DE102016214100A1 - Method and device for the transverse guidance of the vehicle - Google Patents

Abstract

Method for carrying out an at least partially automated maneuver by means of an electronic control unit for a vehicle, in which at least one intervention parameter is controlled in the transverse guidance of the vehicle depending on at least one parameter of the traffic situation, wherein the traffic situation also includes a traffic situation in front of the preceding vehicle.

Description

The present invention relates to a method and a device for transverse guidance of the vehicle, in particular for controlling one or more intervention parameters in the transverse guidance of the vehicle and in particular for the execution or for varying an at least partially automated maneuver.

From the prior art, for example, a steering assistance by means of a steering torque support is known.

In this case, an orientation of the vehicle to the lane markings and to a preceding vehicle is known. For example, a supported follow mode is known in which the vehicle follows the trajectory of a preceding vehicle.

Furthermore, the consideration of the preceding vehicle in a longitudinal guidance of the vehicle (for example ACC) and the lane markings in a transverse guidance of the vehicle (for example, guidance assistant) is known.

It is an object of the invention to improve a method for transverse guidance of the vehicle, in particular for controlling the intervention parameters in the transverse guidance of the vehicle.

The solution of this object is achieved by the features of the independent claims. The dependent claims contain advantageous developments of the invention to the subject.

The invention is based on the following considerations:
In fact, support according to the above-mentioned prior art may still be insufficient or disadvantageous. For example, an automated steering assistance can be performed, which takes in an overtaking the movement of the vehicle without regard to a (also to overtake) road users in front of the vehicle in front.

Also, the behavior (also visible to the outside) of an at least partially automated vehicle, in particular a transverse guidance of the vehicle, can not be equal to a vehicle driving by a human driver. Such behavior (largely based on hard criteria) may be difficult or predictable for other road users.

At the latest with a higher degree of automation, e.g. in partially automated driving (TAF), in highly automated driving (HAF) or in at least nearly fully automated driving (VAF), if the driver continues to be relinquished responsibility for the guidance of the vehicle, these disadvantages will be unacceptable.

The invention is characterized by a method and a corresponding control device for the transverse guidance of the vehicle, in particular for executing or varying an at least partially automated maneuver, by means of an electronic control unit for a vehicle, wherein at least one intervention parameter in the transverse guidance of the vehicle depending on at least one parameter the traffic situation is controlled before the preceding vehicle.

As a transverse guide in the sense of this description, both an at least partially automated lateral guidance (in a simplified case: a steering, for example a front-wheel steering and / or rear-wheel steering) of the vehicle and an assistance function, which supports a lateral guidance of the vehicle by the driver, are understood. Furthermore, the invention can also be used to improve or supplement the known driver assistance functions.

In the method according to the invention, at least one intervention parameter in the lateral guidance of the vehicle is particularly preferably varied, controlled, regulated and / or adapted depending on at least one parameter of the traffic situation, wherein an at least partially automated lateral guidance of the vehicle, in particular a transverse guidance component of a driving maneuver, depends on the at least one parameter of the traffic situation in front of the preceding vehicle are controlled. In addition, a longitudinal guide, in particular a so-called longitudinal-transverse vehicle guidance, can also be controlled. In this case, a desired or suitable interaction of a longitudinal-transverse vehicle guidance can also be set or controlled adaptively.

Also, intervention parameters may be controlled in the lateral guidance of the vehicle in the method depending on a detected intention of the driver to perform a particular maneuver or maneuver phase or to select the time to perform at least one maneuver phase.

For example, it is detected by means of the vehicle, in particular with a so-called hands-on sensor in the steering wheel of the vehicle, that the driver has one or two hands on the hand Steering wheel stops. Furthermore, it can be recognized that the driver does not provide sufficient counteraction to an at least partially automated steering torque. Furthermore, depending on at least one parameter of the traffic situation in front of the vehicle ahead, an avoidance parameter and / or return parameter of a driving maneuver, in particular an evasive maneuver and / or a steering maneuver, are controlled.

One or more parameters of the traffic situation ahead of the preceding vehicle may be included in the method, e.g. be evaluated and taken into account with different means of the vehicle, in particular with a sensor, by means of sensor fusion etc. Preferably, these parameters relate to circumstances that do not directly affect the vehicle itself and / or are not directly evaluable for the driver of the vehicle.

Particularly preferably, the parameters of the traffic situation in front of the preceding vehicle also relate to the course of the lane of the ego vehicle and comprise the vehicle in front and in front of the vehicle in front on the same lane or in the same direction. Alternatively or additionally, the traffic situation on at least one neighboring lane or crossing or merging lanes or roads can also be taken into account.

The method can be applied to several different types of maneuvers. The maneuver may be, for example, an evasive maneuver, threading maneuvers, lane change maneuvers, a so-called zipper process, or a particular phase of such maneuvers. In this case, in particular one or more parameters for controlling the transverse guidance of the vehicle, for example regarding a distance to other objects in the transverse direction, can be controlled.

At least one intervention parameter in the lateral guidance of the vehicle may also relate to the lane markings and / or to movable or immovable objects or to objects of certain classes in the surroundings of the vehicle.

