DE102015201766B4 - A method for generating a light distribution for outputting a driving instruction for a first vehicle - Google Patents

A method for generating a light distribution for outputting a driving instruction for a first vehicle

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Publication number
DE102015201766B4
DE102015201766B4 DE102015201766.4A DE102015201766A DE102015201766B4 DE 102015201766 B4 DE102015201766 B4 DE 102015201766B4 DE 102015201766 A DE102015201766 A DE 102015201766A DE 102015201766 B4 DE102015201766 B4 DE 102015201766B4
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Germany
Prior art keywords
vehicle
lane
light distribution
light
driver
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DE102015201766.4A
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German (de)
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DE102015201766A1 (en
Inventor
Anna Zoé Krahnstöver
Christoph Thomschke
Helge Neuner
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Volkswagen AG
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Volkswagen AG
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Publication of DE102015201766A1 publication Critical patent/DE102015201766A1/en
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/26Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/02Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle
    • B60Q1/08Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/02Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle
    • B60Q1/08Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically
    • B60Q1/085Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30Indexing codes relating to the vehicle environment
    • B60Q2300/33Driving situation
    • B60Q2300/338Overtaking
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40Indexing codes relating to other road users or special conditions
    • B60Q2300/41Indexing codes relating to other road users or special conditions preceding vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40Indexing codes relating to other road users or special conditions
    • B60Q2300/45Special conditions, e.g. pedestrians, road signs or potential dangers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50Projected signs, i.e. symbol or information is projected onto the road

Abstract

A method of generating a light distribution (10 ') for a first vehicle (7) located on a first lane (12.1) of a lane (12), which further comprises at least one second lane (12.2) adjacent to the first lane (12). 12.1), in which at least one second vehicle (8) in the vicinity of the first vehicle (7) on a second lane (12.2) is detected, wherein the second vehicle (8) in the same direction (F) moves as the first Vehicle (7), a value of at least one of the second vehicle (8) dependent variable parameter is detected, a driving instruction signal for changing the first vehicle (7) on the second lane (12.2) is generated and in response to the driving instruction signal from the first Vehicle (7) a light distribution (10 ') on the road (12) is generated by the driver of the first vehicle (7) is signaled whether a lane change of the first vehicle (7) from the first lane (12.1) on thesecond lane (12.2) can be done safely, wherein the light distribution (10 ') changes as a function of time, characterized in that by the change in the light distribution as a function of time, a direction (R) is awarded and the driving instruction signal an indication to an acceleration or deceleration of the first vehicle (7) in this direction (R).

Description

  • The present invention relates to a method for generating a light distribution for a first vehicle, which is located on a first lane of a roadway. The roadway further includes at least a second lane adjacent the first roadway. The invention further relates to a driver assistance system for such a vehicle.
  • It is known to equip vehicles with different driver assistance systems which assist the driver when driving the vehicle. Such driver assistance systems should in particular detect and interpret the surroundings of the vehicle in order to detect dangerous situations, in particular those which are associated with a risk of collision, at an early stage and to assist the driver in his driving maneuvers. Driver assistance systems are intended to assist the driver in avoiding collisions as far as possible or at least minimizing the consequences of a collision. This is when lane change maneuvers a particularly high risk to collide with a vehicle just passing.
  • For example, collision warning systems are known which detect objects in the surroundings of the vehicle and alert the driver to those objects which represent a danger of collision. In particular, such systems can assist the driver during night driving, since in this case the illumination of the surroundings of the vehicle by the vehicle headlight system is lower than during day trips. For example, a lane change assistant is known in which the driver is alerted by a warning light on the outside mirror of the vehicle on approaching from behind vehicles, which are located in a poorly visible area and are observed when changing lanes.
  • In the in the DE 10 2012 218 935 A1 described Autobahneinfädelassistent communication carrier vehicle with another remote vehicle. Both negotiate a threading position that is used to perform the threading maneuver.
  • Furthermore, the describes EP 2 004 452 B1 a vehicle with a visual signaling device. Under poor visibility, a warning signal in the direction of travel behind or in front of the vehicle is projected onto the roadway with laser light. Furthermore, the lane marking can be projected.
  • In the in the DE 10 2009 009 472 A1 described methods, light signals can be projected onto the roadway in front of a vehicle to give the driver instructions for avoiding collisions. In this case, a roadway can be projected onto the road or a colored arrow on the roadway in front of the vehicle can indicate whether an overtaking maneuver can be safely completed. By different colors and a blinking of the arrow can be signaled about whether an acceleration is necessary.
