DE102015219578A1 - Method and device in a motor vehicle for automated driving - Google Patents

Abstract

The invention relates to a method in a motor vehicle (50) for automated driving, comprising the following steps: detecting further motor vehicles (51, 52, 53) in the environment of the motor vehicle (50) by at least one sensor system (2), detecting and detecting Lanes (11, 12, 13) by the at least one sensor (2) or a further sensor, assigning the detected further motor vehicles (51, 52, 53) to the recognized lanes (11, 12, 13) by a controller (3) Performing a possible lane change (16) by the controller (3), wherein the controller (3) does not perform the possible lane change (16) if at least one lane change exclusion criterion (20) is met, the presence of the lane change exclusion criterion (20) being determined by a Overtaking device (4) is checked, and wherein the at least one lane change exclusion criterion (20) the presence of another motor vehicle (53) in a fast lane (13) with a speed (9) is greater than or equal to a limit speed (8) and / or the at least one lane change exclusion criterion (20) is the absence of another motor vehicle (53) in the fast lane (13). Furthermore, the invention relates to an associated device (1).

Description

The invention relates to a method and a device in a motor vehicle for automated driving.

Modern motor vehicles have a variety of assistance systems that assist the driver in driving the vehicle. Increasingly, semi-autonomous and autonomous systems are used, which permit semi-automatic or fully automatic control of the motor vehicle, for example on motorways and other expressways.

Such an assistance system is, for example, a lane assistance system which helps a driver to keep a lane or to change the lane. As a rule, an environment of the motor vehicle is detected and further motor vehicles and lanes on a road are detected.

From the DE 10 2011 106 746 A1 is a lane change assistance system for motor vehicles for a lane change of an ego vehicle from its own lane to a destination lane with an environment detection unit for detecting foreign vehicles and a gap determination unit for determining Einscherlücken depending on the detected foreign vehicles known. A lane change judging unit, considering different target positions within a shunting gap, evaluates different trajectories to these target positions depending on a longitudinal action space and predicted vehicle states at the time of reaching the respective target positions. With the help of an output unit, the trajectory ratings can then be presented to the driver or fed to a control unit.

From the DE 10 2013 219 023 A1 is a method for assisting a driver when changing lanes with an ego vehicle with the following method steps known: Detection of the state of the direction indicator of the ego vehicle, determining a lane change intention of the driver, determined lane change intent, determine the position and speed of foreign vehicles relative to the ego vehicle and a speed specification for the Compute the off-road vehicle on the basis of the determined positions and speeds of the foreign vehicles relative to the to-car vehicle, and output the speed command to the driver. It is envisaged that contextual information of the ego vehicle with regard to the type of road used by the ego vehicle and the optionally associated extension and retraction areas and the relative positions and relative speeds of the foreign vehicles are detected, and determined from the fusion of context information with the information regarding the state of the direction indicator the lane change intent becomes.

A disadvantage of the aforementioned apparatus and method is that they do not operate safely on non-speed roads. The occurring relative speeds between the individual road users can be up to 200 km / h on unrestricted highways, making an acceptable and safe lane change in the context of a risk and risk analysis virtually impossible because automatically moving vehicles with near-series sensors only a consideration of about 70 m (Mid Range Radar) up to 150 m (laser scanner), respectively a maximum of 200 m (Long Range Radars) have.

The invention is therefore based on the technical problem of providing a method and a device in a motor vehicle for automated driving, in which the safety is improved in an automatic lane change.

The technical problem is solved by a method with the features of claim 1 and a device having the features of claim 5. Advantageous embodiments of the invention will become apparent from the dependent claims.

For this purpose, a method is provided in a motor vehicle for automated driving, comprising the following steps: detection of further motor vehicles in the surroundings of the motor vehicle by at least one sensor, detection and detection of lanes by the at least one sensor or a further sensor, assigning the detected further motor vehicles to the recognized lanes by a controller, the controller performs the possible lane change not when at least one lane change exclusion criterion is met, the presence of the lane change exclusion criterion is checked by a passing release device, and wherein the at least a lane change exclusion criterion is the presence of another motor vehicle in a passing lane at a speed greater than or equal to a limit speed and / or the at least one lane is the absence of another motor vehicle in the fast lane.