For example, an intervention parameter in the lateral guidance of the vehicle may represent the conditions in which an intervention is made in the lateral guidance of the vehicle. For example, an intervention parameter in the lateral guidance of the vehicle indicates the exceeding of, for example, lateral, safety distance to certain objects in the surroundings of the vehicle (for example crash barriers, trucks, etc.). In this case, a (certain) haptic signaling is generated by the steering wheel of the vehicle and / or an automatic steering torque and / or an at least partial reduction of a driver intended steering and / or a counter-steering torque.

Also, in the method, a setpoint or controlled variable, which is indicative of an intervention parameter in the transverse guidance of the vehicle when falling below a lateral safety distance of the vehicle, in particular to an object of a particular class (trucks, passenger cars, motorcycles, etc.) depending on the Traffic situation before the vehicle in front to be adjusted.

The method may also include a predictive configuration and / or preconditioning of the intervention parameters in the lateral guidance of the vehicle for an at least partially automated maneuver of a particular type. The configuration and / or preconditioning can be carried out before the start of the maneuver or in an initial stage of the maneuver. For example, the success of the maneuver can also be estimated depending on the determined parameter of the traffic situation in front of the preceding vehicle, in particular in a forward-looking manner.

Furthermore, the method may also include adapting and / or weighting various (regulatory) criteria as a function of the traffic situation in front of the preceding vehicle.

In the method, at least one intervention parameter is preferably controlled in the transverse guidance of the vehicle during the execution of an evasive maneuver and / or a steering maneuver. In this case, there may be a control, in particular adaptation, of the intervention parameters in the transverse guidance of the vehicle at least twice, in particular multiple, in the course of an evasive maneuver and / or at least twice, in particular several times, in the course of a return maneuver.

At least one intervention parameter in the lateral guidance of the vehicle during the execution of an evasive maneuver and / or a steering maneuver is particularly preferably controlled as a function of a parameter of the traffic situation in front of the preceding vehicle, which was at least partially detected or determined in the near past.

A control, in particular a cyclic adaptation, of at least one intervention parameter into the lateral guidance of the vehicle, in particular depending on a respective current (or updated or last available) value of the parameter of the traffic situation in front of the preceding vehicle, can take place. Alternatively, at least one intervention parameter in the transverse guidance of the vehicle can also depend on a substantially before Start the evasive maneuver detected (and in a certain form cached, processed or interpreted) parameters of the traffic situation in front of the vehicle ahead.

For example, if (before the start of an evasive maneuver and / or before the presence of an increased collision probability with the vehicle in front) it has been determined that at least one vehicle in front of the vehicle ahead major deviations in terms of its lateral guidance, in particular its tracking (eg within a time interval of greater 5-30 seconds), a parameter of an evasive maneuver (which will only occur later, in particular as a result of this) than the vehicle in front can be adjusted. For example, a lateral distance to the vehicle in front of the preceding vehicle differently, in particular (possibly forward-looking) are selected to be larger.

One or more parameters of the traffic situation ahead of the preceding vehicle may be included in the method, e.g. by means of the vehicle, evaluated and taken into account. More preferably, in the process, one or more times, e.g. cyclically or event-controlled, preferably real-time capable, detected parameters of the traffic situation are taken into account. In this case, a change, in particular a temporal and / or spatial gradient, of a parameter can also be regarded as a parameter.

Furthermore, in the method, at least one parameter of the traffic situation in front of the preceding vehicle can also be determined as a function of a road and / or lane course of the roadway in the current roadway section. For example, a lateral guidance of at least one vehicle ahead of the preceding vehicle or a consequent conclusion on the traffic situation in front of the preceding vehicle is determined as a function of a road and / or lane course of the roadway in which these road users are located. Information about the road and / or lane course of the roadway in a relevant roadway section can thereby, e.g. from position information of the vehicle and a digital map.

For example, a parameter representing an increase in a risk of collision between at least two road users in front of the ego vehicle, which itself are not the ego vehicle, can also be regarded as a parameter of the traffic situation in front of the preceding vehicle.

For the purposes of this description, the preceding vehicle or the "front person" is to be understood as the vehicle which is in front of the vehicle in a distance (1 to 50 meters or 1 to 100 meters) relevant to the manual or at least partially automated guidance of the vehicle. especially on the lane of the vehicle, drives. The meaningfulness of this feature is also explained by the fact that the vehicle driving ahead and possibly a vehicle ahead of it can be detected by means of a sensor of the vehicle. As the traffic situation in front of the vehicle in front is to understand mutatis mutandis, the traffic situation in front of the vehicle, which was at least at the beginning of the evasive maneuver and / or Rücklenkmanövers the preceding vehicle.

Such parameters may in a simple case be relative motion parameters between road users ahead of the vehicle ahead and / or collision probabilities and / or consequences of a possible, probable or unavoidable collision.