  • In the in the EP 1 699 033 A2 proposed driver assistance system finally when driving a vehicle on a road, the distances between vehicles are detected on the adjacent lane. A symbol may be projected into a gap, indicating whether or not it is possible to collapse into this gap.
  • The present invention has for its object to provide a method and a driver assistance system by which the driver of a vehicle is alerted to dangers in a lane change.
  • This object is achieved by a method having the features of claim 1 and a driver assistance system having the features of claim 11. Advantageous embodiments and further developments emerge from the dependent claims.
  • In the method according to the invention, at least one second vehicle in the vicinity of the first vehicle is detected on a second lane, with the second vehicle moving in the same direction of travel as the first vehicle. Further, a value of at least one variable parameter dependent on the second vehicle is detected and a drive instruction signal for changing the first vehicle to the second lane is generated. In response to the driving instruction signal, a light distribution is generated on the roadway by the first vehicle, by which the driver of the first vehicle is signaled whether a lane change of the first vehicle from the first lane to the second lane can be done safely.
  • According to the invention, the light distribution changes as a function of time. It is therefore a dynamic light distribution. The possibilities of displaying information to the driver by means of the light distribution are thereby advantageously expanded. For example, the intensity and / or the color of the distribution may change periodically, such as flashing, which may increase the attention of the driver to the light distribution. For example, you can also display several symbols at different times. Furthermore, a movement can be represented within the light distribution, in particular light symbols can move, the direction and speed of the movement symbolizing the driving instruction and alert the driver to a speed change to be made.
  • The method according to the invention is characterized in that a direction is distinguished by the change in the light distribution as a function of time, and the travel instruction signal relates to an indication of an acceleration or deceleration of the first vehicle in this direction. The driver can thereby advantageously be informed of a driving instruction for accelerating or decelerating the vehicle in a certain direction. In particular, the light distribution may vary over time to represent movement relative to the vehicle, by which a driving indication for changing the movement of the vehicle, e.g. as a running light, can be displayed. For example, a light symbol can be displayed in front of the vehicle, which moves away from the vehicle in the direction of travel. The driver can be prompted to accelerate. Conversely, a light symbol moving toward the vehicle may signal the driver a delay to be made. The light symbol can also move laterally to the direction of travel of the vehicle. For example, a trajectory for the vehicle can be specified, wherein the driver follows the illustrated light symbol and is directed to the trajectory. The change of the light distribution may also indicate a direction relative to one of the lanes and may point to the second lane, for example, when the lane change is safe or pointing to the first lane when the lane change can not be safely performed.
  • A variable parameter dependent on the second vehicle is understood to be a parameter that can only be detected by the first vehicle if the second vehicle is present. In this case, the parameter can be generated directly by a device of the second vehicle. However, it may also be a parameter relating to a relationship between the first and second vehicles. Examples of such parameters are the absolute speed of the second vehicle and its speed relative to the first vehicle, the position of the second vehicle and the distance between the two vehicles. This definition applies analogously to a larger number of other vehicles.
  • The driving instruction signal generated according to the invention serves to control the generation of the light distribution, wherein the driving instruction generated by the driver assistance system is output. In particular, it includes information about whether a lane change can be made safely and how this is possibly the case. For example, it can be recognized that a lane change is currently safe, while he will soon no longer be safe. Further, it can be seen that lane change is only safe if the speed is increased at the same time or before, while it is not safe at slower speed. Since the light distribution is generated as a function of the driving instruction signal, such information can flow into the design of the light distribution and be detected by the driver.
  • The lane change can not be done safely within the meaning of the invention, if the probability that it comes to a rear-end collision is high. The risk of a collision exists in particular when the area in which the first vehicle enters is already being driven by a second vehicle or the second vehicle is approaching this area at a greater speed. In particular, in sudden lane change maneuvers other road users, the risk that it comes to a collision, high. The light distribution indicates whether a lane change can currently be performed safely or whether there is a risk of a collision. The driver of the vehicle can therefore advantageously estimate by means of the method according to the invention whether a lane change is possible without risk, and can also be assisted by means of driving instructions when carrying out the lane change.
  • Since the light distribution on the roadway is also visible to other road users, other road users can be informed that there is a vehicle in their vicinity. The other road users also receive an indication as to whether the driver of the respective vehicle is aware of a dangerous situation or whether he is informed that the lane change is safe. In this way, the other road users can adapt their own behavior to avoid a dangerous situation. This cooperative function of generating a light distribution on the roadway can also be used by other systems, by means of which an automatic communication between vehicles takes place. For example, the light distribution can be done as an output of an automatic lane change assistant and signals to other vehicles whether a lane change is assessed as safe and will be carried out shortly.
