to avoid driving over lane markings. If, for example, the recognized lane markings are a lane edge marking, then the signal to be output for the maneuver control can be selected differently in order to avoid a particularly dangerous leaving of the lane than if the detected lane marking is only a broken line or a directional arrow in lane center. In a further development of this embodiment, the classification can also be based on the means of an image sensor ascertained data, which characterize the spatial position of the lane marking. This can be used on the one hand to increase the accuracy of the classification. On the other hand, however, the data can also be used in order to be able to more accurately localize these gaps as far as possible in the case of lane markings having gaps, for example in the case of broken lines, in order to be able to more accurately determine a corresponding driving maneuver influencing a vehicle wheel should traverse this gap. In addition, in the event that the data identifying the spatial location of the recognized lane marker is to be sent to an off-vehicle information source, by combining the current vehicle position data and the location lane location data for other vehicles in the vehicle According to the method (see second variant (ii) for the first embodiment above) reusable information or data are sent to the external information source and there are available for other vehicles.

According to a further preferred embodiment, the at least one control signal is designed such that the driving maneuver is influenced such that at least one wheel of the vehicle during the driving maneuver traverses a gap between two separate surface elements, in particular marking strips of the roadway marking. The lane marking may in particular be a broken line, for example a lane center marking. In this way it can be prevented that the wheel passes over parts of the same when crossing such a multipart road mark. This can be advantageous in particular during overtaking maneuvers or evasive maneuvers or lane changes, since it is necessary to regularly cross a lane mark marking consisting of marking strips in order to change to an adjacent lane. Especially with single-track vehicles, especially in motorcycles, can increase driving safety in this way. At least in borderline areas, this also applies to multi-lane vehicles, especially for four- or Mehrrädrige vehicles. In any case, but can also achieve a comfort for these, since no associated with the driving over the lane marking by the wheel irregularities in the road surface come into play, so that no additional noise or vibration effects occur.

According to a further preferred embodiment, the at least one signal to be output is determined as a function of status data from which conclusions can be derived about the current road condition, in particular its grip, in the environment of the vehicle. The status data may in particular be weather data or even sensor-related physical parameters characterizing the current state of the road surface. So it can be concluded from weather data, in particular precipitation, temperature or humidity about wet, a snow pad or a possible icing of the road. Similarly, this can be done from corresponding sensory physical parameters, such as in optical images of the road or in temperature measurements. In this way, the state data for the current road condition can be taken into account for determining the signal to be output, in particular so that the signal to be output is designed such that it can optimally counteract a safety hazard even with the current road conditions.

In accordance with a further preferred embodiment, the at least one control signal controls a wheel brake of the vehicle so that it does not act at all when driving over the road marking by the associated vehicle wheel, or at least counteracts the case without such influencing only with reduced braking force. In this way, a safety gain can be achieved even in situations in which over driving the lane marking can not be completely prevented. By weakening or even avoiding the braking effect, in particular a sliding or slipping of the wheel on the road marking can be avoided, in any case reduced. In addition to a resulting gain in safety, this can also contribute to a comfort increase, since a slippage of the vehicle is generally perceived as unpleasant.

According to a further preferred embodiment, the at least one control signal controls a brake of the vehicle so that a calculated or planned time for an upcoming braking maneuver is automatically modified. This is a possible advantageous embodiment of a driving maneuver influencing during a braking operation. Thus, the braking process can be adjusted so that it can avoid driving over a lane marking again, but in any case such a running over occurs only to a lesser degree than would be the case without the influence of the control signal. In particular, the modifications of the braking maneuver triggered by the control signal can be metered or made so finely and / or over a period of time that a substantially continuous braking effect occurs without sudden braking force changes ("bucking").

According to a further preferred embodiment, the control signal controls at least one of the following vehicle components of the vehicle for automatically influencing the driving maneuver: a brake system, a drive train, a steering system, the chassis, a stability system (ESP in particular), damping (in particular shock absorption or steering damping). In particular, it may also be advantageous to achieve the driving maneuver influencing to be carried out by one or more control signals which control two or more of the abovementioned vehicle components so that their overall interaction results in the intended maneuver influencing. In this way, a wide range of different maneuver influencing can be realized, which can be effectively adapted to a variety of situations and road conditions.

According to another preferred embodiment, the vehicle is partially autonomously or fully autonomously controlled by at least one control device. In particular, this can be used in combination with the previously described method in the context of an overtaking or evasive assistance function of the vehicle, in which such a driving maneuver takes place partially or fully automatically. In this way, automated driving maneuvers with regard to driving safety and / or driving comfort can be improved.