Further, a parameter to be considered that represents a tracking of a road user ahead of the preceding vehicle may be, for example, an offset (exceeding a predetermined value or fluctuating) relative to a track line. Also, a lateral offset exceeding or exceeding a predetermined value between at least one vehicle ahead of the preceding vehicle may be shifted to another vehicle, e.g. the preceding vehicle.

Preferably, at least one parameter of the traffic situation in front of the preceding vehicle refers to a condition that is relevant to the driver of the vehicle, e.g. from the perspective of the driver, not perceptible, for example, covered by at least one other vehicle is.

Particularly preferably, the parameters relate to the course of the lane of the ego vehicle and include the vehicle in front and in front of the fore vehicle on the (own) lane or direction road users. Alternatively or additionally, the traffic situation on at least one adjacent lane or on intersecting or merging lanes or roads can also be taken into account.

In certain cases, in particular depending on predetermined criteria, the method may also provide for controlling the longitudinal dynamics and / or the lateral dynamics of the vehicle in connection with at least partially automated avoidance maneuvers and / or lane change maneuvers.

In particular, the intervention parameters in the transverse guidance of the vehicle for assisting or carrying out emergency braking or target braking on a moving target as a function of a traffic situation in front of the preceding vehicle is likewise scope of the expanded invention.

In one development of the invention, at least one parameter of the transverse guidance of the vehicle is controlled in a maneuver which includes at least one avoidance phase with or without lane change or a return phase into the preceding ego lane. In this case, the avoidance phase can refer to the avoidance of the vehicle in front, for example, to avoid a collision.

• – Erzeugen eines Lenkmoments am Lenkrad und/oder
• – Erzeugen einer Lenkradvibration und/oder
• – Steuerung der Dauer oder eines zeitlicher Verlaufs des Lenkmoments und/oder der Lenkradvibration.

In one development of the invention, the at least one intervention parameter represents an actuation of an actuator connected to the steering wheel, which is provided at least for haptic signaling to the driver of the vehicle, the intervention parameter in particular relating to:

• - Generating a steering torque on the steering wheel and / or
• Generating a steering wheel vibration and / or
• - Controlling the duration or a time course of the steering torque and / or the steering wheel vibration.

For example, an amplitude, a frequency, a direction and / or a pattern of haptic signaling, in particular by the steering wheel of the vehicle, depending on the traffic situation in front of the preceding vehicle are controlled.

• – Verändern eines Lenkwinkels der Vorderräder des Fahrzeugs und/oder
• – Verändern eines Lenkwinkels der Hinterräder des Fahrzeugs und/oder
• – Aufteilung der Bremskraft zwischen zumindest zwei Rädern des Fahrzeugs und/oder
• – Aufteilung einer Antriebskraft zwischen zumindest zwei Rädern des Fahrzeugs und/oder
• – Kombination aus einer Bremskraft an zumindest einem Rad und einer Antriebskraft an einem anderen Rad des Fahrzeugs und/oder
• – Drehung des Lenkrads des Fahrzeugs um einen bestimmten Winkelwert.

In one development of the invention, the at least one intervention parameter represents one or more of the following interventions in the transverse guidance of the vehicle:

• - Changing a steering angle of the front wheels of the vehicle and / or
• - Changing a steering angle of the rear wheels of the vehicle and / or
• - Distribution of the braking force between at least two wheels of the vehicle and / or
• - Distribution of a driving force between at least two wheels of the vehicle and / or
• A combination of a braking force on at least one wheel and a driving force on another wheel of the vehicle and / or
• - Rotation of the steering wheel of the vehicle by a certain angle value.

In a further development of the invention, in the presence of an increased risk of collision of the ego vehicle with the front vehicle, the probability of avoidance of the front vehicle is determined on a different track, wherein at least one intervention parameter for performing a target braking of the vehicle is adjusted to the front vehicle, if the fallback probability of the front vehicle the alternate lane of the ego vehicle is less than a predetermined value. Alternatively or additionally, assistance or execution of a target braking of the vehicle to the front-fore vehicle is carried out if the probability of avoidance of the preceding vehicle on the avoidance lane of the ego vehicle is greater than a predetermined value.

• – eine (wahrscheinliche) Kollision oder Störung zwischen einem vorausfahrenden Fahrzeug und einem (unmittelbar) vor dem vorausfahrenden Fahrzeug fahrenden Fahrzeug repräsentiert und/oder
• – eine (wahrscheinliche) Kollision oder Störung zwischen einem vorausfahrenden Fahrzeug und einem weiteren Verkehrsteilnehmer repräsentiert und/oder
• – eine (wahrscheinliche) Kollision oder Störung zwischen einem Fahrzeug vor dem vorausfahrenden Fahrzeug und einem weiteren Verkehrsteilnehmer repräsentiert und/oder
• – ein (bereits in Ausführung befindliches) Ausscheren und/oder eine fahrerische Absicht des zumindest einen Verkehrsteilnehmers vor dem Vordermann repräsentiert.