  • In a further embodiment, the detected parameter comprises the distance of the first vehicle from the second vehicle. The detection of this parameter allows the system according to the invention advantageously to assess whether a lane change of the second vehicle can be done safely or whether the required safety distance can not be met.
  • In a further embodiment, the detected parameter comprises the relative speed of the first vehicle to the second vehicle. In this way, it can be advantageously recognized whether the first vehicle is approaching the second vehicle and whether a lane change of the second vehicle would lead to a dangerous situation. Again, this can ensure that the required safety distance can be maintained.
  • In particular, the combination of the relative speed with the distance allows an accurate determination of the driving instruction, by means of which a safe lane change is to be ensured. This is the case in particular when the first vehicle has a higher speed than the second vehicle, for example when the first vehicle wants to overtake the second vehicle. Both the distance between the first and the second vehicle, as well as the relative speed of the two vehicles to each other thereby represents a relationship between the first and the second vehicle. In particular, the parameter of the distance and the relative speed together. The parameter then results from the division of the distance by the speed difference. In collision avoidance systems, this parameter corresponds to the so-called collision time, that is, the time it takes for the first vehicle to collide with the second vehicle. In the method according to the invention, the collision time is to be understood as meaning, in particular, the time that it still takes for the first vehicle to bridge the distance from the second vehicle. However, this does not necessarily lead to a collision if the distance between the two vehicles has been bridged.
  • In one embodiment, the driving instruction signal relates to an indication of a change in the direction and / or the amount of the speed of the first vehicle. The driver is thereby advantageously signaled that he must accelerate or decelerate the vehicle in order to perform a safe lane change can. For example, it may be necessary to adjust the speed of the vehicle to the traffic flow in the second lane before a lane change. This avoids a collision with vehicles approaching quickly from the rear, as well as vehicles driving slowly ahead. Furthermore, a lateral acceleration can be pointed out, for example in order to steer the vehicle to the adjacent second lane or to continue it on the first lane.
  • In a further embodiment, the light distribution comprises at least one light symbol, which is generated by generating at least one area with a higher light intensity and / or different color than the surroundings of the light symbol. The representation of light symbols advantageously makes it possible to output information to the driver by means of graphic symbols. In particular, the light symbol is an optically or visually detectable marking which is generated by means of a headlight system arranged in the first vehicle on the roadway. The at least one light symbol stands out from the environment by its light characteristic, i. a contrast is generated on the road surface, where the light symbol is displayed.
  • This generation of the light symbol on the roadway can be done independently of other light distributions generated by the vehicle. For example, the headlights of the vehicle can illuminate the road and thus produce an output light distribution. For example, a low-beam function can generate the output light distribution, but also a high-beam function, in particular a long-distance masked function, can produce such an output light distribution. If such an output light distribution exists, the light distribution is generated in such a way that the driver can also capture the light symbol on the area illuminated by the headlamps by means of a contrast of the intensity and / or the color. Conversely, the light distribution can also be generated when the headlights do not illuminate the road.
  • The light symbol can be generated by generating in the output light distribution at least one region with a higher light intensity and / or different color than the environment of the light symbol. The higher light intensity can be achieved, for example, by means of a light reflection which is increased in relation to the surroundings of the light symbol and which is brought about by light bundling onto a specific location on the roadway, in particular by laser projection. The region of the light distribution produced according to the invention then advantageously appears brighter than the environment.
  • In a development of the method according to the invention, at least two different colors of the light symbol indicate whether a lane change of the first vehicle can be safely made from the first lane to the second lane. For example, two colors may be defined that indicate the states "safe" and "not safe", such as red and green. Thus, the driver can advantageously quickly detect whether a lane change is safely feasible. In particular, the colors red and green are widespread in road traffic as signal colors, which indicates to the driver whether driving in a certain direction or in a certain area is safe or unsafe. Red is usually associated with a danger. The driver Therefore, the red mark will be interpreted as a danger zone and will not change to the danger zone. A colored, in particular red, mark can advantageously be well perceived during the day.
  • In one development of the invention, the light distribution is wholly or partially generated on the second lane. It is thus in an area that is typically observed by the driver of the vehicle in the second lane. Thus, advantageously information can be displayed particularly well visible to the driver of the second vehicle. He can adjust his own driving behavior and avoid dangerous situations. Further, the driver of the first vehicle, when planning a lane change, must observe the adjacent second lane. So this is a place where the driver of the first vehicle expects information about the safety of a lane change and can quickly grasp it.
