DE102015223656A1 - Driver assistance system and method for lane recommendation - Google Patents

Abstract

The invention relates to a driver assistance method for a vehicle, in particular for a motor vehicle, comprising the steps of: detecting a position and a direction of travel of the vehicle along a road traffic path; Recognizing a relation to the position of the vehicle in the direction of travel ahead and in the direction of travel mehrspurigen route section of the roadway; Detecting traffic data characterizing a traffic situation in the travel route section; Comparing the traffic data with traffic location reference data, the traffic location reference data defining at least one traffic location category for the travel route section and each traffic location category being associated with at least one lane recommendation information; Selecting a traffic condition category corresponding to the traffic data from the traffic location reference data based on the comparison; and outputting a lane recommendation information associated with the selected traffic situation category for driving on the route section at an output interface of the vehicle. A corresponding driver assistance system and a vehicle equipped therewith are also the subject of the invention.

Description

The present invention relates to a driver assistance method and a driver assistance system for vehicles, in particular motor vehicles, as well as a vehicle equipped with the driver assistance system.

Modern road vehicles, in particular motor vehicles, such as passenger cars, trucks and buses, usually have different driver assistance systems, which are intended to relieve the driver of the vehicle in his driving tasks or support. Such driver assistance systems include, in particular, navigation systems in which a destination is selected on a user interface and a route guidance is calculated from the current position of the vehicle to the destination on a roadway and to the driver as a whole or by means of a stepwise or continuous in accordance with the current position of Vehicle changing section of it is displayed on a display device. For this purpose, an additional acoustic route guidance, in particular by means of voice output, is often provided. For multi-lane route sections along the route, it is also known in connection with branches or intersections to calculate and output a lane-accurate route guidance for such route sections, for example by means of a separate display window within the navigation display.

From the German patent application DE 10 2012 219 721 A1 a driver assistance method for increasing the driving comfort is known, wherein a state of a section of the route to be traveled and lanes of the section to be traveled are detected and a lane recommendation for the section of the route to be traveled is output at a man-machine interface. The state of the section of track to be traveled may in particular include the presence of potholes, ruts, ruts, split or gravel in the section. The detection of the state can be done in particular by means of a query in a web service, an Internet server, a cloud system, by means of a query of the vehicle specially stored states and / or by means of a sign recognition.

The German patent application DE 10 2007 033 887 A1 describes a control system for a driver assistance system with a lane detection component for determining whether there is a further lane for the same direction of travel at a specific location next to the lane currently being traveled by the vehicle, a vehicle detection component for detecting further vehicles in the further lane, a decision component for deciding on the output of a signal to the driver of the vehicle taking into account detection results of the lane departure detection component and the vehicle determination component, the signal relating to a change from the lane lane currently traveled by the vehicle to the further lane lane.

The object of the present invention is to provide a driver assistance system or driver assistance system which indicates an improved selection of the respectively optimal lane in multi-lane road sections.

A solution to this problem is achieved according to the teaching of the independent claims by a driver assistance method according to claim 1 and a driver assistance system according to claim 15 for executing the method and a vehicle according to claim 16 with such a driver assistance system.

Various embodiments and modifications of the invention are subject of the dependent claims.

A first aspect of the invention relates to a driver assistance method for a vehicle, in particular for a motor vehicle, comprising the steps of: detecting a position and a direction of travel of the vehicle along a road traffic path; Recognizing a relation to the position of the vehicle in the direction of travel ahead and in the direction of travel mehrspurigen route section of the roadway; Detecting traffic data characterizing a traffic situation in the travel route section; Comparing the traffic data with traffic location reference data, the traffic location reference data defining at least one traffic location category for the travel route section and each traffic location category being associated with at least one lane recommendation information; Selecting a traffic condition category corresponding to the traffic data from the traffic location reference data based on the comparison; and outputting a lane recommendation information associated with the selected traffic situation category for driving on the route segment at an output interface of the vehicle.

A "driver assistance method" or a "driver assistance system" in the sense of the invention is to be understood as a method or a system which is used in vehicles, in particular motor vehicles, to assist the driver in certain driving situations. Driver assistance methods or systems can be partially autonomous or autonomous in functional components of the Vehicle, such as drive, control or signaling devices intervene and / or warning or inform the driver just before or during critical or special attention requiring situations through suitable man-machine interfaces. Known examples of driver assistance systems are anti-lock braking systems, navigation systems, automatic distance warning devices, parking aids, and conventional lane change assistants, such as those described in the background for the prior art.

A "vehicle" in the sense of the invention means any type of land vehicle by means of which one or more persons and / or loads can be transported on a road traffic route and which is controlled by at least one driver. In particular, a passenger car (PKW), a truck (truck), a motorcycle, a bus or a bicycle are each vehicles within the meaning of the invention.

