DE102016203662A1 - Driver assistance system and method for operating such - Google Patents

Driver assistance system and method for operating such

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Publication number
DE102016203662A1
DE102016203662A1 DE102016203662.9A DE102016203662A DE102016203662A1 DE 102016203662 A1 DE102016203662 A1 DE 102016203662A1 DE 102016203662 A DE102016203662 A DE 102016203662A DE 102016203662 A1 DE102016203662 A1 DE 102016203662A1
Authority
DE
Germany
Prior art keywords
motor vehicle
vehicle
representation
assistance system
driver assistance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
DE102016203662.9A
Other languages
German (de)
Inventor
Julian Eichhorn
Lutz Lorenz
Sebastian Hergeth
Philipp Kerschbaum
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE102016203662.9A priority Critical patent/DE102016203662A1/en
Publication of DE102016203662A1 publication Critical patent/DE102016203662A1/en
Application status is Pending legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14Digital output to display device; Cooperation and interconnection of the display device with other functional units
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00785Recognising traffic patterns acquired by static cameras
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00805Detecting potential obstacles
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/161Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W84/00Network topologies
    • H04W84/005Moving wireless networks
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W84/00Network topologies
    • H04W84/18Self-organising networks, e.g. ad-hoc networks or sensor networks

Abstract

Driver Assistance System and Method for Operating the Same There is provided a driver assistance system of a motor vehicle, which supports the driver in an improved manner in the detection of the traffic in its environment. For this purpose, the driver assistance system has a detection device for detecting at least one further motor vehicle located in the vicinity of the motor vehicle, a determination device for determining at least one safety area surrounding the at least one further motor vehicle, and a display device for displaying a graphic representation of a section of the surroundings , The representation comprises a representation of the further motor vehicles and safety areas located in the section of the surroundings.

Description

  • The present invention relates to a driver assistance system of a motor vehicle with a detection device for detecting in the environment of the motor vehicle befindlicher other vehicles and a display device for displaying a graphical environment representation. Furthermore, the invention relates to a method for operating such a driver assistance system.
  • Due in part to increasing traffic density, motor vehicles today often move in traffic situations of high complexity. Driver assistance systems assist the driver in various ways in carrying out his driving tasks in these traffic situations. Driver assistance systems can support the driver partly or completely by taking over driving tasks. In this context, it is foreseeable that in the future vehicles will be able to drive in sections automatically, i. without active intervention of the driver. On the other hand, driver assistance systems can also assist the driver by capturing, processing and presenting information relating to the current or future traffic situation, for example.
  • An example of a driver assistance system is an adaptive cruise control (ACC). In such systems, the driver is often offered a stylized display of his own vehicle and the lead vehicle. The controlled variable of the cruise control system, eg a time interval or a length distance, can be displayed in such a representation as a graphic element between the two vehicles mentioned. Such a representation is about DE 10 2008 061 649 A1 known.
  • EP 2 857 247 A1 discloses a device for a vehicle designed for automatic longitudinal guidance. A display generated by this device is designed such that the confidence of the driver is increased in the device for automatic longitudinal guidance. For this purpose, it is provided that the leading vehicle and the own vehicle are displayed together with further information. Among other things, an area located behind the leading vehicle, which marks a safety distance to be maintained, can be graphically displayed.
  • DE 10 2013 110 852 A1 describes a method for a driver assistance system of a vehicle that is configured to control the vehicle at least partially automatically. When the autopilot function is activated, a graphic display can be made on a display device that represents your own future driving maneuvers. Furthermore, road users located in the vicinity of the own vehicle and their estimated movement trajectories can be displayed.
  • EP 2 851 886 A1 teaches a device in a vehicle that provides assistance to the driver in an overtaking maneuver. In this case, an environment of the motor vehicle is detected and displayed graphically, wherein it is provided to display possible movement trajectories of vehicles ahead.
  • Based on the prior art, the task is to provide a driver assistance system that supports the driver in an improved manner in the detection of the traffic in its environment.
  • The object is achieved in a driver assistance system and a method having the features of the independent claims. Advantageous developments of the invention are subject matter of the dependent claims.