  • In one embodiment, the light distribution comprises one or more geometric symbols, e.g. Rectangles, the number, size and / or distance of which depends on the driving instruction signal. This advantageously offers a number of possibilities, the light symbols easily detectable and interpretable for the driver interpretable. For example, a rectangle may mark an area on the roadway that the vehicle can drive on. Additional properties, such as the color of the rectangle or a structuring of the surface, such as hatching, can signal whether driving in this area is safe or not.
  • Furthermore, a plurality of rectangles may be displayed, particularly in the form of bars, i. transverse to the direction of travel, elongated rectangles. By varying the number and size of these surfaces, as well as the distance between them, information can be presented, such as the speed required to change lanes or the size of an area available for changing to the second lane. For example, many narrow bars can signal approaching traffic on the second lane, which does not make the lane change safe.
  • In a further embodiment of the invention, the light distribution comprises one or more arrow shapes, the number, size and / or distance of which depends on the driving instruction signal. This advantageously makes it possible to display information, in particular those relating to a direction that can be displayed by means of arrows. Arrows are widely used in traffic as symbols for directions and the driver can therefore quickly capture and interpret the information presented. The illustrated arrow shapes may be, in particular, arrowheads, a herringbone pattern, or other symbols that include a tip suitable for indicating a direction. For example, these arrow shapes can be generated so that they point to the second lane and signal to the driver that a safe lane change is possible, or point away from the second lane and signal that no lane change should be performed. The distance between several symbols may indicate, for example, the strength of the acceleration to be performed, for example a plurality of arrows at a small distance for greater acceleration than at a greater distance.
  • The representation of the above-mentioned symbols and patterns can be carried out dynamically, wherein in particular the symbols shown are displayed so that they move to the vehicle to or away from the vehicle. The speed of the symbols may be about the speed of the vehicle to be achieved in a driving maneuver to be performed. For example, light symbols to be rapidly applied to the vehicle may prompt the driver to brake sharply, while light symbols moving slowly away from the vehicle correspond to a correspondingly more moderate acceleration.
  • In a further embodiment, the light distribution comprises a graphic symbol and / or a text display. This advantageously allows the presentation of information that can be difficult to be represented by other light symbols. Graphical symbols in the sense of the invention are symbols that can not be represented by simple surfaces, such as the rectangles, arrow shapes or other simple, geometric shapes described above. For example, the display of a traffic sign can be displayed, for example, to signalize an existing overtaking ban. In addition, in addition to the above-described light symbols having geometric shapes, a combined representation with labels and / or symbols may be generated, for example, to mark a region marked by the light distribution as safe or not safe.
  • In a further development, the graphic symbol represents a vehicle. The driver of the first vehicle can thereby advantageously recognize which information is displayed by the driving instruction, for example by being able to intuitively follow the represented vehicle. The representation of a vehicle on the roadway may also signal the other road users that a vehicle wants to drive the corresponding position on the road.
  • In one embodiment, information about the second vehicle is displayed by means of the graphical symbol and / or the text display. The user is thus advantageously displayed additional information. For example, the speed of a second vehicle approaching from behind can be displayed, so that the driver of the first vehicle can judge the traffic situation more accurately.
  • The driver assistance system according to the invention for a first vehicle, which is located on a first lane of a roadway, which further comprises at least one second lane adjacent to the first roadway, comprises a detection unit, by means of which at least one second vehicle in the vicinity of the first vehicle on the second lane is detectable and a value of at least one of the second vehicle-dependent variable parameter is detectable. In this case, the second vehicle moves in the same direction as the first vehicle. It also comprises a determination unit, by means of which a driving instruction signal for changing the first vehicle to the second lane can be generated as a function of the detected parameter, and a headlight system, by means of which a light distribution on the roadway can be generated. Further, it comprises a control device, by means of which the headlamp system is controlled such that in response to the driving instruction signal, a light distribution is generated, is signaled by the driver of the first vehicle, whether a lane change of the first vehicle from the first lane to the second lane safely can be done.
  • The driver assistance system according to the invention is characterized in that the headlamp system is configured so that the light distribution is variable as a function of time, wherein by the change of the light distribution as a function of time, a direction is awarded and the driving instruction signal an indication of an acceleration or deceleration of the first vehicle in this direction.
  • The driver assistance system according to the invention is in particular designed to implement the method according to the invention described above. The driver assistance system thus has the same advantages as the method according to the invention.