A possible lane change is intended to represent a realizable by the motor vehicle trajectory for lane changes, in which the motor vehicle collides with any obstacles. For example, is another motor vehicle directly next to the motor vehicle in a fast lane, so the vehicle can not change directly to the fast lane. Such a trajectory would then not be possible and therefore does not represent a possible lane change. If, however, no further motor vehicle is directly next to the motor vehicle in the fast lane, it would be possible for the motor vehicle to change directly to the fast lane. Such a trajectory represents a possible lane change. Of course, several possible lane changes may exist.

Furthermore, a device is provided in a motor vehicle for automated driving, comprising at least one sensor for detecting further motor vehicles in the environment of the motor vehicle and for detecting and recognizing lanes, at least one controller, wherein the controller is designed such, further detected motor vehicles detected lanes and failing to perform a possible lane change when at least one lane change exclusion criterion is met, the device comprising overtaking enabling means for checking the lane change exclusion criterion, and wherein the at least one lane change exclusion criterion is the presence of another motor vehicle in a passing lane at a speed greater than a limit speed and / or the at least one lane change exclusion criterion is the absence of another motor vehicle in the fast lane.

The core idea of the invention is to use other cars in the fast lane to create a "shielding environment". From the detected further motor vehicles, a speed is determined and compared with a limit speed. It is assumed that another motor vehicle in the fast lane, which travels slower than a limit speed, can serve to decelerate following vehicles, which drive behind the further motor vehicle, at least to the speed of the further motor vehicle. If such a motor vehicle exists at a speed slower than the limit speed, a lane change can be considered safe because the further motor vehicle has "shielded" or "shielded" the motor vehicle at too high a speed against subsequent vehicles after a possible lane change. Accordingly, a possible lane change is not released when the motor vehicle in the fast lane has a speed greater than or equal to the limit speed.

The advantage of the invention is that the safety in automated driving, especially when changing a lane, is increased.

Alternatively or cumulatively, the possible lane change is not released by the overtake release device when no further motor vehicle is in the fast lane. It is meant that no further motor vehicle has been detected in the fast lane of the at least one sensor or is detectable, for example, because the range of the at least one sensor is too low. As a result, the safety in automated driving, especially when changing lanes, further increase. On a shared road without speed limit, it may well be that another motor vehicle has such a high relative speed to the motor vehicle that it is not detected by the sensor before the possible lane change, but suddenly emerges after initiating the possible lane change and due to the high relative speed collided with the motor vehicle. Preventing a lane change in a free fast lane on a shared highway thus increases the safety of the motor vehicle.

In one embodiment, it is provided that the limit speed is set as a function of an intrinsic speed of the motor vehicle. This is advantageous since, in the case of a lane change, the vehicle's own speed is decisive for whether a speed in the fast lane can be regarded as fast or slow. On a three-lane, shared highway, the average speeds on the three lanes are different. For example, the average speed on the slowest lane is 80 km / h, on the middle 150 km / h and on the fastest track 200 km / h. For the middle and the fastest lane can then, depending on which lane the motor vehicle currently is, define other limit speeds. The limit speed can thus be adapted dynamically to a current traffic flow. For example, the limit speed may be a function of the vehicle's own speed.

In one embodiment, it is provided that the controller checks whether the motor vehicle is on a road without a speed limit, and the overtaking release device is only activated or if the automated driving is performed on a road without a speed limit. This enables activation of the overtaking releasing device depending on the road type. For example, if the motor vehicle is driving on roads with a speed limit, then the overtaking release device is deactivated. If, on the other hand, a road is used without a speed limit, then the overtaking enabling device is automatically activated.

In a further embodiment it is provided that the overhaul release device further checks whether there is at least one further motor vehicle in front or behind the motor vehicle on the current lane, and if this is the case, it is checked whether the further motor vehicle changes lane to the performs the passing lane adjacent to the current lane, and if the further motor vehicle is currently performing the lane change is released by the overtaking release device of the possible lane change before or after the other motor vehicle. This allows an extension of the "shielding environment" by other vehicles on a current lane in front of and behind the motor vehicle. After the further motor vehicle has carried out or initiated a lane change in front of or behind the motor vehicle, the motor vehicle can also carry out a possible lane change secured by the further motor vehicle.

Parts of the device and / or the functions of the device can also be designed as a combination of hardware and software, for example in the form of a microcontroller or microprocessor, on which a corresponding program code is executed.