In one embodiment of the invention, at least one parameter of the traffic situation in front of the preceding vehicle is considered, the

• Represents a (probable) collision or interference between a preceding vehicle and a vehicle (immediately) ahead of the preceding vehicle and / or
• Represents a (probable) collision or disturbance between a preceding vehicle and another road user and / or
• Represents a (probable) collision or disturbance between a vehicle in front of the preceding vehicle and another road user and / or
• - represents a (already in execution) Ausscheren and / or a driving intent of the at least one road user in front of the car in front.

In this case, a combination of the mentioned parameters is particularly preferably taken into account.

In one development of the invention, at least one parameter of the traffic situation before the preceding vehicle is taken into account, which represents a relative position and / or relative movement between a preceding vehicle and another road user and / or a collision probability between the preceding vehicle and another road user.

In particular, such a collision probability may relate to the likelihood of a side collision or a collision with a pedestrian.

In one development of the invention, the parameter of the traffic situation in front of the preceding vehicle represents a probability of a collision or disturbance in a destination lane of the vehicle, in particular in a (possible or probable) alternate lane, within a certain time interval.

As a destination lane of the vehicle is meant a lane lane of a multi-lane roadway. This may differ from the current ego lane, ie the lane used by the vehicle so far.

In one development of the invention, an alternative probability of a vehicle ahead is determined on a deviating from the ego lane of the vehicle target track of the vehicle and adjusted one or more intervention parameters in the lateral guidance of the vehicle depending on the calculated fallback probability.

Such an adjustment may preferably be made before the vehicle changes to a destination lane.

For example, the parameter of the traffic situation before the preceding vehicle already represents such an alternative probability of the preceding vehicle on the alternate lane of the ego vehicle or this is determined taking into account at least one parameter of the traffic situation before the preceding vehicle.

In one development of the invention, at least one intervention parameter in the transverse guide of the vehicle comprises a change in the mathematical relationship between an actuation of the steering wheel and the change in the (at least effective, resulting) steering angle. Such a mathematical relationship may be, in particular, a steering angle ratio (relationship between the steering angle or the steering angle speed and the wheel angle). Thus, in the method, the steering angle conversion depending on the traffic situation in front of the preceding vehicle, for example, for a certain duration or at least part of the maneuver phase, be adjusted. Furthermore, further interventions in the chassis of the vehicle can be performed.

In one embodiment of the invention, an intervention parameter is varied in the transverse guidance of the vehicle for at least one maneuver phase of the at least partially automated maneuver, wherein the maneuver phase is selected depending on the traffic situation in front of the person in front. In this case, a different variation of the at least one intervention parameter into the transverse guidance of the vehicle can preferably take place for at least two different maneuver phases.

In one development of the invention, a plurality of intervention parameters are regulated in the transverse guidance of the vehicle as a function of the parameters of the traffic situation in front of the vehicle in front.

It is also possible to take into account (dynamic) changes in the parameters of the traffic situation or a time profile of such parameters in the regulation of the at least one intervention parameter in the transverse guidance of a vehicle.

Preferably, a corresponding (ideally adaptive) tracking of the parameters takes place, in particular when changing the parameters of the traffic situation in front of the vehicle in front, even during the execution of the at least partially automated maneuver.

The change in the traffic situation can be represented in the form of a measure of the change in the parameter of the traffic situation per time unit or local unit, in particular as a derivation of the parameter of the traffic situation according to time or distance.

The dynamics of the change in the traffic situation can also be taken into account.

Particularly preferably, the time profile of a steering torque and / or a steering angle is regulated by means of the vehicle.

In this case, a corresponding regulation of the parameters (the quantitative measures) for the avoidance and / or return times, the trajectory, etc. take place.

• – automatische Ausführung eines Manöverteils, wobei hinreichendes Lenkmoment auf das Lenkrad des Fahrzeugs aufgebracht wird, um das Fahrzeug ohne Fahrermitwirkung zu lenken;
• – eine unterstütze Ausführung eines Manöverteils, wobei ein solches Lenkmoment auf das Lenkrad des Fahrzeugs aufgebracht wird, dass der Fahrer eine Unterstützung bei einer Lenkbewegung in eine bestimmte Richtung empfindet und diese übersteuern kann;
• – eine übersteuerbare Hinderung eines Ausweichvorgangs durch den Fahrer zumindest in eine bestimmte Richtung, wobei auf ein Lenkmoment des Fahrers hin in eine Richtung ein übersteuerbares Lenkmoment in eine entgegengesetzte Richtung folgt;
• – einer Fahrermotivation, insbesondere eine haptische Information repräsentierend eine Warnung, insbesondere eine Warnung in Bezug auf eine bestimmte Richtung.

In one development of the invention, at least one intervention parameter is varied, in particular regulated, in the transverse guidance of the vehicle such that, during the execution of the maneuver, it assumes, at least temporarily, at least one (or two) of the following measures:

• - Automatic execution of a maneuver part, wherein sufficient steering torque is applied to the steering wheel of the vehicle to steer the vehicle without driver involvement;
• An assisted embodiment of a maneuvering part, such steering torque being applied to the steering wheel of the vehicle, that the driver is assisting and oversteering a steering movement in a certain direction;
• - An over-controllable prevention of an avoidance operation by the driver at least in a certain direction, which follows a steering torque of the driver in one direction oversteer steering torque in an opposite direction;
• A driver motivation, in particular a haptic information representing a warning, in particular a warning with respect to a particular direction.