A "position" of a vehicle in the sense of the invention means the spatial location at which the vehicle is located. In particular, the position may be described by means of one or more location coordinates, wherein the location coordinates may relate to an absolute coordinate system or relative to a reference point or another spatial reference. An absolute coordinate system is given in particular by the latitude and longitude on the earth's surface and optionally in the third dimension in addition an altitude indication (usually over the sea level). In particular, a relative position indication may indicate a distance or location defined relative to a defined reference point, such as a predetermined reference point along a road traffic route.

A "traffic route" within the meaning of the invention is to be understood as a land-based traffic structure which serves as the basis for the movement of vehicles from one location to another. In particular, roads of any kind, especially highways, highways, and rural roads, driveways and squares, especially parking lots, roads in the sense of the invention.

A "multi-lane route section" is to be understood as a section of the traffic route in which at least two separate lanes for the same direction of travel are located next to one another, so that the driver has the possibility of changing from one of the lanes to another. Such a route section may in particular be part of a - at least essentially - multi-lane road traffic route, for example a multi-lane motorway or expressway. Additionally or alternatively, such a route section may also be provided specifically at certain points of the road, such as junctions, traffic lights, toll systems, parking bay access or similar traffic junctions, while the road is otherwise single lane per direction.

A route section is "ahead" with respect to the position of the vehicle in the direction of travel, if at least part of the route section is still in the direction of travel of the vehicle before its position, so that this part with appropriate continuation of travel on the road only in the (usually near) future of the vehicle is achieved.

Within the meaning of the invention, "traffic data" is to be understood as data which characterize a traffic situation on a road traffic route, in particular in a route section thereof. The term "traffic situation" in the sense of the invention is understood to refer to a specific time state of the road traffic, one or more parameters, in particular traffic density, traffic delays, speed variables, such as average or - especially track-related - partial velocities, in the flow of traffic can be characterized. The parameters can each be sensed or derived from sensory measured variables, such as camera images or radar or lidar measurements or other optical measurements. In terms of time, the traffic situation can refer in particular to a current or just past traffic state or to a predicted traffic state for the route section.

For the purposes of the invention, a "traffic situation category" for a route section is a class of traffic conditions or traffic situations. The class can be determined, in particular, by an assignment of one or preferably a plurality of concrete traffic conditions determined via at least one parameter and / or via at least one assignment criterion, with the aid of which it can be determined whether a specific traffic condition or a specific traffic situation belongs to the defined class belongs or not. The route section for which the traffic situation category is determined may in particular be a concrete real route section, for example a multi-lane route section in front of a specific, actually existing motorway intersection. However, it may also be a generically defined route section, ie a specific class of Trains sections act, for example, a three-lane section of road ahead of a motorway exit on the right side of the road.

A "lane recommendation information" in the sense of the invention means a signal, in particular of a visual, auditory and / or haptic nature, which can be output on a corresponding output interface of the vehicle to a driver of the vehicle, by means of which this is an indication of a recommended selection of at least one or preferably exactly one of a plurality of tracks in a direction of travel multi-lane route section of a road traffic route can be taught. In this case, the signaling can indicate in particular the selection of the one or more lanes absolutely, for example by a corresponding representation of the multi-lane route section and marking the selected lane or lanes therein, or relatively with respect to a current position of the vehicle, such as by appropriate direction inputs, in particular arrows. The traffic situation reference data which contain the lane recommendation information can be stored locally in the vehicle or also outside the vehicle and can be retrieved from the vehicle and stored on a suitable storage device, for example in a database in the vehicle or on a server.

For the purposes of the invention, traffic data are "corresponding traffic data for a specific traffic situation category" if they match the data representing the traffic situation category or have a minimum degree of similarity or a distance below a distance threshold according to at least one specific similarity measure or distance measure. The existence of such a correspondence can be tested by means of a corresponding comparison. In this case, a similarity or distance measurement to be carried out during the comparison can also be based, in particular, on known pattern recognition methods.

In particular, the output interface can be a user interface in the vehicle. Also, it may be a data or control interface of the vehicle, which is provided for the transmission of the lane recommendation information to a vehicle control device for autonomous or semi-autonomous control of the vehicle. In particular, display devices such as screens, signal-specific display elements or so-called head-up displays, acoustic sounders, in particular loudspeakers for the output of notification tones or voice announcements, haptic interfaces, such as vibrating or deforming operating elements, or any combinations suitable for outputting the lane recommendation information, come about as user interface the previously mentioned options in question. In particular, the user interface may also be a corresponding user interface of a navigation device linked to the driver assistance method or a mobile electronic terminal, such as a smartphone or computer.

Thus, a situation-based optimized lane selection recommendation, in particular in real time, is determined and output as a function of a real or predicted traffic situation. The traffic situation reference data on the basis of which the lane selection recommendation is generated can preferably be generated upstream in time, so that even if their determination is so time-consuming that they can not take place in real time, the real-time capability of the output of the lane selection recommendation is not impaired. Thus, in particular not only an optimized selection of one of a plurality of lanes in the direction of travel of a multi-lane route section, but also the time for a change to the optimal lane in real time can be made possible. This can in particular also lead to cognitive relief or stress relief of the driver and thus to increased ride comfort and / or increased driving safety.