  • In one embodiment, the headlight system comprises a projection unit, by means of which light symbols can be projected. This projection unit can be designed in particular as a laser projection unit. The headlamp system is characterized in an advantageous manner for representing the light distribution on the road surface.
  • In a further embodiment, the distance of the first vehicle from the second vehicle and / or the relative speed of the first vehicle to the second vehicle can be detected by means of the detection unit. Thus, these data are advantageously the determination unit available and allow a precise assessment of the traffic situation.
  • The invention will now be explained in detail by means of exemplary embodiments with reference to the drawings.
  • 1 schematically shows the structure of an embodiment of the driver assistance system according to the invention,
  • 2 shows an output light distribution, as it can be generated at the beginning of the method according to the invention,
  • 3 shows a light distribution by which a driving instruction for reaching a target speed is output,
  • 4A to 4I show light distributions, as they can be generated by different embodiments of the method according to the invention, and
  • 5A to 5C show light distributions with graphical symbols, as they can be generated by different embodiments of the method according to the invention.
  • Related to the 1 to 3 is an embodiment of an inventive driver assistance system 6 shown, by means of which the inventive method is carried out.
  • A vehicle 7 drives on the first lane 12.1 a roadway 12 which also has a second lane 12.2 includes the first lane 12.1 adjacent runs. On the second lane 12.2 drives a second vehicle 8th , where both vehicles 7 and 8th move in direction F For simplicity, in the case illustrated, except the first vehicle 7 just another vehicle 8th However, there may be any number of vehicles on the road 12 drive.
  • The first vehicle 7 comprises a driver assistance system according to the invention 6 and has a headlamp system 2 on. The headlamp system 2 is from a control device 3 driven. With the headlight system 2 can produce a variety of radiation characteristics. On the one hand, the known lighting functions for illuminating the environment in front of the vehicle 7 available, such as a dimming function and a masked one Long-distance function, with an output light distribution 10 on the roadway 12 is produced. On the other hand, the headlight system 2 designed so that a light distribution 10 ' on the vehicle 7 busy carriageway 12 can be generated by the driver of the vehicle 7 a driving instruction can be signaled by the driver assistance system 6 is generated, as will be explained in more detail below. The light distribution 10 ' can be generated so that only the driving instruction is output without an output light distribution 10 or the driving instruction may be within an existing output light distribution 10 be generated as an additional light emission. With the headlight system 2 In this case it is possible to output the driving instruction by means of light symbols 11 be generated. For generating the light symbols 11 becomes the headlight system 2 from the control device 3 driven.
  • The light symbols 11 are doing by a laser projection unit 1 generated. Thereby laser beams are focused on the road 12 projected. This results in an increased light reflection at the location of the roadway 12 at which the bundled laser beams hit the road 12 to meet. It then becomes the light emission that is used to generate the output light distribution 10 is generated, and the light emission generated by the collimated laser beams superimposed, so that in the output light distribution 10 light symbols 11 arise. Overall, this is the light distribution 10 ' generated as they are in 3 is shown.
  • Alternatively, the headlamp system 2 Include fully designed as a laser headlights headlights in which all producible light functions of laser beams are generated. This has the advantage that no light emissions must be superimposed. light symbols 11 can then be generated directly from a single light module. The light emission of the headlamp system 2 can thereby be driven in a fully variable manner and any desired patterns in the light distribution can be generated.
  • Furthermore, the headlamp system 2 also comprise a plurality of light emitting diodes arranged in one or more dies. It is particularly possible, the light intensity of each individual light-emitting diode via the control device 3 head for. This also allows lighting symbols 11 generate in a light distribution.
  • Furthermore, the driver assistance system 6 a detection unit 4 for detecting at least one other vehicle 8th in the environment of the vehicle 7 on. The registration unit 4 may in particular include environment sensors, such. As radar sensors, LIDAR sensors, laser scanners, a mono or stereo camera, ultrasonic sensors and / or PMD 2D or 3D sensors (photonic mixer detectors), whose output signals to a detection unit 5 be transmitted. The registration unit 4 can be used in particular also for other vehicle functions, for example the masked long-life remote light. There is then no need for separate environment sensors in the vehicle 7 be installed.