A second aspect of the invention relates to a driver assistance system for a road vehicle, in particular for a motor vehicle. The system has a data interface for receiving data which characterize the spatial position of a lane marking in the vehicle apron. Furthermore, an analysis unit is provided which is adapted to determine whether the vehicle is likely to be run over by at least one vehicle wheel in the event of an already initiated or planned driving maneuver. In addition, a signaling unit is provided, which, when the analysis unit determines that the lane marking is expected to be run over by at least one vehicle wheel in the driving maneuver, outputs at least one of the following signals: (i) a warning signal for the driver, (Ii) at least one control signal to one or more vehicle components of the vehicle for automatically influencing the driving maneuver so that in this case the lane marking is not or only in opposite to the case without such interference reduced measures of a wheel of the vehicle is run over.

In the following, preferred embodiments and further developments of the driver assistance system will be described, which, unless expressly excluded, may be combined as desired with one another as well as with the other aspects of the invention.

According to a preferred embodiment, the data interface is adapted to receive data via a data connection to an external data source, which in particular may be a sensor, such as a camera or a sensor for detecting physical parameters of the road condition.

According to another preferred embodiment, two or more of the aforementioned system components are integrated within a single functional unit. Alternatively, however, the system can also be constructed from discrete system components.

According to a further preferred embodiment, the system further comprises a detection unit, which is adapted to automatically detect the spatial position of a lane marking in the vehicle apron on the basis of at least one sensor image, which at least partially represents the lane in the vehicle apron. The detection unit may in particular comprise at least one microprocessor and a memory in which a corresponding program is stored for execution on the at least one microprocessor.

In a further preferred embodiment, one or more sensors for detecting a sensor image are themselves part of the system.

The system may according to further preferred embodiments be adapted to carry out the method according to the first aspect of the invention, in particular according to one or more of its embodiments or variants thereof.

Accordingly, the functionality of the system as a whole and its system components, in particular the previously described, corresponding method steps can be taken.

Finally, a third aspect of the invention relates to a road vehicle which has a driving assistance system according to the second aspect of the invention, in particular according to one or more of its embodiments or variants.

Further advantages, features and applications of the present invention will become apparent from the following description taken in conjunction with the figures.

Showing:

1 schematically a road vehicle according to a preferred embodiment of the present invention on a roadway with lane markings;

2 1 schematically illustrates a driver assistance system and its connection to various data sources as well as to vehicle components to be controlled by the system, according to a preferred embodiment of the present invention;

3 a flowchart of a driver assistance method according to a preferred embodiment of the present invention;

4 an exemplary schematic representation of a lane change or avoidance maneuver when using the driver assistance method or system, according to a preferred embodiment of the present invention with a motorcycle as a vehicle;

5 an exemplary schematic representation of a braking maneuver at a traffic light system or branch when using the driver assistance method or system, according to a preferred embodiment of the present invention with a motorcycle as a vehicle;

In 1 is exemplary and schematically a road vehicle 1 according to a preferred embodiment of the invention. This is the vehicle 1 on a lane with different lane markings 4 , On the right side is a solid line, on the left side a broken line with surface elements 4a . 4b and 4c , and in the middle a directional arrow, each as a lane marker 4 shown. The vehicle 1 moves in the direction of the directional arrow of the lane marking and the associated vehicle apron 3 is outlined as a dashed line. In the case shown, it is the vehicle 1 to a motor vehicle with four wheels 5 , Schematically are also brakes, or a brake system 19 , a powertrain 20 , a steering system 21 as well as a chassis 22 shown as vehicle components. In addition, the vehicle has at least one sensor 9 which may in particular be a camera, which is used for taking pictures of the road surface, in particular in the vehicle apron 3 , is suitable and arranged. Out of the through the sensor 9 supplied sensor image or from several corresponding sensor images can draw conclusions about the spatial position of the lane markings 4 as well as the road condition. Furthermore, in the vehicle 1 a control device 2 for partially autonomous or fully autonomous control of the vehicle 1 intended. Finally, the vehicle contains 1 nor an inventive driver assistance system 8th , which has a data connection 7 with an external vehicle information source 6 connected is.