  • The driver assistance system according to the invention of a motor vehicle (hereinafter also referred to as an ego vehicle) comprises a detection device. This serves to detect at least one additional motor vehicle located in the vicinity of the ego vehicle. The detection device may be a distributed sensor system of the ego vehicle. For example, the detection device may comprise different environment sensors of the ego vehicle, for example ultrasound sensors, radar sensors, lidar sensors, laser sensors and / or cameras. Furthermore, the detection device may comprise a control unit which receives and processes the data supplied by the said sensors. The detection device may further comprise a communication module, which can send and / or receive data relating to the environment of the ego vehicle. The communication module may be, for example, a mobile radio module, which via mobile (eg LTE, UMTS) and / or WLAN (eg IEEE 802.11p ) Can exchange data with other motor vehicles, objects of the traffic infrastructure and or backend servers. Such communication is also known as car-to-car or car-to-infrastructure communication, commonly known as car-to-X communication.
  • According to the invention, the driver assistance system further comprises a determination device for determining at least one safety area surrounding the at least one further motor vehicle. For this purpose, the determination device receives information from the detection device via the previously detected by the detection device further motor vehicles. Such information may include, for example, the positions of the other motor vehicles (relative to the ego vehicle or absolute). The determination device is set up to determine from these information supplied by the detection device for each of the detected further motor vehicles at least one safety area. In the context of the present invention, a security area is understood to mean a spatial area in the vicinity of another motor vehicle, which may or should not be used by the ego vehicle, in particular for reasons of traffic safety. Such a safety area can result, for example, from a safety distance which can not be undershot to a further motor vehicle driving ahead. However, the term security area is not limited to such a safety margin, as will be explained in more detail below.
  • Finally, according to the invention, a display device is provided for displaying a graphic representation of a section of the environment. The clipping can encompass the entire recorded environment, ie does not necessarily have to have a smaller spatial extent than the recorded environment. According to the invention, the representation comprises a representation of the further motor vehicles and safety areas located in the section of the surroundings. The representation of the detail may be, for example, a two-dimensional map view of the detail (bird's-eye view). The map view may be north-west oriented, but preferred is an orientation in the direction of travel of the ego vehicle. The representation of the detail may also be a perspective three-dimensional representation. This is preferably oriented in the direction of travel of the ego vehicle. It is particularly advantageous if the section shown comprises the ego vehicle itself.
  • By means of the invention, the driver of the ego vehicle is enabled to grasp the traffic situation in his environment at a glance. For this purpose, not only the actual objects present in the environment (in particular the other motor vehicles) are shown, but also those areas that are physically free, but logically assigned for reasons of traffic safety (security areas). Illustratively, the illustrated security areas can also be referred to as "occupied fields" or "carpets". The advantage of the invention is that the driver is informed in an improved way about the traffic situation in his environment, so that sets in the driver - especially in complex traffic situations - an improved sense of security.
  • In particularly advantageous embodiments of the invention, the ego vehicle is operable in an automated driving mode. The ego vehicle then runs independently, i. without intervention of the driver. Vehicles with automated driving mode are currently under development and testing and will be used in road traffic in the foreseeable future. However, it is to be expected that drivers of such vehicles will initially be skeptical about this technology. There is therefore a need of the driver to monitor the automated driving mode of the vehicle. The driver does not merely want to ensure that the vehicle does not make any driving errors, but also wants to understand all (performed and omitted) driving maneuvers of the vehicle. The invention takes this need into account insofar as the environment of the automatically operated ego vehicle is represented in such a way that existing spatial limitations of the space available for a driving maneuver are visualized. In this way, a driver can recognize, for example, why his automated vehicle is driving a certain, actually expected by the driver driving maneuver, e.g. does not perform an overtaking procedure initiated by a lane change. This would be visible, for example, in that the security area of another motor vehicle is displayed on the neighboring lane (to which the ego vehicle would actually change).