The invention will be explained in more detail with reference to preferred embodiments with reference to the figures. Hereby show:

1 a schematic representation of an embodiment of the device for automated driving of a motor vehicle;

2a a schematic representation of a traffic situation for explaining the method;

2 B a schematic representation of another traffic situation to explain the method;

2c a schematic representation of another traffic situation to explain the method;

2d a schematic representation of another traffic situation to explain the method;

2e a schematic representation of another traffic situation to explain the method.

1 shows a schematic embodiment of the device 1 in a motor vehicle 50 for automated driving. The device 1 includes a sensor system 2 , a controller 3 , an overtaking releasing device 4 and an interface 6 , the interface 6 is for example with an actuator 5 of the motor vehicle 50 connected. The device 1 can also be used as part of a larger for automated driving of the motor vehicle 50 be designed system provided.

The sensors 2 detects an environment of the motor vehicle 50 , The detected environment is, for example, an environment within a radius of 100 m from the motor vehicle 50 , The recorded environment data are from the sensor 2 to the controller 3 forwarded. The control 3 recognizes in the recorded environment data other motor vehicles in the vicinity of the motor vehicle 50 , The sensors 2 detects lanes on the currently of the motor vehicle 50 busy street. This can be done, for example, by recognizing lane markings at the edges of the lanes. If the other motor vehicles and the lanes are detected, the controller orders 3 the other vehicles recognized lanes. The overhaul release device then checks 4 whether to release a possible lane change or not. To do this, the overtake release device checks 4 in a first step, whether at least one further motor vehicle in a fast lane next to a current lane of the motor vehicle 50 located.

If no other motor vehicle is in the fast lane, then a lane change exclusion criterion is involved 20 met and the overtaking release device 4 does not release the possible lane change because it is due to the uncertainty about a possible further motor vehicle, which comes very fast in the fast lane, from the sensor 2 but has not yet been recorded or is not yet detectable, could lead to a security risk.

If, however, another motor vehicle is in the fast lane, the overtaking release device determines 4 a speed 9 the further motor vehicle in the fast lane. In the next step, the overtake release device checks 4 then, if another lane change exclusion criterion 20 is satisfied. To do this, the overtake release device checks 4 whether the speed 9 the further motor vehicle above a limit speed 8th lies. The limit speed 8th is a function of airspeed 7 of the motor vehicle 50 , Is the speed 9 the further motor vehicle in the fast lane above the limit speed 8th , so gives the overtaking release device 4 a possible lane change not free. On the other hand, the further motor vehicle is slower than the limit speed 8th , so gives the overtaking release device 4 the possible lane change free.

Is the possible lane change of the overtaking release device 4 released, so can the controller 3 perform the possible lane change, for example, by the controller 3 the actuators 5 of the motor vehicle 50 over the interface 6 controls. Equally possible is merely the output of a signal that the possible lane change is to be performed. Optionally, even further criteria may be taken into account before performing a possible lane change, for example an increased fuel consumption through an overtaking maneuver, which has a negative impact on an environmental balance.

The 2a to 2e schematically show five exemplary traffic situations on a three-lane highway 10 , The following is now assumed that it is a legal traffic and that the highway 10 a road without speed limit 19 is. The highway 10 includes a right lane 11 , a middle lane 12 and a fast lane 13 , The car 50 is located on the middle lane 12 , which therefore as current lane 14 referred to as. Like reference numerals designate in all 2a to 2e same objects.

It is assumed below that a detection range of the sensors in each case the entire in the 2a to 2e area shown.

In the method according to the invention are now more vehicles 51 detected by a sensor and detected by a controller. Also become the lanes 11 . 12 . 13 detected by the sensor and detected by the controller. The lanes 11 . 12 . 13 for example, about their lane markings 15 recognized. The controller then assigns the detected further motor vehicles 51 . 52 the lanes 11 . 12 . 13 to.