In 2 are schematically the driver assistance system 8th itself and its connection to various data sources as well as to the driver assistance system 8th to be controlled vehicle components 18 according to a preferred embodiment of the present invention. In this case, the driving assistance system 8th a data interface 10 , a detection unit 11 , an analysis unit 13 , as well as a signaling unit 14 in particular connected to each other via a bus, such as a CAN bus, to exchange data. Via the data interface 10 and corresponding data connections 7 is the driver assistance system 8th with at least one sensor 9 , a position determination unit 12 , in particular a navigation system, the control device 2 , and one or more external data sources 6 for providing status data 15 , which characterize the road condition, as well as data 16 , which identify the spatial location of a pavement marking connected. Additionally or alternatively, such data may be provided by the sensor 9 recorded and provided. The analysis unit 13 is provided and adjusted to determine if the vehicle 1 in an already initiated or planned driving maneuver the lane marking 4 probably with at least one vehicle wheel 5 is run over. The with the analysis unit 13 connected signaling unit 14 is adjusted so that when the analysis unit 13 determines that in the driving maneuver the lane marking is likely to be with at least one vehicle wheel 5 run over, at least one signal 17 outputs. At the signal 17 This can be a warning signal 17a to the driver, eg an acoustic, optical or kinesthetic signal, or to a control signal 17b for one or more vehicle components 18 , or a combination of both. The vehicle components 18 can, as already described above, in particular a brake or brake system 19 , a powertrain 20 , a steering system 21 or the landing gear 22 or individual functional units thereof.

In 3 FIG. 3 is a flowchart illustrating a driver assistance method according to a preferred embodiment of the present invention. In the method, in a first step S1, a current spatial position of the vehicle 1 detected. This can be done in particular by means of a satellite-based navigation system. This position can then be based on a corresponding electronic map material showing the position of the vehicle 1 covering, a map position for the vehicle 1 be determined. The map material contains a lane-exact road model, and the positioning is also so accurate that the current position of the vehicle 1 can be detected accurately.

In a further step S2, on the one hand, data 16 indicating the spatial location of a lane marking 4 and status data 15 to the current road conditions, in particular to its temperature and humidity or other physical parameters that may affect its grip provided. These data and status data can in particular via a corresponding data connection 7 from an external data source 6 be received. Alternatively or additionally, the spatial position of a lane marking 4 and the road condition can also be detected on the vehicle itself on the basis of at least one sensor image. The sensor 9 For detecting such a sensor image may be in particular a camera, but also temperature sensor or infrared sensors or other appropriate sensor types can be used additionally or alternatively. In particular, in a combination in which both the map material and a sufficiently resolved sensor image, in particular one or more camera images are used, the spatial location of recognized lane markings 4 be determined relative to the current vehicle position with high accuracy, in particular centimeter accurate.

Such on the vehicle itself by means of at least one sensor 9 detected data as well as the current position of the vehicle 1 can in a further step S3 to the preferably an external data source, such as a server, are sent back, there to be available as position-related data for other vehicles retrievable available.

In a further step S4, the recognized lane marking 4 based on the determined map position and, if available, classified on the basis of the sensor image. In this case, for example, a distinction can be made between solid marking lines on the roadway edge, solid dividing lines between tracks which characterize a passing ban, or broken lines for separating different traffic lanes. Other road markings such as hatched areas or directional arrows can be recognized and classified accordingly.

In a subsequent step S5, it is then determined on the basis of the available data, whether the vehicle 1 probably the recognized lane marking 4 is run over. For this purpose, also corresponding further vehicle data, in particular speed, position of the steering, accelerator pedal position or the like can additionally be used.

It is determined that the lane mark is expected from any wheel 5 of the vehicle 1 is overrun (S5 - no), then jump back to step S1 and a new run can begin. Otherwise, that is, if a probable driving over is detected (S5 - yes), a further step S6 takes place, depending on the result of the classification, a corresponding signal 17 determined or selected.

The signal 17 Finally, in a further step S7, it takes the form of at least one warning signal 17a and / or at least one control signal 17b or a combination of both. Subsequently, the method can jump back to step S1.

In a subsequent step S5, it is then determined on the basis of the available data, whether the vehicle 1 probably the recognized lane marking 4 is run over. For this purpose, also corresponding further vehicle data, in particular speed, position of the steering, accelerator pedal position or the like can additionally be used.