In this case, depending on at least one parameter of the traffic situation in front of the front vehicle, different decision options for the avoidance and for the return steering can be carried out.

In one development of the invention, at least one intervention parameter is controlled in the transverse guidance of the vehicle as a function of the change in the traffic situation and / or dependent on a predicted parameter of the traffic situation in a near future, in particular of a (with a certain probability) extrapolated traffic situation.

The traffic situation in front of the preceding vehicle can be determined on the basis of several measurements. This can refer to a near past, in particular less than 30 sec in the past, to the current time. In the process, a parameter of the traffic situation extrapolated for the near future in front of the preceding vehicle can also be determined and taken into account.

In a further development of the invention, the maneuver relates to an evasive maneuver, a lane change maneuver, a threading maneuver or a zipper method, wherein the maneuver is executed at a detected increased collision probability of the vehicle with a vehicle in front.

In particular, the method may be carried out when (under unchanged conditions) a collision threatens within a predetermined period of time (for example <6 or <4 or <2 seconds).

• – einem Parameter einer (wahrscheinlichen) Kollision oder Störung zwischen einen Vordermann und einem Vorvordermann, und/oder
• – einem Parameter einer (wahrscheinlichen) Kollision oder Störung zwischen einem Vordermann und einem weiteren Verkehrsteilnehmer, und/oder
• – einem Parameter einer (wahrscheinlichen) Kollision oder Störung zwischen einem Vorvordermann und einem weiteren Verkehrsteilnehmer, und/oder
• – einem Ausscheren und/oder einer fahrerischen Absicht, insbesondere betreffend die Querführung zumindest eines Verkehrsteilnehmers vor dem Vordermann.

According to one embodiment, the method may include the following aspects:
A parameter of engagement in the lateral guidance of the vehicle is controlled depending on at least:

• A parameter of a (probable) collision or disturbance between a car in front and a car in front and / or
• A parameter of a (probable) collision or disturbance between a person in front and another road user, and / or
• A parameter of a (probable) collision or disturbance between a previous leader and another road user, and / or
• - a Ausscheren and / or a driver's intention, in particular concerning the transverse guidance of at least one road user in front of the person in front.

• – Zeitpunkt und/oder Ort der Kollision (z.B. TTC = „Time-To-Collision“);
• – Wahrscheinlichkeit einer Kollision;
• – zumindest zwei Wahrscheinlichkeitswerte für eine oder mehrere Varianten einer oder mehreren Kollisionen oder Störungen;
• – eine Weiterbewegung zumindest eines Kollisionspartners nach einer (wahrscheinlichen) Kollision.

In this case, parameters of the collisions can be, for example:

• Time and / or location of the collision (eg TTC = time-to-collision);
• - probability of a collision;
• At least two probability values for one or more variants of one or more collisions or disturbances;
• - A further movement of at least one collision partner after a (probable) collision.

In a development of the invention, it is considered with which probability a collision or disturbance in the target lane of the at least partially automated maneuver, in particular within a specific time interval, can occur, the target lane being a lane currently or previously traveled by the vehicle.

In particular, the likelihood of a collision or disturbance relates to an oncoming road user. This can be when the (possible) alternative lane is a counter lane or when another road user (from a "next but one lane") overtakes.

Certain decision variants and / or intervention parameters in the transverse guidance of the vehicle can also be selected in the method as a function of a pattern of the traffic situation in front of the preceding vehicle (recognized by means of the vehicle). In particular, these may be patterns of changing the parameters of the traffic situation. In particular, a "pattern" is a combination or sequence of the respective parameters, e.g. to understand as parameter value ranges.

The method may include the execution or a, in particular, anticipatory, configuration of an at least partially automated maneuver, wherein the maneuver is initiated or carried out at least partially automatically before an increased collision probability of the vehicle with its preceding vehicle occurs.

At least one parameter of the traffic situation in front of the preceding vehicle can be determined as a function of a device outside the vehicle. Parameters of the traffic situation can be relative movement parameters between road users from the front of the vehicle to the front and / or collision probabilities and / or consequences of a possible, probable or unavoidable collision.

Preferably, at least one parameter of the traffic situation in front of the preceding vehicle can be determined as a function of radar waves emitted by the radar of the vehicle, pass under the vehicle in front and be received and evaluated by the radar of the vehicle in turn after the reflection of one or more road users in front of the preceding vehicle. It can be decided in the process, eg by means of specially configured methods, for example based on digital filters, that these radar waves identify one or more road users in front of the preceding vehicle. Furthermore, a relative position and / or a relative speed, eg depending on the data representing this part of the radar waves, can be determined and from this a parameter of the traffic situation in front of the preceding vehicle can be generated.

As a parameter of the traffic situation in front of the preceding vehicle, for example, an offset of the wheels of at least one road user in relation to another road user, in particular in the transverse direction (in the direction substantially perpendicular to the direction of travel), can be determined.