  • Advantageous developments of the invention provide that the detection device is set up to detect at least one travel parameter of the at least one further motor vehicle, in particular a position, a travel speed and / or a travel trajectory. This further information can be passed on by the detection device (possibly after processing and / or further processing) to the determining device, from which they are used to determine the safety areas. To determine the position and / or the travel speed of the further motor vehicle, in particular cameras, radar sensors, lidar sensors and / or laser sensors as well as a position determination unit (eg a GNSS system) of the ego vehicle can be used. The term driving trajectory of a vehicle should be understood to mean the way traveled by this vehicle. For example, if a vehicle travels along a traffic lane of a road, then the driving trajectory of the vehicle generally largely corresponds to the course of this traffic lane. The driving trajectory can also include a future driving trajectory, that is to say the route which will probably be traveled by the vehicle in the future. To capture the future driving trajectory of a vehicle, for example, information about the current Position of the vehicle and the road ahead. The driving maneuvers of the vehicle relating to the future driving trajectory can be predicted, for example by detecting the direction indicators (turn signals) of the vehicle. For example, if the right direction indicator is activated, it may be assumed that the vehicle intends a turn or lane change operation. It is particularly advantageous if the detection device receives information about intended driving maneuvers by means of car-to-car communication from the further motor vehicle.
  • Advantageous embodiments of the invention provide that the at least one safety area comprises an area in the vehicle longitudinal direction of the further motor vehicle. In other words, it can thus be provided that security areas located in front of and / or behind the further motor vehicle are determined and displayed. In this way, the driver can immediately recognize which safety distance must comply with the ego vehicle in front of or behind another motor vehicle.
  • It should be noted that the term used here of the vehicle longitudinal direction should also include the resulting from the direction of travel trajectory. For example, if a motor vehicle is traveling along a curve, the direction of travel changes continuously while driving through the curve. The vehicle trajectory of the vehicle is then curved. It usually follows the lane or road course. In such cases, the safety areas determined and displayed in the vehicle longitudinal direction in front of or behind the further motor vehicle can also be curved. This should be expressly covered by the above-described embodiments of the invention.
  • With particular advantage, a length of the security area in the vehicle longitudinal direction of the further motor vehicle is determined as a function of a travel speed of the ego vehicle and / or of the further motor vehicle. In other words, when determining the spatial extent of the safety area in the vehicle longitudinal direction, it is taken into account that the travel speed of a vehicle has an influence on the safety distance to be maintained by this vehicle or to this vehicle. For example, it can be provided that the length of the safety area in the vehicle longitudinal direction is proportional to the travel speed of the ego vehicle and / or of the further motor vehicle.
  • With particular advantage, the length of a front and a rear security area (each in the vehicle longitudinal direction) may differ from each other. For example, a rear safety area may be shorter than a front safety area of the same motor vehicle.
  • Further advantageous embodiments of the invention can provide that the at least one safety area comprises an area in the vehicle transverse direction of the further motor vehicle. In other words, security areas can therefore be determined and displayed on the left and / or right of the further motor vehicle. In this way, safety distances can be displayed, which must be maintained laterally to another motor vehicle. Furthermore, areas located on the side of another motor vehicle can also be displayed, which should not be traveled due to foreseeable driving maneuvers of this further motor vehicle. For example, the intention of the further motor vehicle may have been detected by the detection device, to turn off or to change the lane. For this purpose, the detection device could have detected, for example, that the further vehicle has activated its direction indicator (turn signal). The detection device could also have received the information about the intended driving maneuver by means of car-to-car communication from the further motor vehicle. On the basis of this information detected by the detection device, the determination device can determine a safety region located in the vehicle transverse direction of the further motor vehicle. If, for example, it has been detected that the further motor vehicle intends to carry out a lane change to the left, then the determination device can determine a safety area located to the left of the further motor vehicle. The driver of the ego vehicle thus immediately recognizes without knowledge of the lane change intent of the further motor vehicle that the ego vehicle should keep the area located to the left of the further motor vehicle (ie, for example, not overtake the further motor vehicle on the left).
  • Advantageous embodiments of the invention can provide that the detection device is set up to detect at least one further motor vehicle located in the direction of travel behind the ego vehicle. In this case, the representation comprises a representation of the at least one further motor vehicle located in the direction of travel behind the ego vehicle and / or a representation of the safety area of the at least one further motor vehicle located in the direction of travel behind the ego vehicle. The particular advantage of these embodiments lies in the fact that the driver of the ego vehicle is informed about the traffic situation behind him, which he otherwise typically has little or at least a considerably lesser extent than the traffic situation located laterally and in front of him. In particular, this is advantageous if the other Motor vehicle is located behind the ego vehicle, a belonging to the further motor vehicle safety area, however, at least partially located next to the ego vehicle. For example, the further motor vehicle could be in the so-called blind spot of the ego vehicle. As a result of the representation according to the invention, the safety area in front of this further motor vehicle would be displayed to the driver of the ego vehicle so that the driver is informed that, for example, a lane change on the lane of the further motor vehicle is not possible.