It is also possible to use for the optimization data that are not detected by the vehicle itself, but come from outside the vehicle available traffic observations and / or directly from vehicles in front, which in particular the quality of the optimization and thus the lane recommendation can be further improved.

In the following, preferred embodiments of the driver assistance method and their developments 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 recognition of the multi-lane route section takes place by means of a sensory detection of repeatedly occurring speed differences which can be located at a route position along the road traffic route. Thus, the presence of several, the speed differences enabling lanes close. The sensory detection can be done in particular by means of at least one camera as a sensor.

According to a further preferred embodiment, which can also be combined in particular with the aforementioned first embodiment, the recognition of the multi-lane is carried out Route section by sensory detection of the environment of the vehicle, removal of route information from digital map data based on a detected position and direction of travel of the vehicle, or a combination thereof. The detection of the position and the direction of travel can preferably take place by means of a position-determining device of the vehicle itself. In this way, on the one hand, in conjunction with a detection of the traffic data also taking place by the vehicle itself and with availability or storage of the traffic situation reference data in the vehicle itself, an autonomous implementation can be represented in which the vehicle is not in communication with data sources outside the vehicle Vehicle is dependent. On the other hand, alternatively or additionally, an implementation with such a connection is possible. A simultaneous implementation of both variants can be used, in particular, to verify or supplement the data acquired by means of the data acquired by the other variant. The same also applies in the case of a combination with the aforementioned first embodiment.

According to another preferred embodiment, recognizing the route section includes recognizing a route position or a route section type characterizing the travel route section, or both. In this context, a "route position" is to be understood as meaning a position on or on the road traffic route which gives an indication of the geographical position of the route section. In particular, the route position may indicate the beginning of a route section or a location within the route section. The recognition of the route position can be carried out in particular by the vehicle itself by means of suitable sensors. In a particularly preferred embodiment, the vehicle can determine its position by means of a position determination system, such as a satellite navigation system, and based thereon can take the route position of a multi-track route section of digital map material ahead in the direction of travel. A route segment type is a category of travel that can be assigned to a set of real or virtually defined route sections having at least one matching or similar route characteristic. Thus, a route section type may be defined as a multi-lane route section with a right turn lane, in front of a traffic light system, in front of a toll station, or before a turnoff at a motorway interchange. Other route section types are possible. Also, a driving route section type-such as a route position-can be removable, in particular, from digital map material or another corresponding database or can be recognized by the vehicle itself via corresponding sensors. By recognizing a route position and / or a route section type, the determination of an optimum lane recommendation can also take this information into account, which leads to an improvement in the quality of the lane recommendation, in particular to a lower error rate when recognizing an optimal traffic lane and / or an optimum time or its optimum Vehicle position for a change to this lane, can be used.

According to another preferred embodiment, the recognition (S3) of the route section (FIG. 2 ) recognizing at least one of the following route segment types or a combination formed from at least two of these route segment types: 2 ) with a branch; Route section ( 2 ) with a traffic route intersection; Route section ( 2 ) with a traffic light system; Route section ( 2 ) with a change-way indication; Route section ( 2 ) with a toll system; lane-dependent speed limit; Route section ( 2 ) with a danger spot, in particular a solid construction site or accident site; Route section ( 2 ) with a railroad crossing; Route section ( 2 ) with a parking lot access, in particular a parking garage access. In particular, these types of route sections have in common that they regularly generate traffic flows that are accessible to categorization or modeling, so that model-based and depending on a traffic situation and possibly further information determines an optimal lane according to at least one evaluation criterion and by means of a corresponding lane recommendation information can be communicated to the driver or a vehicle control via the output interface.

According to a further preferred embodiment, the detection of the traffic data takes place by means of: at least one sensor of the vehicle; Receiving traffic data sent from one or more vehicles ahead of the vehicle on the traffic route; and / or a retrieval of traffic information from an off-vehicle traffic data source, in particular from a database on a computer or server accessible via a communication network, such as the Internet, or by data transfer between different vehicles or between one or more of the roadway section of which monitoring infrastructure component. Any combination of the aforementioned possibilities of detecting the traffic data are possible. The use of sensors of the In particular, the vehicle also makes possible an autonomous implementation of the invention, which does not rely on the presence of a communication connection to an external vehicle data source. Insofar as the acquisition of the traffic data takes place by receiving the same from other vehicles driving in front, this can be used particularly advantageously to improve the data quality in terms of an improved, because of several taking place especially at different locations or times measurements, and / or early detection of the actual traffic situation become. In a retrieval of traffic information from a vehicle external traffic data source (esp. Traffic database), in particular one which is fed by many vehicles or other traffic-sensing sensors with data, a correspondingly high data quality can be achieved accordingly.