So will in 2a the further motor vehicle 51 the middle lane 12 or current lane 14 assigned and the further motor vehicle 52 the right lane 11 , In the fast lane 13 will not be another motor vehicle 51 . 52 detected. So there is no further motor vehicle 51 . 52 exists in the fast lane, which according to the invention could form a "shielding environment" becomes a possible lane change 16 from the current lane 14 in the fast lane 13 not released by a Überholfreigabeeinrichtung invention. It can be due to a finite detection range of the sensor and an uncertainty about a speed of another motor vehicle, possibly behind the motor vehicle 50 In the fast lane 13 could not assess whether the possible lane change 16 sure would be. The possible lane change is not performed, the motor vehicle 50 stays on the current lane 14 ,

In 2 B is an almost identical traffic situation as in 2a shown. The difference is that in the in 2 B illustrated traffic situation another motor vehicle 53 In the fast lane 13 behind the motor vehicle 50 located. The further motor vehicle 53 has a high speed 17 , The further motor vehicle 53 In the fast lane 13 is detected by the sensors and detected by the controller. The overtake release device notes that is in the fast lane 13 another motor vehicle 53 is located and determines a high speed 17 the further motor vehicle 50 , Subsequently, the overtaking releasing device compares the high speed 17 the further motor vehicle 53 with a limit speed. The comparison shows that the further motor vehicle 53 faster than the limit speed. The overtake release device therefore gives a possible lane change 16 not free. Would the possible lane change 16 carried out, the further motor vehicle would have 53 To brake too hard, not to the motor vehicle 50 to collide. The safety risk for both the motor vehicle 50 as well as the further motor vehicle 53 climb and it could lead to an accident.

In 2c is the same situation as in 2 B shown. This time, the other motor vehicle 53 In the fast lane 13 but a slower speed 18 , The overtaking releasing device in turn determines the slower speed 18 the further motor vehicle 53 and compares the specific slower speed 18 at the limit speed. Here is the slower speed 18 less than the limit speed, so that the overtaking releasing means the possible lane change 16 releases. The controller then carries out the possible lane change 16 by, by appropriate control signals to an actuator of the motor vehicle 50 transmitted or a corresponding signal to another device of the motor vehicle 50 to carry out the possible lane change 16 outputs. During and after performing the possible lane change 16 "Shields" the other motor vehicle 53 at the slower speed 18 the car 50 against a faster further motor vehicle (not shown) behind the other motor vehicle 53 from, because the other motor vehicle 53 forcing the faster motor vehicle to decelerate. The safety for the motor vehicle 50 during and after performing the possible lane change is thus improved.

2d shows a traffic situation in which is on the fast lane 13 another motor vehicle 53 at a high speed 17 located. Unlike the in 2 B shown traffic situation is the other motor vehicle 53 however, in front of the motor vehicle 50 , The overtaking releasing device in turn determines the high speed 17 the further motor vehicle 53 and compare it to the limit speed. Because the high speed 17 is greater than the limit speed, the overtake release device gives the possible lane change 16 not free. One in the fast lane 13 the further motor vehicle 53 subsequent further motor vehicle (not shown) would probably have one with the other motor vehicle 53 comparable high speed 17 , Although the further motor vehicle 53 in front of the motor vehicle 50 located and a possible lane change 16 would be feasible in principle, would carry out the possible lane change 16 lead to an increased security risk. The possible lane change 16 is therefore not performed.

2e shows the same traffic situation as 2c , the more motor vehicle 53 In the fast lane 13 but here is a slower speed 18 , After determining the slower speed 18 the further motor vehicle 53 , the overtaking release device determines that the slower speed 18 is less than the limit speed. The overtaking releasing device gives a possible lane change 16 free. The controller then carries out the possible lane change 16 by, by appropriate control signals to an actuator of the motor vehicle 50 transmitted or a corresponding signal to another device of the motor vehicle 50 to carry out the possible lane change 16 outputs. During and after performing the possible lane change 16 "Shields" the other motor vehicle 53 at the slower speed 18 the car 50 against a faster further motor vehicle (not shown) behind the other motor vehicle 53 from, because the other motor vehicle 53 forcing the faster motor vehicle to decelerate. The safety for the motor vehicle 50 during and after performing the possible lane change 16 is thus improved.