  • In a further advantageous embodiment, it can be provided that the representation of the security area comprises a depiction which varies as a function of a distance from the further motor vehicle in the vehicle longitudinal direction and / or vehicle transverse direction. In particular, it can be provided that the safety areas are represented with increasing distance from the further motor vehicle with decreasing intensity (opacity). This variable representation may preferably be infinitely variable. Alternatively or additionally, it may be provided that the safety areas pass from a first color to a second color as the distance from the further motor vehicle increases. Also, this color gradient may preferably be infinitely variable. For example, an area near the other motor vehicle may have a red color, which changes with increasing distance from the other motor vehicle in a green hue. This intuitively illustrates to the driver that driving the illustrated safety area with the ego vehicle means the greater the danger the further the ego vehicle penetrates into the safety area (the closer the ego vehicle gets to the further motor vehicle).
  • Further embodiments may provide that the representation of the security area comprises a representation that represents a criticality of the traffic situation. In particular, the representation can be variable in color as a function of the criticality of the traffic situation. It can be provided that the determination device is set up to determine the criticality of the traffic situation. However, this can also be done by another control unit of the ego vehicle. For example, it could be provided that certain other motor vehicles and / or their safety areas are displayed in red when there is a danger situation concerning these other motor vehicles.
  • For example, due to the driving behavior of two other motor vehicles, which are located in front of the ego vehicle in the direction of travel, it could be foreseeable that the two other motor vehicles will collide or decelerate sharply to avoid a collision. In this case, the other motor vehicles and / or the security areas belonging to the two other motor vehicles could be displayed in red in order to make the driver of the ego vehicle aware of the criticality of the traffic situation.
  • Further embodiments of the invention are explained below with reference to exemplary representations. Show it
  • 1 1 is a block diagram of a motor vehicle according to the invention with a driver assistance system according to an embodiment of the invention,
  • 2 an exemplary first representation,
  • 3 an exemplary second representation,
  • 4 a flow diagram of a method according to the invention.
  • Like reference characters indicate like features in the figures of the illustrated embodiments of the invention. It should be noted that the illustrated figures and the associated description are merely exemplary embodiments of the invention. In particular, representations of combinations of features in the figures and / or the description of the figures are not to be interpreted as meaning that the invention necessarily requires the realization of all mentioned features. Other embodiments of the invention may include fewer, more, and / or different features. The scope and disclosure of the invention will be apparent from the appended claims and the complete description. It should also be noted that the illustrations are schematic representations of embodiments of the invention. The arrangement of the individual elements shown to each other is chosen only by way of example and can be chosen differently in other embodiments of the invention. Furthermore, the representation is not necessarily to scale. Individual features shown may be enlarged or reduced for purposes of illustration.
  • 1 shows a motor vehicle according to the invention 10 (Egofahrzeug 10 ). The ego vehicle 10 has an inventive driver assistance system. This has a detection device 11 , a determination device 12 and a display device 13 on. The display device 13 has a screen (display) on which a graphic representation 13-1 can be issued.
  • The facilities 11 . 12 . 13 do not necessarily have to be separate controllers. Rather, their functionalities could also be summarized in a single controller. In the example shown are the control units 11 . 12 . 13 by means of a data bus 14 of the ego vehicle 10 connected by data technology. In the data bus 14 it may be, for example, a CAN bus, a Flexray bus, an Ethernet bus or other suitable for use in motor vehicles data bus.
  • The car 10 has a communication module 11-1 in that is set up for wireless data communication via a mobile radio network and / or a WLAN. The communication module 11-1 is with the detection device 11 connected via a data line, so by the communication module 11-1 received data of the detection device 11 can be forwarded. Furthermore, by the detection device 11 Data to be sent to the communication module 11-1 passed on and transferred from there. This way, the ego vehicle can 10 For example, participate in car-to-x communication.