Alternatively or additionally, as a parameter of the traffic situation in front of the preceding vehicle, in particular concerning at least one road user, who drives directly in front of the preceding vehicle, by so-called Car-2-Car, Car-2 infrastructure, backend or at least one sensor outside the vehicle (For example, on a motorway bridge) a class (object class), a speed value and / or the order of the road users are determined. From this, the probabilities or the consequences of a collision in front of the vehicle can be (co) determined or the relative movement parameters or collision parameters detected by means of the vehicle can be confirmed, corrected or rejected.

• – einer unterstützten Querführung des Fahrzeugs zum Ausweichen, wobei ein Lenkradeingriff nur erfolgt, wenn festgestellt wird, dass der Fahrer eindeutig seine Ausweichentscheidung äußert,
• – einer (übersteuerbaren) Hinderung eines Ausweichvorgangs durch den Fahrer zumindest in eine bestimmte Richtung, wenn festgestellt wird, dass das Ausweichen einen wesentlichen Nachteil für das Fahrzeug oder einen weiteren Verkehrsteilnehmer mit einer gewissen Wahrscheinlichkeit nach sich ziehen wird,
• – einer Fahrermotivation insbesondere in Form einer haptischen oder kinästhetischen Information dazu, ein Ausweichmanöver durchzuführen und/oder zu unterstützen und/oder automatisiert weiterführen zu lassen, wenn festgestellt wird, dass ein Ausweichen einen erheblichen Vorteil gegenüber einem Bremsen bietet,
• – einem Ausweichmanöver, das (zu einem hohen Grad) automatisiert durchgeführt wird, wenn festgestellt wird, dass anderenfalls wesentlich höhere Risiken entstehen.

Preferably, depending on a parameter of the traffic situation in front of the vehicle in front, a decision is made between:

• A supported transverse guidance of the vehicle for avoiding, wherein a steering wheel engagement takes place only if it is determined that the driver clearly expresses his avoidance decision,
• - a (overridable) prevention of an avoidance by the driver at least in a certain direction, if it is determined that the avoidance will cause a significant disadvantage for the vehicle or another road user with a certain probability,
• Driver motivation, in particular in the form of haptic or kinaesthetic information, to perform and / or assist an evasive maneuver and / or to carry it on automatically if it is determined that evasion offers a considerable advantage over braking,
• - an evasive maneuver that is automated (to a high degree) if it is determined that otherwise it will result in significantly higher risks.

In this case, depending on at least one parameter of the traffic situation in front of the front vehicle, different decision options for the avoidance and for the return steering are executed.

Preferably, the decision options and / or parameters for a dodge and the decision options and / or parameters for a return to a lane are different depending on the traffic situation.

In a preferred embodiment, at least one parameter of the traffic situation in front of the preceding vehicle is determined as a function of a received echo of the radar waves emitted by the vehicle radar, passed under the preceding vehicle and reflected by at least one other road user (in front of the fore vehicle) ,

Particularly preferably, a parameter of the longitudinal guidance and / or transverse movement of a road user ahead of the vehicle ahead can also be determined as a function of such an echo and taken into account as a parameter of the traffic situation in front of the preceding vehicle. In this case, e.g. also an outrising and / or a driving intent of at least one road user ahead of the preceding vehicle for a near future are determined and taken into account.

• – Das Vorderfahrzeug übermittelt unmittelbar oder mittelbar einen Parameter zur Verkehrssituation vor ihm an das Ego-Fahrzeug, insbesondere betreffend Objekte, die er selbst aus der Perspektive des Ego-Fahrzeugs bzw. dessen Sensorik verdeckt.
• – Anschließend werden die Positionsparameter, z.B. lokale oder globale Koordinaten des Vordermanns und zumindest eines sich vor dem Vordermann befindlichen Objekts (Vor-Vordermann) verglichen.

Alternatively or additionally, the parameter of the traffic situation in front of the preceding vehicle can also be determined by other means, for example by means of a wireless connection; eg by means of the following method steps:

• The front vehicle transmits, directly or indirectly, a parameter relating to the traffic situation in front of it to the ego vehicle, in particular regarding objects which it conceals itself from the perspective of the ego vehicle or its sensor system.
• - Subsequently, the position parameters, such as local or global coordinates of the car in front and at least one located in front of the person in front (Vor-Vordermann) are compared.

At least a part of the method, preferably determining a parameter of the traffic situation in front of the vehicle ahead, can with Means of a, in particular designed for this purpose, carried in the vehicle mobile user device (the driver) done.

To the control device:
In another aspect, the invention comprises a control device for the transverse guidance of the vehicle for carrying out the method, a control or regulating unit, in particular comprising a corresponding computer program for an electronic control unit.