  • In addition, the registration unit records 4 the value of at least one of the other vehicle 8th dependent variable parameter. The variable parameter dependent on the further vehicle can be generated, for example, directly by a device of the second vehicle. For example, this may be a light signal generated by the turn signals of the vehicle or the speed of the vehicle. These values may be important for the lane change process, for example. The of the registration unit 4 collected data are in the investigative unit 5 evaluated. Furthermore, here a driving instruction is generated and a corresponding driving instruction signal to the control device 3 transmitted, which then turn the headlight system 2 controls. In this case, specified values are stored for the threshold value of the parameter. If the determined value exceeds or falls below the specified value, a respective corresponding travel instruction is generated.
  • In the embodiment shown, the distance D between the first vehicle 7 and the second vehicle 8th detected. Based on the detected value, the driver assistance system generates a driving instruction that is generated by a corresponding driving instruction signal by means of the light distribution 10 ' is issued. The driver of the vehicle 7 is signaled whether a lane change taking into account the other vehicle 8th can be done safely. The driving instruction may also be from other devices of the vehicle 7 output, for example by means of a display device or an acoustic signal.
  • Further, in the illustrated embodiment, the relative velocity v rel of the first vehicle 7 relative to the second vehicle 8th detected. If this relative speed v rel is large, then, for example, the second vehicle is 8th faster than the first vehicle 7 Thus, the sole consideration of the distance D as a parameter is not sufficient to judge whether a lane change of the first vehicle 7 can be done safely. This is especially the case on motorways. From the distance D and the relative velocity v rel can then as a parameter A time will be calculated that takes it up the distance between the two vehicles 7 and 8th has been bridged, so this is zero. If both vehicles then move in the same lane, there would be a collision. This time is therefore referred to below as collision time TTC (time-to-collision), although there is no inevitable collision.
  • The collision time TTC is calculated according to TTC = D / v rel . In the present case, a collision occurs only after the expiry of TTC when the first vehicle 7 from the first lane 12.1 on the second lane 12.2 changes while the relative velocity v rel remains the same. For the time TTC thus determined, a threshold is set. The determination unit 5 decides on the basis of whether the lane change can be carried out safely and generates a corresponding driving instruction. By that to the control device 3 transmitted driving instruction signal will turn the headlight system 2 so controlled that in the light distribution 10 ' light symbols 11 on the surface of the roadway 12 be generated. The light symbols 11 are here as areas of increased light intensity compared to the light intensity of the output light distribution 10 educated. The increased light intensity is thereby generated in that a light emission of a further light module of the light emission of the light module, which the output light distribution 10 is generated, superimposed. The specified threshold for the collision time TTC is the speed of the first vehicle 7 dependent.
  • Will the total light emission of the vehicle 7 generated by a single light module, the increased light intensity by targeted control of the light emission areas, through which the increased light intensity on the road 12.1 is generated, are controlled.
  • In both cases, the light distribution 10 ' generated.
  • In reference to 3 a light distribution is explained by which a driving instruction for reaching a target speed is output.
  • In the in 3 schematically illustrated situation, the driver of the first vehicle wants 7 from the first lane 12.1 on the second lane 12.2 change and in front of another vehicle 8th on the second lane 12.2 Reeve. In order to perform this maneuver safely, the first vehicle has to be 7 before the shearing in a sufficiently large distance in front of the second vehicle 8th At the same time, the relative speed v rel between the vehicles must be 7 and 8th be large enough to avoid a collision. Finally, the lane change must be before the end of the lane 12 .1 be completed.
  • The driver assistance system of the first vehicle 7 generates here a driving instruction such that the driver should increase the speed of the first vehicle. The output of this driving instruction is a circular light symbol 11 in the area of the roadway 12 in front of the first vehicle 7 generated. In the case shown, the dipped beam of the vehicle 7 turned on, the light icon 11 will be within the in 2 illustrated output light distribution 10 generates and forms together with this the light distribution 10 ' ,
  • The light symbol 11 moves in the direction of R from the first vehicle 7 away, leaving the driver his vehicle 7 accelerates by trying the faster light icon 11 to follow or the light symbol 11 catch up. When the first vehicle 7 a sufficiently large relative speed v rel to the second vehicle 8th has reached the driver assistance system 6 generate another driving instruction to assist the driver in further performing the lane change.
  • In reference to 4A to 4I Light distributions are described, as they can be generated by different embodiments of the method according to the invention.
  • In the in 4A The scenario shown may be the first vehicle 7 not on the second lane 12.2 change because there is the second vehicle 8th and a lane change would lead to a collision. Therefore, the discovery unit generates 5 a driving instruction that discourages the driver from making a lane change. This instruction is issued by the light icon 11 projected onto the surface of the roadway. The light symbol 11 is in this case a rectangle, which is in front of the first vehicle on the first lane 12.1 is generated and the driver signals the desired position of the first vehicle.