In 4 FIG. 11 is an exemplary schematic illustration of a lane change or avoidance maneuver using the driver assistance method or system, according to a preferred embodiment of the present invention, with a motorcycle as a vehicle 1 shown. This is a two-lane road with sideways limiting lane markings 4 , which are formed as solid lines, and formed with a broken lane marking line center line for lane marking, which among other things, the individual surface elements 4a and 4b has shown. In particular, in fully or partially automated driving lane changes are usually in advance of the corresponding control device 2 for the autonomous control of the vehicle 1 planned. Now, if the exact vehicle position and the spatial location of the lane marker are available, the vehicle can be automatically controlled in a lane change so that its wheels 5 in each case between individual surface elements, in particular in a single-track vehicle, the same surface elements 4a and 4b driving the center mark without touching these surface elements themselves. In 4 this is by means of the solid line 25 , which shows the route of the motorcycle when using the driver assistance system or method according to the invention, shown. The dashed line 24 on the other hand, compares the fictitious infrastructure without the use of the driver assistance system; Even in the case of curves, which were misjudged by the driver, so that overrunning the center line is unavoidable, the driver assistance system or procedure can ensure that when crossing the center line, the wheels 5 of the vehicle 1 , especially a motorcycle, not run over the road marking itself, but between individual surface elements 4a . 4b pass through it. Thus, especially with single-track vehicles, the accident or fall risk can be reduced.

Similarly, evasive maneuvers can be performed. In a dangerous situation in semi-autonomous or fully autonomous operation, a mode is provided in which the vehicle 1 the lane changes, for example, so as not to hit an obstacle or a sudden danger source (for example a ball 23 rolls out onto the street). According to the invention, the vehicle can also here 1 be automatically controlled so that it dodges on the safest route, and as far as possible a driving over lane markings 4 respectively. 4a . 4b avoids. Thus, possibly additionally available control intervention of anti-lock braking systems (ABS) or stability systems (eg ESP) may possibly be minimized, since the traction is significantly better than when the vehicle 1 brake or even steer on a road marking surface in order to perform the evasive maneuver.

The same can apply in other traffic situations. So is in 5 an exemplary schematic representation of a braking maneuver at a traffic light system or branch when using the driver assistance method or system, according to a preferred embodiment of the present invention with a motorcycle as a vehicle shown. Here is a two-lane roadway for a given direction before and the individual lanes of this lane are by appropriate lane markings 4 marked in the form of directional arrows at an intersection. In this case, the driveway of the vehicle 1 When it approaches the intersection, it will be influenced so that when it reaches the intersection at a breakpoint 25a stops, is positioned so that none of its wheels 5 to stand on one of the directional arrows. In particular, the track 25 be chosen so that before none of the directional arrows or other lane marking 4 from any wheel 5 of the vehicle 1 be run over. In this way, on the one hand, the braking distance can be shortened, which can be safety-relevant especially in the case of emergency braking, such as the unexpected switching a traffic light system to "red", or too late detection of cross traffic at the intersection. On the other hand, this can also be counteracted by spinning or spinning the wheels during the subsequent start-up. For comparison, here is again the fictitious infrastructure 24 of the vehicle 1 and the corresponding breakpoint 24a without using the driver assistance system 8th or method shown.

While at least one exemplary embodiment has been described above, it should be understood that a large number of variations exist. It should also be understood that the described exemplary embodiments are nonlimiting examples only and are not intended to thereby limit the scope, applicability, or configuration of the devices and methods described herein. Rather, the foregoing description will provide those skilled in the art with guidance for implementing at least one example embodiment, it being understood that various changes in the operation and arrangement of the elements described in an exemplary embodiment may be made without departing from the appended claims Derogated from the requirements of the respective subject matter as well as its legal equivalents.

LIST OF REFERENCE NUMBERS

1

Road vehicle or vehicle for short

2

control device

3

vehicle ahead

4

road markings

4a-c

Surface elements of a road marking

5

vehicle

6

vehicle external information source

7

Data Connection

8th

Driving Assistance System

9

sensor

10

Data Interface

11

detection unit

12

Position Determination Entity

13

analysis unit

14

signaling unit

15

state data

16

Data indicating the spatial location of a lane marking

17

signal

17a

warning

17b

control signal

18

vehicle components

19

Brake or brake system, in particular wheel brake

20

powertrain

21

steering system

22

landing gear

23

obstacle

24

Driveway without driver assistance

24a

Breakpoint of the vehicle without driver assistance

25

Driveway with driver assistance

25a

Breakpoint of the vehicle with driver assistance

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 102009033124 A1 [0005]
• WO 2010/099789 A1 [0006]

Claims (15)