• – Ermitteln zumindest eines Parameters betreffend die Verkehrssituation vor einem vorausfahrenden Fahrzeug, insbesondere mittels von Radarwellen, die unter dem vorausfahrenden Fahrzeug durchgehen, und
• – Variieren zumindest eines Parameters der Querführung des Fahrzeugs abhängig von dem ermittelten Parameter, ferner bevorzugt ausgestaltet zur
• – Steuerung, insbesondere Regelung des Parameter der Querführung des Fahrzeugs abhängig von dem Parameter der Verkehrssituation vor dem vorausfahrenden Fahrzeug während der Durchführung des zumindest teilweise automatisierten Manövers; Ferner kann die Steuervorrichtung ausgestaltet sein, zur Ausführung des Verfahrens nach einem oder mehreren der beschriebenen Merkmale. Unter dem Begriff „Verfahren“ wird das erfindungsgemäße Verfahren verstanden.

Preferably, the control device is designed to carry out an at least partially automated maneuver of a vehicle for:

• Determining at least one parameter concerning the traffic situation in front of a preceding vehicle, in particular by means of radar waves passing under the preceding vehicle, and
• - Varying at least one parameter of the lateral guidance of the vehicle depending on the determined parameter, further preferably designed for
• - Control, in particular control of the parameter of the lateral guidance of the vehicle depending on the parameter of the traffic situation in front of the vehicle ahead during the implementation of the at least partially automated maneuver; Furthermore, the control device can be designed to carry out the method according to one or more of the features described. The term "process" is understood to mean the process according to the invention.

To the computer program:
The invention further comprises a computer program, in particular a computer program product comprising the computer program, wherein the computer program is formed on a data processing device of the vehicle or the mobile user device part of the inventive method or an advantageous embodiment of the method according to one or more features of the method in its execution perform. In particular, the computer program is a software program which, for example, can run as an app (= "application") on a control device installed or carried in the vehicle. A part of the control device can be a mobile user device.

The computer program comprises an executable program code which executes at least a part of the method when executed by a data processing device.

The computer program product can be designed as an update of a previous computer program, which includes, for example as part of a functional extension, for example in the context of a so-called remote software updates the parts of the computer program or the corresponding program code for a corresponding control device of the vehicle.

If there is talk of a vehicle in this case, it is preferably a multi-lane motor vehicle (cars, trucks, vans) or a motorcycle. This results in several explicitly described in the context of this document as well as several more for the expert traceable advantages. A particularly great advantage results when applied to an at least partially automated vehicle. Alternatively, the vehicle may be an aircraft or a watercraft, the method being applied mutatis mutandis to aircraft. In this case, in particular virtual flight corridors or driving corridors for watercraft may apply as driving lanes. In the case of an aircraft, the method may be applied three-dimensionally and / or in relation to three-dimensional lanes.

In the drawing, an embodiment of the invention is shown without limiting the generality. The single figure shows schematically possible decision options depending on a possible traffic situation in front of the front vehicle.

In the figure, a three-lane road is shown with a track S1 of the ego vehicle 1 and a possible escape lane S2. The ego vehicle 1 is with a known per se electronic control unit 2 equipped, which contains a functional module according to the invention (realized here with a computer program), which is designed (in particular programmed) such that at a detected increased collision probability of the ego vehicle 1 with a vehicle in front 3 an assistance of the driver in an evasion A and / or braking B and / or in returning R (from the escape lane S2 in the previously abandoned track S1) depending on the traffic situation in front of a preceding vehicle 3 is controlled. Preferably, intervention parameters are adapted to the lateral guidance of the vehicle as a function of at least one parameter of the traffic situation, in particular with foresight.

In particular, other road users before the preceding vehicle 3 considered, such as a vehicle 4 ("Front foreman" or "front fore vehicle") in front of the preceding vehicle 3 or an oncoming vehicle 5 on the alternate lane S2.

The control unit 2 is configured to modulated radar waves or light from a sensor of the vehicle 1 , in particular of a radar or LIDAR of the vehicle 1 to emit, in particular such that a part of the radar waves or the light under a preceding vehicle 3 goes through and possibly one ahead of the vehicle ahead 3 located road users 4 is reflected.

Further, the control unit 2 configured, a parameter of the traffic situation depending on the with the sensor of the vehicle 1 received by a road user 4 in front of the vehicle in front 3 to process reflected part of the light.

The control unit ( 2 ) is also configured to control or adjust an intervention parameter in the lateral guidance of the vehicle as a function of at least one parameter of the traffic situation.

• – ein unterstütztes Lenkmanöver mit einem Lenkradeingriff erfolgt nur, wenn festgestellt wird, dass der Fahrer eindeutig seine Ausweichentscheidung äußert;
• – eine vom Fahrer übersteuerbare Verhinderung eines Lenkmanövers durch den Fahrer, wenn festgestellt, wird, dass das Ausweichmanöver einen wesentlichen Nachteil für das Fahrzeug 1 oder einen weiteren Verkehrsteilnehmer 3, 4 oder 5 mit einer gewissen Wahrscheinlichkeit nach sich führen wird;
• – eine Fahrermotivation, ein bestimmtes Lenkmanöver (z.B. ausweichen oder zurückkehren) durchzuführen, dieses zu unterstützen und/oder automatisiert weiterführen zu lassen;
• – einem Ausweichmanöver (zu einem hohen Grad) automatisiert durchzuführen, wenn festgestellt wird, dass andernfalls wesentlich höhere Risiken entstehen würden.