  • The ego vehicle 10 also has a variety of environmental sensors 11-2 . 11-3 . 11-4 of which in 1 only three are shown for reasons of clarity. For example, the ego vehicle 10 have ultrasonic sensors, radar sensors and cameras, which in their entirety the environment of the motor vehicle 10 make completely comprehensible. The environment sensors 11-2 . 11-3 . 11-4 are also via data lines with the detector 11 connected.
  • 4 shows a flowchart of the method steps of the method according to the invention. In step 40 At least one in the environment of the motor vehicle 10 located further motor vehicle 22 . 32 . 33 detected. In step 41 At least one of the at least one further motor vehicle 22 . 32 . 33 surrounding security area 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b certainly. In step 42 becomes a graphical representation 13-1 a section of the environment is shown, the representation 13-1 a representation of the located in the section of the environment further motor vehicles 22 . 32 . 33 and security areas 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b includes.
  • In 2 is a first exemplary illustration 13-1 shown which was produced by an embodiment of the driver assistance system according to the invention. It should be mentioned that the illustration 13-1 reflects a specific time. The driver assistance system according to the invention is set up to continuously adapt the presentation to the respective current traffic situation. Accordingly, it can be provided to allow the process according to the invention to proceed repeatedly.
  • It will first be described the traffic situation in which the ego vehicle 10 by doing 2 underlying example. The ego vehicle 10 drives on a three-lane highway on the middle lane 21-2 , Slightly offset in front of the ego vehicle 10 drives in the right lane 21-3 another motor vehicle 22 , On the left lane 21-1 there is a (in 2 not shown) further motor vehicle 24 , This is located in the direction of travel behind the ego vehicle 10 , It is also on the middle lane 21-2 in the direction of travel in front of the ego vehicle 10 another one (in 2 also not shown) motor vehicle 23 ,
  • In step 40 detects the detection device 11 first, those in the environment of the ego vehicle 10 located motor vehicles 22 . 23 . 24 , In addition to each of the other motor vehicles 22 . 23 . 24 their respective position and speed recorded. This information is provided by the capture device 11 over the data bus 14 to the determination device 12 transmitted.
  • In step 41 determines the determining device 12 to each of the other motor vehicles 22 . 23 . 24 in each case one in the vehicle longitudinal direction in front of and behind the respective further motor vehicle 22 . 23 . 24 located security area.
  • In step 42 is the representation by means of the display device 13-1 issued, which a section of the environment of the ego vehicle 10 with the objects (lanes 21-1 . 21-2 . 23-3 with their respective markings, motor vehicles 10 . 22 ). The motor vehicles 23 and 24 are outside the section shown and are therefore on the presentation 13-1 not to be seen. Furthermore, the illustration includes 13-1 to the motor vehicle 22 a front security area 22a and a rear security area 22b , Next are the rear security area 23b of the motor vehicle 23 as well as the front security area 24a of the motor vehicle 24 shown.
  • In the in 2 shown illustration 13-1 becomes clear how the driver assistance system according to the invention the driver of the ego vehicle 10 supported. Especially with regard to the offset behind the ego vehicle 10 located further motor vehicle 24 recognizes namely the driver of the vehicle 10 with a look that the front security area 24a the further motor vehicle 24 next to his vehicle 10 For example, he does not readily follow the left lane 21-1 could change. This realization is not only then helpful if the driver of the ego vehicle 10 drives automatically. Even if the vehicle 10 operated in an automated driving mode helps the presentation 13-1 the driver to a better understanding of the behavior of his automated vehicle 10 , For example, the vehicle could 10 a much higher speed than the preceding another motor vehicle 23 why the driver of the automated vehicle 10 the initiation of an overtaking process is expected. As the driver looks out the front window of the vehicle 10 does not realize that is behind him another motor vehicle 24 He may be surprised that there is no overtaking, which could lead to reduced confidence in the automated driving system. However, because of the invention, the front security area 24a the further motor vehicle 24 is displayed recognizes the driver of the ego vehicle 10 at a glance, why the overtaking process can not (yet) be performed. The representation 13-1 strengthens his confidence in the automated driving system.