According to a further preferred embodiment, the traffic data indicates at least one of the following variables characterizing the traffic situation in the route section at a given time, in particular the respective present time, or over a specific period of time: traffic density, in particular number of vehicles per unit of time, which Driving the route section as a whole or by lane; one or more location coordinates of the vehicles that drive the route section as a whole or by lane; one or more, in particular actual or predicted speeds, in particular an average, minimum or maximum speed, of the vehicles driving the route section as a whole or by lane; one or more accelerations, in particular an average, minimum or maximum acceleration, of the vehicles driving the route section as a whole or by lane; Blockages or blockages of the route section or one of its several lanes. An optimized lane recommendation can be generated particularly effectively from the aforementioned information or from combinations or derived variables thereof, in particular if the information comprises information relating to individual vehicles or lanes and thus permits a particularly differentiated analysis.

In accordance with a further preferred embodiment, the traffic location reference data are stored locally in a memory of the vehicle-external data memory which can be read out in the vehicle or in a vehicle-readable data storage medium from the vehicle by means of a communication connection in order to carry out the comparison. The local storage is again particularly advantageous when a self-sufficient - that is, alone in the vehicle - implementation of the invention is desirable, which is to make do without an existing communication link to a vehicle external data storage. Also, lower latencies or higher access speeds and thus improved real-time behavior can be realized due to lower delays for the memory access. By contrast, the use of an off-vehicle data memory for the traffic situation reference data makes it possible, in particular, to exploit synergies if these traffic situation reference data can be made available to a number of vehicles in this way. It also makes it easier to store large amounts of data, and a space-consuming implementation of the data storage and its connection in the vehicle is not required.

According to a further preferred embodiment, the detection of the traffic data includes pattern recognition with respect to the traffic situation, the traffic data characterizing a correspondingly recognized traffic pattern, the traffic location reference data containing one or more reference patterns, and comparing the traffic data with traffic location reference data by means of a comparison of the detected traffic pattern with the at least one Traffic situation reference pattern. In this way, it is in many cases possible to optimize the lane recommendation on the basis of the comparison even if, due to the complexity and diversity of different possible traffic situations, a simple comparison based on one or fewer traffic situation parameters would lead to unsatisfactory results.

According to a further preferred embodiment, the lane recommendation information comprises at least one of the following: an indication, in the case of a user interface as the output interface, in particular a visual marking, which identifies a specific traffic lane among the plurality of lanes of the route segment; an indication that identifies a direction or direction component for a lane change on the basis of the detected position of the vehicle, in particular in the case of a user interface as the output interface, a direction indicator arrow for the recommended lane change.

According to another preferred embodiment, the lane recommendation information comprises at least one of the following or a combination of at least two of these: an indication indicating a time or period for making a lane change; an indication indicating a route position or a route position area in the travel route section for performing a route position Lane change marks. In this case, the outputting of the lane recommendation information at the output interface of the vehicle takes place temporally as a function of when the time or the start of the period has been reached when the vehicle reaches the route position or the beginning of the distance position range according to its detected position. In particular, the lane recommendation information may include information that includes an optimal time or urgency for making the recommended lane change. Thus, the actual achievement of an optimal lane choice, especially with regard to a travel time optimization, further promoted.

According to a further preferred embodiment, the driver assistance method as a further step comprises detecting a destination or a planned route for the vehicle. In this case, when detecting traffic data which characterize the traffic situation in the route section, the destination or optionally the route or both are used to characterize the traffic situation as a function of the destination or the route or both. The detection of the destination can be done in particular by means of an input to a user interface. In this case, the user interface can in particular be assigned to an automatic route planning unit, and the detected travel destination can simultaneously serve as an input variable for route planning or guidance by means of the route planning unit. When detecting the traffic situation then the destination and / or the determined route can serve in particular to use only or especially of such information for the characterization of the traffic situation for the onward travel of the vehicle to this destination or along the route while some other traffic data that is not or at least less relevant (for example, because it refers to another lane at a road junction or interchange) does not, or only to a lesser extent (eg, by a lesser weight) for the traffic This makes it possible to further increase the optimization quality of the lane recommendation information resulting from the comparison of the traffic situation with the traffic situation reference data, since traffic situation data with particularly high relevance for the onward journey of the vehicle is the basis for the traffic Comparison can be used.

According to a further preferred embodiment, the driver assistance method comprises, as a further step, generation of the traffic situation reference data by means of a simulation in which the travel of a single vehicle through the multi-lane section is simulated as a function of its geometry and different traffic data characterizing a different traffic situation Each of these traffic situations to determine an associated track selection recommendation optimized with regard to at least one optimization parameter and to provide it in the form of a track recommendation information which can be output at the output interface. A suitable simulation method is described in particular in the German patent application filed today with the internal file number EM 30910, the content of which is hereby incorporated in full. In this way, for a multiplicity of actually existing or only theoretically modeled multi-lane sections of the route, a great variety of traffic situations can be simulated beforehand, in particular also outside the vehicle, in order to generate the corresponding traffic location reference data, which is subsequently used in the vehicle as described above for the traffic-dependent determination of Track choice recommendation information can be used. Thus, a time-consuming and computationally intensive determination of the traffic situation reference data in the vehicle itself can be omitted, which on the one hand improves the real-time behavior of the lane optimization and helps to reduce the expenditure (eg high-performance computing unit, memory, energy requirement for simulation, etc.) to be provided in the vehicle.

