DE102016004726A1 - A method for assisting a driver in the transverse guidance of a vehicle and apparatus for carrying out the method - Google Patents

Abstract

The invention relates to a method for assisting a driver in the transverse guidance of a vehicle, wherein - by means of a number of sensors (1.1) ambient data (UD) of the vehicle are detected, - from the detected environment data (UD) at least one lane marking is detected and based at least one recognized lane marking a course of its own lane and a position of the vehicle is determined relative to its own lane, - depending on the determined position of the vehicle relative to its own lane a target steering variable (Lsoll) is determined and - an actual steering variable to the previously determined target steering variable (Lsoll) is adjusted, characterized in that for the detected environment data (UD) in a predetermined period, at least one confidence value (K) is determined, wherein the target steering variable (Lsoll) in dependence of the at least one Confidence value (K) is adapted. The invention further relates to a device (1), designed for carrying out the method.

Description

The invention relates to a method for assisting a driver in the transverse guidance of a vehicle according to the preamble of claim 1. The invention further relates to a device designed for carrying out such a method.

From the DE 10 2005 004 727 A1 For example, a method and apparatus for assisting the driver in driving along a sideways roadway are known. In this case, a desired lane is determined by means of assistance and causes an automatic steering intervention in response to a deviation variable describing the deviation between an actual lane of the vehicle and the desired lane. In order to carry out the automatic steering intervention, a desired steering variable describing an additional target steering angle to be set and / or an additional target steering torque to be set is determined, which is used to set the additional target steering angle or the additional target steering torque by an adjusting device. The type of automatic steering intervention depends on whether or not the amount of the deviation quantity is greater than the amount of at least one predetermined deviation threshold value.

The invention is based on the object to provide a comparison with the prior art improved method for assisting a driver in the transverse guidance of a vehicle as well as a suitable device for carrying out such a method.

With regard to the method, the object is achieved according to the invention with the features specified in claim 1. With regard to the device, the object is achieved according to the invention with the features specified in claim 4.

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

In a method for assisting a driver in the transverse guidance of a vehicle, environmental data of the vehicle are detected by means of a number of sensors. At least one lane marking is then recognized from the acquired environmental data, and based on the at least one recognized lane marking, a course of a separate lane as well as a position of the vehicle relative to its own lane are determined. Depending on the determined position of the vehicle relative to its own lane then a target steering variable is determined and adjusted an actual steering variable to the previously determined target steering variable.

According to the invention, at least one confidence value is determined for the detected environment data and assigned to the at least one detected lane marking, wherein the setpoint steering variable is adapted as a function of the confidence value.

In the present case, the confidence value indicates information about the reliability of the recognized lane marking and thus of the determined lane course. For example, the confidence value can be specified between 0% and 100%, with a confidence level of 100% corresponding to absolutely reliable lane mark detection. A confidence value of 0%, however, indicates that no lane marking is recognizable. A low confidence value may e.g. B. from poor visibility conditions, eg. As rain, snow, backlight, etc., result.

The advantages achieved by the method according to the invention are, in particular, that with a low confidence value of the recognized lane marking there is a high probability that an automatic steering intervention in the steering of the vehicle does not correspond to the driver's desire and accordingly a reduction of the steering intervention, in particular one Target steering torque, is recommended. In other words, if the lane markings are recognized with uncertainty, the dynamics of the steering intervention are reduced. The support of the driver in the transverse guidance of the vehicle is thereby designed dynamically, wherein oversteering of the automatic steering intervention by means of the driver is possible in a simple manner. This increases driving comfort for the driver, since faulty steering interventions are perceived as less disturbing. Furthermore, traffic safety is increased since the driver can easily correct faulty steering interventions and these affect less serious.

Embodiments of the invention will be explained in more detail below with reference to a drawing.

Showing:

1 a block diagram of an apparatus for performing a method according to the invention for assisting a driver in the transverse guidance of a vehicle.

The only 1 shows a block diagram of a device 1 for carrying out a method according to the invention for assisting a driver in the transverse guidance of a vehicle not shown in detail.

The device 1 is for example a driver assistance device or part of a Driver assistance device of the vehicle, z. B is a lane departure warning.

The device 1 includes a number of sensors 1.1 for acquiring environmental data UD of the vehicle. The sensors 1.1 For example, they can be designed as optical sensors, as radar sensors and / or as lidar sensors.