  • On the other hand, as in the case of in 4B shown scenarios, a lane change certainly possible, then becomes a light symbol 11 , in this case also a rectangle, on the second lane 12.2 generated, which signals to the driver that he can drive safely into the marked area. The representation of the light symbol on the second lane 12.2 is in this case also with a pivoting of the illuminated by the low beam range of light distribution 10 ' to the lane 12.2 connected, whereby the driver the driving instruction is more clearly illustrated. However, this is not necessarily the case, that is, the dipped beam may continue as in 2 shown on the first lane 12.1 be directed while the light symbol 11 on the neighboring track 12.2 is produced.
  • A variant of in 4B shown light symbol 11 is in 4C Instead of a single rectangle, which represents approximately the area available to a vehicle, three rectangles are generated which indicate to the driver that the lane change is safe. Based on the size and number and the distance of the rectangles, the driver can also be displayed that approaching traffic on the adjacent lane 12 .2 does not make a lane change, as in 4D shown. Here, rectangles indicate traffic approaching each other at a small distance. The number and size of the rectangles can be varied dynamically so that the driver is kept informed about changes in the traffic situation. In this way, further information can be integrated, such as the information that a lane change can only be safely carried out when accelerating the vehicle at the same time 7 takes place, or that his safe lane change is possible only within a certain time window.
  • Further characteristics of the surfaces produced on the roadway can signal the driving instruction to the driver 4E the scenario shown, the lane change is not safe. This will be the driver of the first vehicle 7 signaling that this is on the secondary lane 12.2 projected rectangle is hatched. In addition, it is characterized by the color red as an insecure area.
  • By integrating several symbols and light characteristics into the light symbol shown 11 can, as in 4F and 4G represented, the information content of the ad can be further increased. An example of this is the in 4F shown case on the neighboring lane 12.2 a rectangular area is shown, which is marked by means of green light color as "safe" and also has a pointing in the direction of travel F triangle symbol, the driver of the vehicle 7 signals that he can safely perform the lane change. At the in 4G Case shown is the change to the second lane 12.2 not sure what is signaled to the driver by means of a red-colored rectangle, which also has a cross symbol.
  • Furthermore, in 4H and 4I Illustrations shown where icons on the second lane 12.2 be projected, indicating whether the lane change can be done safely or not. In the cases shown, several triangular symbols pointing in the direction of travel F are generated whose color, size and distance depend on whether the lane change can be carried out safely. The triangles are in 4H colored yellow and have a relatively large distance from each other, which signals a safe lane change while in 4I are arranged close to each other and colored red, which discourages the driver from the lane change.
  • In the 5A and 5B Illustrations shown combine the signal effect of the light color with the symbol of a vehicle. In the in 5A case shown is the change to the secondary lane 12.2 sure and it will be a green vehicle symbol 11 on the second lane 12.2 generated. In contrast, the lane change in 5B not sure and the vehicle symbol 11 gets on the first lane 12.1 shown in red. The driver thus recognizes a desired position for his vehicle.
  • At the in 5C shown, several symbols are combined: the lane change can not be performed safely here because on the adjacent lane 12.2 the second vehicle 8th approaching at high speed. The driver of the first vehicle 7 this is signaled by being on the second lane 12.2 red-colored triangle icons appear along with a caption indicating the speed of the approaching second vehicle 8th indicates and a symbol representing the make of the approaching second vehicle 8th reproduces. This gives the driver a more complete picture of the traffic situation in his environment and can assess the risks of a lane change.
  • LIST OF REFERENCE NUMBERS
  • 1
     projection unit
    2
     headlamp system
    3
     control device
    4
     acquisition unit
    5
     determining unit
    6
     Driver assistance system
    7
     first vehicle
    8th
     second vehicle
    10
    Output light distribution
    10 '
    light distribution
    11
    light symbol
    12
    roadway
    12.1; 12.2
    first and second lane
    F
     direction of travel
    D
     distance
    R
     Direction of movement of the light symbol
    v rel
    relative speed
    TTC
     collision time

Claims (13)

  1. Method for generating a light distribution ( 10 ' ) for a first vehicle ( 7 ) located on a first lane ( 12.1 ) of a roadway ( 12 ), which further comprises at least one second lane ( 12.2 ) which is adjacent to the first lane ( 12.1 ), in which at least one second vehicle ( 8th ) in the vicinity of the first vehicle ( 7 ) on a second lane ( 12.2 ) is detected, wherein the second vehicle ( 8th ) in the same direction of travel (F) as the first vehicle ( 7 ), a value of at least one of the second vehicle ( 8th ) dependent variable parameter is detected, a driving instruction signal for changing the first vehicle ( 7 ) to the second lane ( 12.2 ) and in response to the drive instruction signal from the first vehicle ( 7 ) a light distribution ( 10 ' ) on the road ( 12 ) by which the driver of the first vehicle ( 7 ) is signaled whether a lane change of the first vehicle ( 7 ) from the first lane ( 12.1 ) to the second lane ( 12.2 ) can be done safely, whereby the light distribution ( 10 ' ) is changed as a function of time, characterized in that a direction (R) is distinguished by the change in the light distribution as a function of time, and the driving instruction signal is an indication of an acceleration or deceleration of the first vehicle ( 7 ) in this direction (R).