According to a preferred embodiment, the optimization parameter is or are selected from the following or determined as a combination of at least two variables defined therefrom: shortest travel time, minimum number of lane changes, lowest energy consumption for the vehicle drive; each for traversing the route section. In particular, the method can also have a step in which the optimization parameters or the size to be used for the determination of the track recommendation information can be selected, for example by means of a corresponding input on a user interface. Thus, a desired type of optimization can be targeted, in particular driver or driving situation-dependent, achieved.

According to a further preferred development, the simulation is carried out to provide the lane recommendation information by means of at least one motion equation which models the lapse of lane changes in real vehicles. Thus, real traffic observation data can be used to model lane changes in the simulation, in order to achieve as realistic a simulation behavior as possible, and thus to further improve the optimization quality of the ultimately resulting lane recommendation information.

A second aspect of the invention relates to a driver assistance system for a vehicle, in particular for a motor vehicle. The driver assistance system includes: a position determining device configured to detect a position and a traveling direction of the vehicle along a road traffic route; a recognition device that is configured to detect a driving route section of the traffic route that lies ahead of the vehicle in the direction of travel and in the direction of travel; a traffic situation detection device configured to detect traffic data characterizing a traffic situation in the travel route section; a comparison device configured to compare the traffic data with traffic location reference data, wherein the traffic location reference data defines at least one traffic condition category for the travel route section and each traffic location category is assigned at least one lane recommendation information, and selects a traffic location category corresponding to the traffic data from the traffic location reference data based on the comparison; an output interface for outputting a lane recommendation information associated with the selected traffic situation category for driving on the driving route section in the vehicle. In this case, the driver assistance system is configured to carry out the driver assistance method according to the first aspect of the invention or one or more of its embodiments and developments described herein. In particular, two or more, in particular also all, of the named components of the driver assistance system can be combined in a functional unit, for example a control unit. On the other hand, however, the system may be provided or configured for a spatially distributed arrangement, in which case the individual system components, at least as far as required according to the described driver assistance method or system, are correspondingly connected, for example via corresponding data lines for data exchange.

The above, in each case for the method according to the first aspect of the invention equally applies to the functionality of the driver assistance system according to the invention.

A third aspect of the invention relates to a vehicle, in particular a motor vehicle, with a driver assistance system according to the second aspect of the invention.

The method described above according to the first aspect of the invention, in particular also according to one or more of the described embodiments and further developments, can also be implemented in whole or in part by means of at least one computer program which contains instructions which, when executed, are based on one or more processors of a driver assistance system according to the second aspect of the invention, cause it to carry out the method. The at least one computer program can be present in particular in the form of a computer program product, for example in the form of a data carrier on which the computer program (s) for executing the method are stored. This is preferably a data carrier, such as a CD, a DVD or a flash memory module. Alternatively or additionally, the computer program product can also be present as a file on a data processing unit, in particular on a server, and can be loaded via a data connection into the driver assistance system (for example via download via the Internet or a dedicated data connection).

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

It shows

1 schematically as the basis for the following description of the driver assistance method, a road traffic route, in particular a highway or expressway, with a multi-lane section of track before an exit on the right lane edge;

2 a flowchart illustrating a preferred embodiment of the method according to the invention with reference to 1 ; and

3 schematically a driver assistance system according to a preferred embodiment of the invention for carrying out the method according to the invention, in particular the method according to 2 ,

In the following figures, the same reference numerals are used for the same or corresponding elements of the invention throughout.

First, it will open 1 Reference is made, in the schematically a route section 2 a highway, such as a highway or expressway with an exemplary traffic situation. The route section 2 has a roadway with thereon three parallel and immediately adjacent lanes a, b and c for the same direction (in 1 from bottom to top). At the end 3 of the route section 2 (When viewed in the direction of travel) in addition an exit lane d is present, which is about a road intersection, especially a motorway junction, or a simple exit may belong and thus is the starting point of a branch roadway of the road traffic.

Furthermore, it is based on a vehicle 1 , In particular a passenger car (passenger car), made reference, just the route section 2 reached on the middle lane b. Next to this vehicle 1 are in the example shown on the route section 2 several other cars P and trucks (L) whose respective speed is indicated by a corresponding arrow whose length is a measure of the height of the speed of the associated vehicle, with higher speeds being represented by longer arrows. The traffic density and average speed of the vehicles on the various lanes a, b and c differs significantly in the illustrated traffic situation. In particular, the right lane c is dense with rather slow vehicles, including many trucks L, driven, while on the left lane a substantially car P are traveling at much higher speeds. Also, the vehicle density varies along the route section 2 in particular in the middle lane b, while it varies far less on the left lane a and the right lane c.

In 2 is a flowchart illustrating a preferred embodiment of the driver assistance method according to the invention shown. The method shown here has two method branches, of which a first has the step S0, and a second has the further steps S1 to S7. However, S0 can also be regarded as a separate method, so that in this case the driver assistance method alone comprises the steps S1 to S7.