  • On the basis of in 2 Furthermore, it can be seen that the front and rear safety areas of a vehicle need not necessarily have the same length. Such is in the example representation shown 13-1 the length l 22b the rear security area 22b the further motor vehicle 22 less than the length l-22a of the front security area 22a of the motor vehicle 22 ,
  • In a particularly advantageous form of presentation, however, in 2 for illustrative reasons is not shown, indicate the security areas 22a . 22b . 23b . 24a a function of the respective distance from the respective further motor vehicle 22 . 23 . 24 changeable representation on. In particular, the security areas can be close to the respective further motor vehicle 22 . 23 . 24 intense and, for example, in red. With increasing distance from the respective motor vehicle 22 . 23 . 24 can the intensity of the representation of the security areas 22a . 22b . 23b . 24a and gradually change the color of the security areas from the red color to a green color.
  • Alternatively, it is conceivable to select the color of the security areas such that the criticality or relevance with respect to the ego vehicle 10 is clarified. For example, the security areas 22b . 24a shown in red, since the ego vehicle 10 by a lane change in these security areas 22b . 24a could arrive. The driver of the ego vehicle 10 should the existence of these "occupied fields" 22b . 24a therefore be made particularly clear. On the other hand, the security areas 22a . 23b in green color, since they exist and for the driver of the ego vehicle 10 are also of interest, but in the current traffic situation there is no immediate danger that the ego vehicle 10 in these security areas 22a . 23b penetrates.
  • 3 shows a second exemplary representation 13-1 , which was generated by an embodiment of the driver assistance system according to the invention. As already with the example of 2 also gives the in 3 shown illustration 13-1 a certain time again. The driver assistance system according to the invention is set up to continuously adapt the presentation to the respective current traffic situation. Accordingly, it can be provided to allow the process according to the invention to proceed repeatedly.
  • It will first be described the traffic situation in which the ego vehicle 10 by doing 3 underlying example. In this embodiment, the ego vehicle becomes 10 operated in an automated driving mode. The ego vehicle 10 drives on a three-lane highway in the right lane 31-3 , On the left lane 31-1 There are two more vehicles 32 . 33 , To the other motor vehicles 32 . 33 are each front security areas 32a . 33a as well as rear security areas 32b . 33b shown.
  • In the illustrated exemplary traffic situation, a total of two motor vehicles plan to perform a lane change. On the one hand, the automatically operated ego vehicle intends 10 , from the right lane 31-1 on the middle lane 31-2 switch. On the other hand, the other motor vehicle intends 32 from the left lane 31-1 on the middle lane 31-2 switch. The lane change intention of the further motor vehicle 32 transmits this by means of car-to-car communication to the vehicles located in its environment, including the ego vehicle 10 , In other words, the driver assistance system according to the invention of the ego vehicle 10 about the upcoming lane change of the other motor vehicle 32 on the middle lane 31-2 informed. The determining device 12 therefore determines a safety area located in the vehicle transverse direction 32c the further motor vehicle 32 that in the presentation 13-1 received. The security area 32c indicates that "occupied field", that of other motor vehicles than the other motor vehicle 32 due to its lane change intent may not be traveled.
  • Further, the ego vehicle 10 set up in its automated driving mode, in the presentation 13-1 an upcoming lane change maneuver by a directional arrow 34 , the one from the ego vehicle 10 Based on the intended driving trajectory symbolically illustrated draw.
  • As the driver of the ego vehicle 10 In the automated driving mode does not have to actively intervene in the driving, the display serves him 13-1 merely for information about the current traffic situation. By the directional arrow 34 he becomes aware of the intentions of his own vehicle 10 informed. In addition, he keeps using the "occupied fields" 32a . 32b . 32c . 33a . 33b an overview of the areas of his environment that the ego vehicle 10 not use, so can drive. Conversely, the illustration clarifies 13-1 the driver of the ego vehicle 10 intuitively that the intended driving maneuver of his own vehicle 10 outside the "occupied fields" 32a . 32b . 32c . 33a . 33b takes place. The invention thus contributes to increasing the confidence of the driver in the automated driving mode.