These environmental data UD are in a preprocessing unit 1.2 merged (merged) and there is the determination of at least one confidence value K for the merged environment data UD ', which indicates a measure of a quality of the environment data UD. In particular, the confidence value K in this case indicates information about the reliability of the acquired environment data UD. The confidence value K can be given, for example, between 0% and 100%, with a confidence value K of 100% corresponding to an absolutely reliable detection of the environmental data UD; ie the detection of a vehicle environment is 100% error-free. A confidence value K of 0%, on the other hand, indicates that the acquired environmental data UD does not represent a real vehicle environment but is faulty. A low confidence value K can be z. B. from poor visibility conditions, eg. As rain, snow, backlight, etc., result.

The determination of the confidence value K for the environmental data UD takes place either continuously or at specific time intervals. The confidence value K or the confidence values K can be used in the preprocessing unit 1.2 by means of a fusion algorithm, e.g. B. a Kalman filter, or alternatively already in the sensors 1.1 be determined.

The merged environment data UD 'are sent to a processing unit together with the confidence value K or the confidence values K 1.3 transmitted. This evaluates the fused environmental data UD 'taking into account the additionally transmitted confidence value K or the confidence values K. In this case, for example, lane markings can be detected on the basis of the environmental data UD 'and, as a result, a course of an own traffic lane can be determined. Furthermore, a position of the vehicle relative to its own traffic lane can be determined.

Depending on the transmitted confidence value K or the confidence values K is in the processing unit 1.3 a target steering variable L _{is intended} for a steering of the vehicle. The target steering variable L _soll can be made of various parameters, eg. As a desired steering angle, a desired torque, etc., be composed. For example, in the processing unit 1.3 stored a threshold value for the confidence value K, wherein after exceeding the threshold value, a new target steering variable L _{soll is} determined. The processing unit 1.3 can represent a single rule and control component. Alternatively, the processing unit 1.3 Also include several interconnected components. For example, the processing unit 1.3 be formed of a state machine and multiple controller units.

The target steering variable L _soll is used as a manipulated variable to an actuator 2 , here a control of a steering of the vehicle transmitted. An actual steering variable is then adapted to the transmitted target steering variable L _soll , for example by applying a specific torque to a steering wheel of the vehicle. The driver is thereby in the steering by the actuator 2 supported. Furthermore, this is the actor 2 applied torque by the driver overridden, if he wants to drive in another direction, for example. In particular, with a low confidence value K, it is easier to overdrive the actuator 2 applied torque by the driver possible. That is, low reliability measurements (low confidence value K) result in a decrease in torque. This reduces the dynamics of the automatic steering intervention. This is advantageous in that, given a low confidence value K of the environmental data UD, there is a high probability that the automatic steering intervention does not correspond to the driver's wish and therefore a weakening of the machine intervention is advisable.

The device 1 can be adapted in such a way that it is arbitrary for controlling an actuator 2 is usable, wherein measured values are assigned confidence values K and a manipulated variable is adapted to the confidence values K.

LIST OF REFERENCE NUMBERS

1

contraption

1.1

sensor

1.2

preprocessing

1.3

processing unit

2

actuator

K

Confidence value

UD

Environmental data

UD '

fused environmental data

L _should

Target steering amount

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 102005004727 A1 [0002]

Claims (4)

Method for assisting a driver in a transverse guidance of a vehicle, wherein - by means of a number of sensors ( 1.1 Environmental data (UD) of the vehicle are detected, - from the detected environmental data (UD) at least one lane marking is detected and based on the at least one recognized lane marking a course of its own lane and a location of the vehicle is determined relative to its own lane, - in dependence the determined position of the vehicle relative to the own lane a target steering variable (L _soll ) is determined and - an actual steering variable is adapted to the previously determined target steering variable (L _soll ), characterized in that for the detected environmental data (UD) in a predetermined period, at least one confidence value (K) is determined, wherein the target steering variable (L _soll ) is adapted as a function of the at least one confidence value (K). A method according to claim 1, characterized in that the confidence value (K) is determined by means of Kalman filtering. A method according to claim 1 or 2, characterized in that as a target steering variable (L _soll ) a desired steering angle is determined. Contraption ( 1 ) configured to carry out the method according to one of the preceding claims, comprising - a number of sensors ( 1.1 ) for acquiring environmental data (UD) of the vehicle and - at least one processing unit ( 1.3 ) for evaluating the acquired environmental data (UD) and for controlling an actuator ( 2 ) as a function of the at least one confidence value (K).

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