In step S0, traffic situation reference data for the specific route section or a generic model for it are determined by means of a simulation. The simulation can be carried out in particular on the basis of a digital map which the route section 2 or a generic model associated therewith. The map may in particular also a larger section of the road network, in which the route section 2 contained traffic information (in particular traffic density, location, direction of travel and / or speeds of vehicles). From the road traffic network, a corresponding graph depicting this network can then be extracted, in which nodes in the traffic flow are identified by means of a search algorithm. The nodes can be characterized in particular by the fact that significantly different speeds occur before or at them. Such nodes may form, for example, branches, intersections, traffic lights, toll stations, road constrictions or similar traffic flow-influencing areas in the road network. The simultaneously detected different speeds before such points can be used in particular to identify multi-lane sections of track, as far as they are not already known by the map data itself. Now the journey of a single vehicle can be simulated by such a route section, in particular on the basis of a corresponding equation of motion, in which, preferably, the most realistic inertia possible with changes in speed and lane changes is modeled. In this case, the traffic information and the road geometry and possibly other input variables, such as road or weather conditions are considered as boundary conditions and simulated different routes for the vehicle. In accordance with a predetermined evaluation criterion (which may be defined in particular as the shortest travel time, minimum number of lane changes, lowest energy consumption for the vehicle drive or a combination thereof or one of at least one variable derived from these criteria), an optimal route route as well as a route will be required for crossing the route section corresponding track recommendation information determined. The traffic information can, in particular in the form of a parameter representation, be defined as an associated traffic situation category, to which the determined lane recommendation information corresponds. Now, the simulation may be repeated (or simultaneously processed in parallel) for one or more, preferably many, different traffic conditions and constraints to determine a plurality of traffic location categories with associated lane recommendation information. The totality of these ascertained traffic situation categories with corresponding track recommendation information form traffic position reference data which are used during the course of the other branch of the driver assistance method according to the steps S1 to S7.

Step S0 can either be in the vehicle 1 itself or, preferably, outside the vehicle, for example on a powerful computer or computer cluster. In particular, step S0 can already be done before the vehicle 1 his drive on the road, at least the route section 2 , picks up. The traffic situation reference data determined by means of step S0 can also be preloaded into a memory of the vehicle or made available to the vehicle in real time while driving along the road via a corresponding communication link. In this preferred manner, it is possible to determine the traffic location reference data determined in step S0. not only a particular vehicle, but a plurality, in particular a variety of vehicles provide when they are traveling on the road or the corresponding route section. Thus, one or more central databases can be realized, to which the individual vehicles can access as required via corresponding communication links, in particular via a mobile or wirelessly accessible data network such as the Internet.

Steps S1 to S7 of the driver assistance method preferably run on a corresponding driver assistance system in the vehicle 1 in particular on a driver assistance system according to the in 3 shown embodiment. Accordingly, steps S1 to S7 of the driver assistance method will be described below with reference to both 2 and 3 described. The driver assistance system according to 3 has several components explained below 4 to 10 on, as shown below each other by means of a data bus 11 in particular, which can be a CAN bus, a LIN bus, a Flexray bus or an Ethernet bus, are connected and can exchange data or signals via it. The individual components 4 to 10 can either be carried out separately, or two or more of these components can be combined in appropriate units or integral, such as using the same data storage 6a and / or one or more processors 6b for data processing, be formed.

In step S1, a detection of a destination and / or a planned route for the vehicle takes place 1 , This can in particular by the driver by means of an appropriate user interface in the vehicle 1 respectively. The user interface may in particular belong to a navigation device for route planning and guidance, which is linked to the driver assistance system via a data connection or is even part of it.

In step S2, a detection of the position and the direction of travel of the vehicle takes place along a road traffic route on which it is traveling. The vehicle has this 1 via a position determining device 4 in particular as a satellite navigation device, for example based on one or more of the known satellite navigation systems GPS, Galileo and Glonass. The position determination device 4 can, as usual, in particular with a special, arranged approximately on the outside of the vehicle receiving antenna 4a be connected to receive the radiated from the navigation satellites positioning signals.

In step S3 follows a recognition of a route section of the roadway, with respect to the already determined position of the vehicle 1 ahead in the direction of travel. For this purpose, the driver assistance system has a recognition device 5 that are over the data bus 11 with a sensor system 9 and a communication device 10 connected is. In particular, the sensor system can have one or more cameras for generating images of the vehicle surroundings, in particular in the vehicle apron, with the aid of which image signals can be generated which can be used by appropriate signal processing and image recognition for the identification of multi-track route sections. About the communication device 10 In addition, or instead, digital map data can be received by an external vehicle data source, such as an Internet server, so that the relative position of a multi-lane route section ahead of the already determined vehicle position in the direction of travel can be inferred from the map data. The communication device 10 may also be adapted to receive signals from other, in particular preceding vehicles P and L, respectively, in order to obtain from this information the absolute or to the vehicle 1 Relative position of a multi-lane route section can be determined, with respect to which a lane recommendation information to be output. The recognition of a route section may in particular also include recognition of its route segment type and / or recognition of a route position characterizing the route segment. The route section type can in particular include the number of lanes of the same direction in the route section, the type of node, so whether it is about a motorway junction, an exit or a toll, and optionally contain additional information, in particular an indication of the topology of the Route section features.