  2. A method according to claim 1, characterized in that the detected parameter the distance (D) of the first vehicle ( 7 ) of the second vehicle ( 8th ).
  3. Method according to one of the preceding claims, characterized in that the detected parameter is the relative speed (v rel ) of the first vehicle ( 7 ) to the second vehicle ( 8th ).
  4. Method according to one of the preceding claims, characterized in that the driving instruction signal indicative of a change in the direction and / or the amount of the speed of the first vehicle ( 7 ).
  5. Method according to one of the preceding claims, characterized in that the light distribution ( 10 ' ) at least one light symbol ( 11.1 to 11.6 ), which is generated by virtue of the fact that at least one region with an opposite to the surroundings of the light symbol ( 11.1 to 11.6 ) higher light intensity and / or other color is generated.
  6. Method according to claim 5, characterized in that at least two different colors of the light symbol ( 11.1 to 11.6 ) indicate whether a lane change of the first vehicle ( 7 ) from the first lane ( 12.1 ) to the second lane ( 12.2 ) can be done safely
  7. Method according to one of the preceding claims, characterized in that the light distribution ( 10 ' ) in whole or in part on the second lane ( 12.2 ) is produced.
  8. Method according to one of the preceding claims, characterized in that the light distribution ( 10 ' ) comprises one or more geometric symbols, arrow shapes and / or rectangles, the number, size and / or distance of which depends on the travel instruction signal.
  9. Method according to one of the preceding claims, characterized in that the light distribution ( 10 ' ) comprises a graphic symbol and / or a text display and / or represents a vehicle.
  10. A method according to claim 9, characterized in that by means of the graphical symbol and / or the text display information about the second vehicle ( 8th ) being represented.
  11. Driver assistance system ( 6 ) for a first vehicle ( 7 ) located on a first lane ( 12.1 ) of a roadway ( 12 ), which further comprises at least one second lane ( 12.2 ) adjacent to the first carriageway ( 12.1 ), with a registration unit ( 4 ), by means of which at least one second vehicle ( 8th ) in the vicinity of the first vehicle ( 7 ) on a second lane ( 12.2 ) is detectable and a value of at least one of the second vehicle ( 8th ) dependent variable parameter is detectable, wherein the second vehicle ( 8th ) in the same direction of travel (F) as the first vehicle ( 7 ), an investigative unit ( 5 ), by means of which, depending on the detected parameter, a driving instruction signal for changing the first vehicle ( 7 ) to the second lane ( 12.2 ), a headlamp system ( 2 ), by means of which a light distribution ( 10 ' ) on the road ( 12 ) is producible, and a control device ( 3 ), by means of which the headlamp system ( 2 ) is controllable such that, depending on the driving instruction signal, a light distribution ( 10 ' ) by which the driver of the first vehicle ( 7 ) is signaled whether a lane change of the first vehicle ( 7 ) from the first lane ( 12.1 ) to the second lane ( 12.2 ), characterized in that the headlamp system ( 2 ) is designed so that the light distribution ( 10 ' ) is variable as a function of time, a direction (R) being distinguished by the change of the light distribution as a function of time, and the drive instruction signal indicating an acceleration or deceleration of the first vehicle ( 7 ) in this direction (R).
  12. Driver assistance system ( 6 ) according to claim 11, characterized in that the headlamp system comprises a projection unit, by means of which light symbols can be projected.
  13. Driver assistance system ( 6 ) according to claim 11 or 12, characterized in that by means of the detection unit ( 4 ) the distance (D) of the first vehicle ( 7 ) of the second vehicle ( 8th ) and / or the relative speed (v rel ) of the first vehicle ( 7 ) to the second vehicle ( 8th ) is detectable.
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