LIST OF REFERENCE NUMBERS

1

contraption

2

sensors

3

control

4

Überholfreigabeeinrichtung

5

actuators

6

interface

7

airspeed

8th

limit speed

9

speed

10

three-lane highway

11

right lane

12

middle lane

13

outside lane

14

current lane

15

lane marker

16

lane change

17

high speed

18

slower speed

19

Road without speed limit

20

Lane change exclusion criterion

50

motor vehicle

51

another motor vehicle

52

another motor vehicle

53

another motor vehicle in the fast lane

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 102011106746 A1 [0004]
• DE 102013219023 A1 [0005]

Claims (8)

Method in a motor vehicle ( 50 ) for automated driving, comprising the steps of: detecting other motor vehicles ( 51 . 52 . 53 ) in the environment of the motor vehicle ( 50 ) by at least one sensor ( 2 ), Detection and recognition of lanes ( 11 . 12 . 13 ) by the at least one sensor ( 2 ) or another sensor, assigning the detected further motor vehicles ( 51 . 52 . 53 ) to the detected lanes ( 11 . 12 . 13 ) by a controller ( 3 ), Carrying out a possible lane change ( 16 ) by the controller ( 3 ), whereby the controller ( 3 ) the possible lane change ( 16 ) if at least one lane change exclusion criterion ( 20 ), characterized in that the presence of the lane change exclusion criterion ( 20 ) by an overtaking releasing device ( 4 ) and wherein the at least one lane change exclusion criterion ( 20 ) the presence of another motor vehicle ( 53 ) in a fast lane ( 13 ) at a speed ( 9 ) greater than or equal to a limit speed ( 8th ) and / or the at least one lane change exclusion criterion ( 20 ) the absence of another motor vehicle ( 53 ) In the fast lane ( 13 ). Method according to claim 1, characterized in that the limit speed ( 8th ) as a function of an airspeed ( 7 ) of the motor vehicle ( 50 ). Method according to one of the preceding claims, characterized in that by the controller ( 3 ) is checked, whether the motor vehicle ( 50 ) on a road without speed limit ( 19 ), and the overtaking releasing device ( 4 ) is only activated or is when automated driving on a road with no speed limit ( 19 ) is carried out. Method according to one of the preceding claims, characterized in that by the overtaking release device ( 4 ) is also checked to see whether the current lane ( 14 ) at least one further motor vehicle ( 51 ) in front of or behind the motor vehicle ( 50 ) and, if so, it is checked whether the further motor vehicle ( 51 ) a lane change to the on the current lane ( 14 ) adjacent fast lane ( 13 ), and if the other motor vehicle ( 51 ) is currently making the lane change, from the overtaking release device ( 4 ) the possible lane change ( 16 ) in front of or behind the further motor vehicle ( 51 ) is released. Contraption ( 1 ) in a motor vehicle ( 50 ) for automated driving, comprising: at least one sensor system ( 2 ) for detecting other motor vehicles ( 51 . 52 . 53 ) in the environment of the motor vehicle ( 50 ) and for detecting and recognizing lanes ( 11 . 12 . 13 ), at least one controller ( 3 ), whereby the controller ( 3 ) is formed, detected further motor vehicles ( 51 . 52 . 53 ) the detected lanes ( 11 . 12 . 13 ) and a possible lane change ( 16 ) if at least one lane change exclusion criterion ( 20 ), characterized in that the device ( 1 ) an overtaking release device ( 4 ) for checking the lane change exclusion criterion ( 20 ) and wherein the at least one lane change exclusion criterion ( 20 ) the presence of another motor vehicle ( 53 ) in a fast lane ( 13 ) at a speed ( 9 ) greater than or equal to a limit speed ( 8th ) and / or the at least one lane change exclusion criterion ( 20 ) the absence of another motor vehicle ( 53 ) In the fast lane ( 13 ). Contraption ( 1 ) according to claim 5, characterized in that the limit speed ( 8th ) as a function of an airspeed ( 7 ) of the motor vehicle ( 50 ). Contraption ( 1 ) according to claim 5 or 6, characterized in that the controller ( 3 ) is designed to check whether the motor vehicle ( 50 ) on a road without speed limit ( 19 ), and the overtaking releasing device ( 4 ) is designed to be activated only when automated driving on a road with no speed limit ( 19 ) is carried out. Contraption ( 1 ) according to one of claims 5 to 7, characterized in that the overtaking release device ( 4 ) is designed to check whether on the current lane ( 14 ) at least one further motor vehicle ( 51 ) in front of or behind the motor vehicle ( 50 ) and, if so, to check whether the further motor vehicle ( 51 ) just a lane change to the on the current lane ( 14 ) adjacent fast lane ( 13 ), and if the other motor vehicle ( 51 ) just makes the lane change, the possible lane change ( 16 ) in front of or behind the further motor vehicle ( 51 ).

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