In step S4, detection of traffic data characterizing a traffic situation in the route section takes place. For this purpose, the driver assistance system has a traffic situation detection device 6 , in particular, the already mentioned data storage 6a and one or more processors 6b can have. In this case, the detection can in particular again based on signals of the sensor system 9 and / or from via the communication device 10 (in particular from central traffic information databases retrievable via a communication network, from vehicles traveling in front or from a suitably equipped traffic control infrastructure along the road traffic route), the traffic information received is transmitted to the traffic information base Traffic monitoring device 6 over the data bus 11 be supplied. In this case, the travel destination detected in step S1 or the travel route determined or determined there is preferably used in order to record only the traffic data relevant thereto. Examples of information contained in the traffic data have already been described previously. In particular, the traffic data may include a traffic density, one or more speeds, in particular average, minimum or maximum speeds of the vehicles in the route section or features such as blockages or blockages of the route section or individual of its lanes.

In step S5, traffic position reference data is acquired for the route section 2 , This can in particular again via a means of communication device 10 available communication connection to a vehicle-external corresponding data source, as already described above. Alternatively or additionally, the detection can also be achieved by a simple readout of traffic location reference data from the data memory 6a which was previously loaded with the corresponding data. In this case, the travel destination detected in step S1 or the travel route determined or determined there is used to obtain the traffic location reference data relevant therefrom from the data source or the data memory 6A refer to.

In step S6, the traffic data is compared with the traffic location reference data from step S0 and, based thereon, selecting a traffic condition category corresponding to the traffic data from the traffic location reference data. For this purpose, the driver assistance system has a comparison device 7 which is configured to perform this comparison and to select, on the basis of the comparison result, a traffic situation category corresponding to the traffic data from the traffic location reference data.

Finally, in step S7, at a corresponding output interface 8th of the vehicle 1 , which may be configured here in particular as a user interface, a track recommendation information associated with the selected traffic situation category for driving on the route section 2 output. The lane recommendation information may in particular be a specific lane a, b, c, d within the multi-lane route section 2 or even specify only a relative lane change direction. In addition, a time indication can also be made which indicates an optimum lane change time for the next lane change to be made from the current situation. In the case of a user interface, this can be done as an output interface, in particular also by means of a graphic and / or acoustic output.

Subsequently, the method can jump back to step S2, so as to again or continuously go through the steps S1 to S7.

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 scope of the appended claims deviated from, and its legal equivalents.

LIST OF REFERENCE NUMBERS

a-c

Lanes of a multi-lane section of the route

d

exit lane

P

Passenger cars

L

Lorries (trucks)

1

Vehicle with driver assistance system

2

Multi-lane section of a road traffic route

3

(in the direction of travel remote) end of the route section

4

Positioning device

4a

Antenna for positioning device

5

Recognition device for multi-lane section of track

6

Traffic monitoring device

6a

data storage

6b

Processor for data processing

7

comparison means

8th

Output interface, in particular user interface

9

sensor system

10

communication device

11

bus

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 102012219721 A1 [0003]
• DE 102007033887 A1 [0004]

Claims (16)