  • LIST OF REFERENCE NUMBERS
  • 10
    Motor vehicle (ego vehicle)
    11
    detector
    11-1
    communication module
    11-2-11-4
    sensors
    12
    determiner
    13
    display
    13-1
    Display on display surface
    14
    bus
    21-1-21-3
    lanes
    22, 32, 33
    motor vehicles
    22a, 22b, 23b, 24a, 32a, 32b, 32c, 33a, 33b
     security areas
    34
    Directional arrow (driving trajectory)
    40-42
    steps
  • 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 102008061649 A1 [0003]
    • EP 2857247 A1 [0004]
    • DE 102013110852 A1 [0005]
    • EP 2851886 A1 [0006]
  • Cited non-patent literature
    • IEEE 802.11p [0009]

Claims (11)

  1. Driver assistance system of a motor vehicle ( 10 ) with - a detection device ( 11 ) for detecting at least one in the vicinity of the motor vehicle ( 10 ) further motor vehicle ( 22 . 32 . 33 ), - a determination device ( 12 ) for determining at least one of the at least one further motor vehicle ( 22 . 32 . 33 ) surrounding security area ( 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b ) and - a display device ( 13 ) for displaying a graphical representation ( 13-1 ) of a section of the environment, wherein the representation ( 13-1 ) a representation of the in the section of the environment located further motor vehicles ( 22 . 32 . 33 ) and security areas ( 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b ).
  2. Driver assistance system according to claim 1, wherein the motor vehicle ( 10 ) is operable in an automated driving mode.
  3. Driver assistance system according to claim 1 or 2, wherein the detection device ( 11 ) for detecting at least one driving parameter, in particular a position, a driving speed and / or a driving trajectory, of the at least one further motor vehicle ( 22 . 32 . 33 ) is set up.
  4. Driver assistance system according to one of the preceding claims, wherein the at least one safety area ( 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b ) an area ( 22a . 22b . 23b . 24a . 32a . 32b . 33a . 33b ) in the vehicle longitudinal direction of the further motor vehicle ( 22 . 32 . 33 ).
  5. Driver assistance system according to claim 4, wherein a length (l-22a, l-22b) of the security area ( 22a . 22b . 23b . 24a . 32a . 32b . 33a . 33b ) in the vehicle longitudinal direction of the further motor vehicle ( 22 . 32 . 33 ) as a function of a travel speed of the motor vehicle ( 10 ) and / or the further motor vehicle ( 22 . 32 . 33 ) is determined.
  6. Driver assistance system according to one of the preceding claims, wherein the at least one safety area ( 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b ) an area ( 32c ) in the vehicle transverse direction of the further motor vehicle ( 22 . 32 . 33 ).
  7. Driver assistance system according to one of the preceding claims, wherein the detection device ( 11 ) for detecting at least one in the direction of travel behind the motor vehicle ( 10 ) is arranged, wherein the representation ( 13-1 ) a representation of the at least one in the direction of travel behind the motor vehicle ( 10 ) located further motor vehicle and / or a representation of the security area ( 24a ) of the at least one in the direction of travel behind the motor vehicle ( 10 ) further motor vehicle includes.
  8. Driver assistance system according to one of the preceding claims, wherein the representation of the security area ( 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b ) one as a function of a distance from the further motor vehicle ( 22 . 32 . 33 ) comprises variable representation in the vehicle longitudinal direction and / or vehicle transverse direction.
  9. Driver assistance system according to one of the preceding claims, wherein the representation of the security area ( 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b ) comprises a representation of a criticality of the traffic situation representation, in particular a depending on the criticality of the traffic situation color changing representation includes.
  10. Motor vehicle ( 10 ) with a driver assistance system according to one of the preceding claims.
  11. Method for operating a driver assistance system of a motor vehicle ( 10 ) with the steps - Capture ( 40 ) at least one in the vicinity of the motor vehicle ( 10 ) further motor vehicle ( 22 . 32 . 33 ), - determining ( 41 ) at least one of the at least one further motor vehicle ( 22 . 32 . 33 ) surrounding security area ( 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b ) and - providing ( 42 ) a graphical representation ( 13-1 ) of a section of the environment, wherein the representation ( 13-1 ) a representation of the in the section of the environment located further motor vehicles ( 22 . 32 . 33 ) and security areas ( 22a . 22b . 23b . 24a . 32a . 32b . 32c . 33a . 33b ).
DE102016203662.9A 2016-03-07 2016-03-07 Driver assistance system and method for operating such Pending DE102016203662A1 (en)

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