Driving assistance method for a road vehicle ( 1 ), in particular for a motor vehicle, comprising the steps of: determining (S5) on the basis of data representing the spatial position of a lane marking (S5) 4 ) in the vehicle apron ( 3 ) indicate whether the vehicle ( 1 ) in the case of an already initiated or planned driving maneuver the lane marking ( 4 ) with at least one vehicle wheel ( 5 ) is run over; and (S6) if so, outputting at least one of the following signals ( 17 ): - a warning signal ( 17a ) for the driver; At least one control signal ( 17b ) to one or more vehicle components ( 18 ) for automatically influencing the driving maneuver such that the detected lane marking ( 4 ) not or only in relation to the case without such a reduced influence measures of a wheel ( 5 ) of the vehicle ( 1 ) is run over. Method according to claim 1, wherein the data representing the spatial position of a lane marking ( 4 ) in the vehicle apron ( 3 ) by at least one of the following steps (S2) on the vehicle ( 1 ): Automatic detection of the spatial location of the lane marking ( 4 ) based on at least one sensor image, which the roadway in the vehicle apron ( 3 ) represents at least in part; Receiving the data via a data connection ( 7 ) from an external information source ( 6 ). Method according to claim 2, wherein data representing the spatial position of the lane marking (3) detected on the basis of the sensor image ( 4 ), via a data connection ( 7 ) to the vehicle external information source ( 6 ) (S3). Method according to one of the preceding claims, comprising the further steps of: detecting (S1) a current spatial position of the vehicle ( 1 ) and determining a track-accurate map position of the vehicle ( 1 ) by associating the current position with accurate map data; Classifying (S4) the recognized lane marking ( 4 ) based on the determined map position and determining (S6) at least one of the signals to be output ( 17 ) depending on a result of the classification. The method of claim 4, wherein classifying comprises associating the detected lane marker ( 4 ) to at least one of the following classes: - a solid line; A broken line; - a directional arrow; - a middle mark between two tracks; - a lane marker - another lane marker. Method according to one of the preceding claims, wherein the at least one control signal ( 17b ) is designed so that thereby the driving maneuver is influenced so that at least one wheel ( 5 ) of the vehicle ( 1 ) in the driving maneuver a gap between two separate surface elements ( 4a -C), in particular marking strips, of the lane marking ( 4 ). Method according to one of the preceding claims, wherein the at least one signal to be output ( 17 ) depending on status data ( 15 ), from which conclusions on the current road condition in the environment of the vehicle ( 1 ) are determined. Method according to one of the preceding claims, wherein the at least one control signal ( 17b ) a wheel brake ( 19 ) of the vehicle ( 1 ) is controlled so that this during a crossing of the lane marking ( 4 ) by the associated vehicle wheel ( 5 ) does not work or at least acts against the case without such interference only with reduced braking force. Method according to one of the preceding claims, wherein the at least one control signal ( 17b ) a brake ( 19 ) of the vehicle ( 1 ) so as to automatically modify a calculated or scheduled time for an upcoming brake maneuver. Method according to one of the preceding claims, wherein the control signal ( 17b ) at least one of the following vehicle components ( 18 ) of the vehicle ( 1 ) for automatically influencing the driving maneuver: - a brake system ( 19 ); A drive train ( 20 ); - a steering system ( 21 ); - the chassis ( 22 ); - a stability system, in particular ESP; - An attenuation, in particular shock absorption; Method according to one of the preceding claims, wherein the vehicle ( 1 ) is autonomously or fully autonomously controlled by at least one control device. Driver assistance system for a road vehicle ( 1 ), in particular a motor vehicle, comprising: a data interface ( 7 ) for receiving data representing the spatial location of a lane marking ( 4 ) in the vehicle apron ( 3 ); an analysis unit ( 13 ), which is adapted to determine whether the vehicle ( 1 ) in the case of an already initiated or planned driving maneuver the lane marking ( 4 ) with at least one vehicle wheel ( 5 ) is run over; and a signaling unit ( 14 ), which is adjusted so that when the analysis unit ( 13 ) states that during the maneuver the lane marking ( 4 ) with at least one vehicle wheel ( 5 ), at least one of the following signals ( 17 ): - a warning signal ( 17a ) for the driver; At least one control signal ( 17b ) to one or more vehicle components ( 18 ) of the vehicle ( 1 ) for automatically influencing the maneuver so that the road marking ( 4 ) not or only in relation to the case without such a reduced influence measures of a wheel ( 5 ) of the vehicle ( 1 ) is run over. A driver assistance system according to claim 12, further comprising: a detection unit ( 11 ) adapted to the spatial position of a pavement marking ( 4 ) in the vehicle apron ( 3 ) based on at least one sensor image, which the roadway in the vehicle apron ( 3 ) represents, at least in part, automatically detect.  Driving assistance system according to claim 12 or 13, wherein the device is further adapted to carry out the method according to one of claims 2 to 11. Road vehicle ( 1 ), comprising a driving assistance system according to one of claims 12 to 14.

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