Driver assistance procedure for a vehicle ( 1 ), in particular for a motor vehicle, comprising the steps of: detecting (S2) a position and a direction of travel of the vehicle ( 1 ) along a road traffic route; Recognizing (S3) one relating to the position of the vehicle ( 1 ) in the direction of travel ahead and in the direction of travel mehrspurigen route section ( 2 ) of the road traffic route; Detecting (S4) traffic data indicating a traffic situation in the travel section ( 2 characterize); Comparing (S6) the traffic data with traffic location reference data, wherein the traffic location reference data includes at least one traffic condition category for the travel route section (Fig. 2 ) and each lane category is assigned a lane recommendation information, and selecting a traffic lane category corresponding to the traffic data from the traffic location reference data based on the comparison; and outputting (S7) a lane recommendation information associated with the selected traffic situation category for driving on the route section 2 at an output interface ( 8th ) of the vehicle ( 1 ). A driver assistance method according to claim 1, wherein the detection (S3) of the multi-lane route section (FIG. 2 ) is carried out by means of a sensory detection of at a distance position along the road traffic locatable, repeatedly occurring speed differences. Driver assistance method according to one of the preceding claims, wherein the recognition (S3) of the route section ( 2 ) recognizing a route section ( 2 ) or a route segment type or both. A driver assistance method according to claim 3, wherein recognizing (S3) the travel route section (FIG. 2 ) comprises recognizing at least one of the following route segment types or a combination formed from at least two of these route segment types: - route segment ( 2 ) with a branch; - route section ( 2 ) with a traffic route intersection; - route section ( 2 ) with a traffic light system; - route section ( 2 ) with a change-way indication; - route section ( 2 ) with a toll system; - lane-dependent speed limit; - route section ( 2 ) with a danger spot, in particular a solid construction site or accident site; - route section ( 2 ) with a railroad crossing; - route section ( 2 ) with a parking lot access, in particular a parking garage access. Driver assistance method according to one of the preceding claims, wherein the detection (S4) of the traffic data is carried out by means of: - at least one sensor of the vehicle ( 1 ); - Receiving traffic data from one or more of the vehicle ( 1 ) were sent by vehicles on the road ahead; A retrieval of traffic information from an off-vehicle traffic data source. Driver assistance method according to one of the preceding claims, wherein the traffic data at least one of the following, the traffic situation in the route section ( 2 ) indicate, at a given time or over a certain period of time, variables: - traffic density, in particular number of vehicles per unit of time, covering the route section ( 2 ) in total or by lane; One or more location coordinates of the vehicles covering the route section ( 2 ) in total or by lane; One or more speeds, in particular an average, minimum or maximum speed of the vehicles covering the route section ( 2 ) in total or by lane; One or more accelerations, in particular an average, minimum or maximum acceleration of the vehicles which cover the route section ( 2 ) in total or by lane; - blockages or blockages of the route section ( 2 ) or one of its several lanes. Driver assistance method according to one of the preceding claims, wherein the traffic location reference data is stored locally in a memory of the vehicle ( 1 ) or in one of the vehicle ( 1 ) from outside the vehicle by means of a communication connection readable data memory ( 6a ) to carry out the settlement. A driver assistance method according to any one of the preceding claims, wherein detecting (S4) the traffic data includes traffic pattern pattern recognition, the traffic data characterizes a correspondingly recognized traffic pattern, the traffic location reference data includes one or more reference patterns, and comparing the traffic data with traffic location reference data using a comparison of the detected one Traffic pattern with the at least one traffic situation reference pattern takes place. A driver assistance method according to any one of the preceding claims, wherein the lane recommendation information comprises at least one of: an indication that a specific lane (a, b, c, d) among the plurality of lanes (a, b, c, d) of the route section ( 2 ); An indication based on the detected position of the vehicle ( 1 ) denotes a direction or direction component for a lane change. A driver assistance method according to any one of the preceding claims, wherein: the lane recommendation information comprises at least one of the following or a combination of at least two of: - an indication indicating a time or period for making a lane change; An indication indicating a route position or a route position area in the travel route section ( 2 ) for making a lane change; and outputting the lane recommendation information at the output interface ( 8th ) of the vehicle ( 1 ) depends on when the time or the beginning of the period has been reached, or when the vehicle ( 1 ) reaches the track position or the start of the track position range according to its detected position. Driver assistance method according to one of the preceding claims, with the further step of detecting (S0) a destination or a planned route for the vehicle ( 1 ); wherein in the acquisition of traffic data which the traffic situation in the route section ( 2 ), the destination or, if appropriate, the route or both, are used to characterize the traffic situation as a function of the destination or the route or both. Driver assistance method according to one of the preceding claims, comprising the further step of generating the traffic situation reference data by means of a simulation in which the travel of a single vehicle ( 1 ) through the multi-lane section ( 2 ) is simulated as a function of its geometry and different traffic data, each characterizing a different traffic situation, in order to determine an associated track selection recommendation optimized for at least one optimization parameter and in the form of an output interface ( 8th ) provide spill recommendation information. The driver assistance method according to claim 12, wherein the optimization parameter (s) is selected from the following or determined as a variable defined by a combination of at least two of them: - shortest travel time; - least number of lane changes; - lowest energy consumption for the vehicle drive; each for traversing the route section ( 2 ).  Driver assistance method according to claim 12 or 13, wherein the simulation for providing the lane recommendation information by means of at least one equation of motion, which models the time course of lane changes in real vehicles. Driver assistance system for a vehicle ( 1 ), in particular for a motor vehicle, comprising: a position determining device ( 4 ) configured to have a position and a direction of travel of the vehicle ( 1 ) along a road traffic route; a recognition device ( 5 ), which is configured with respect to the position of the vehicle ( 1 ) in the direction of travel ahead and in the direction of travel mehrspurigen route section ( 2 ) of the road traffic route; a traffic situation detection device ( 6 ) configured to detect traffic data indicating a traffic situation in the travel route section ( 2 characterize); a comparison device ( 7 ) configured to compare the traffic data with traffic location reference data, the traffic location reference data including at least one traffic condition category for the travel route section (Fig. 2 ) and each traffic condition category is assigned at least one lane recommendation information, and selecting a traffic lane category corresponding to the traffic data from the traffic location reference data based on the comparison; and an output interface ( 8th ) for outputting a lane recommendation information for driving on the route segment ( 2 ) at the vehicle ( 1 ); wherein the driver assistance system is configured to execute the driver assistance method according to one of the preceding claims. Vehicle ( 1 ), in particular motor vehicle, with a driver assistance system according to claim 15.

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