In this example of the method become dependent on the situation in front of the vehicle ahead 3 be decided between the following measures:

• A supported steering maneuver with a steering wheel intervention takes place only if it is determined that the driver clearly expresses his avoidance decision;
• - Overridden by the driver overridden steering maneuver by the driver, if it is determined that the evasive maneuver a significant disadvantage for the vehicle 1 or another road user 3 . 4 or 5 with a certain probability will lead to;
• A driver's motivation to perform a specific steering maneuver (eg avoiding or returning), to support this and / or to have it continued automatically;
• - automate an evasive maneuver (to a high degree) if it is determined that otherwise it would create significantly higher risks.

In a further example of the method are dependent on the situation in front of the vehicle ahead 3 in the presence of an increased risk of collision of the ego vehicle 1 with the front vehicle 3 the probability of avoidance of the fore vehicle 3 determined on another lane S2, wherein a support or implementation of a target braking B of the vehicle 1 on the fore vehicle 3 is executed when the probability of avoidance of the front vehicle 3 on the alternate lane S2 of the ego vehicle 1 is less than a predetermined value, or assistance or execution of a target braking B of the vehicle 1 on the fore-front vehicle 4 is executed when the probability of avoidance of the front vehicle 3 on the alternate lane S2 of the ego vehicle 1 greater than a predetermined value.

The control device for the transverse guidance of the vehicle 1 In this example, it is configured to determine at least one parameter relating to the traffic situation in front of a preceding vehicle 3 and for varying at least one parameter of the lateral guidance of the vehicle 1 depending on the determined parameter. Furthermore, the control device or the control unit 2 preferably configured, the at least one parameter of the lateral guidance of the vehicle 1 depending on the parameter of the traffic situation in front of the preceding vehicle 3 during the execution of the at least partially automated maneuver control. Basically, the term "controlling" also means to regulate, adapt or vary.

The control unit 2 This is in a known manner associated with this required sensors or sensor data suppliers. The control device according to the invention may have one or more control units described. For example, the functional module for carrying out the method according to the invention can be divided into a first part, which runs in an integration control unit for driver assistance systems, and a second part, which is operated, for example, on a computing unit of a radar system or camera system.

Claims (11)

Method for the transverse guidance of a vehicle ( 1 ) by means of an electronic control unit ( 2 ), wherein at least one intervention parameter in the transverse guidance of the vehicle ( 1 ) depending on at least one parameter of the traffic situation in front of the preceding vehicle ( 3 ) is controlled. The method of claim 1, wherein at least one Intervention parameter in the transverse guidance of the vehicle ( 1 ) comprises actuation of an actuator connected to the steering wheel in order to carry out at least one of the following interventions: generating a steering torque on the steering wheel and / or generating a steering wheel vibration and / or controlling the duration and / or a time course of the steering torque; and / or the steering wheel vibration. Method according to one of the preceding claims, wherein one or more of the following engagement parameters in the transverse guidance of the vehicle ( 1 ): steering angle of the front wheels of the vehicle ( 1 ) and / or steering angle of the rear wheels of the vehicle ( 1 ) and / or - distribution of the braking force between at least two wheels of the vehicle ( 1 ) and / or - distribution of a driving force between at least two wheels of the vehicle ( 1 ) and / or - a combination of a braking force on at least one wheel and a driving force on another wheel of the vehicle ( 1 ) and / or - turning the steering wheel of the vehicle ( 1 ) by a certain angle value. Method according to one of the preceding claims, wherein one or more intervention parameters in the transverse guidance of the vehicle ( 1 ) comprises a change in the relationship between an operation of the steering wheel by the driver and the change in the steering angle. Method according to one of the preceding claims, characterized in that one or more intervention parameters in the transverse guidance of the vehicle ( 1 ) depending on one or more parameters of the traffic situation in front of the preceding vehicle ( 3 ) are controlled during the execution of at least one maneuver phase. Method according to one of the preceding claims, wherein at least one intervention parameter in the transverse guidance of the vehicle ( 1 ) is varied for at least one maneuver phase of the at least partially automated maneuver, wherein different values or value changes of the at least one intervention parameter in the transverse guidance of the vehicle ( 1 ) are implemented for at least two different maneuvering phases. Method according to one of the preceding claims, characterized in that at least one parameter of a possible collision or interference between the vehicle ( 1 ) and the vehicle in front ( 3 ) depending on one or more relative motion parameters or a collision between the preceding vehicle ( 3 ) and another road user ( 4 ; 5 ) and in the control of at least one intervention parameter in the transverse guidance of the vehicle ( 1 ) is taken into account. Method according to one of the preceding claims, wherein at least one intervention parameter in the transverse guidance of the vehicle ( 1 ) is controlled, varied and / or regulated such that during the execution of the maneuver at least temporarily at least one of the following results: - automatic execution of a maneuver phase, with sufficient steering torque on the steering wheel of the vehicle ( 1 ) is applied to the vehicle ( 1 ) to steer without driver involvement; A supported execution of a maneuver phase, such a steering torque being applied to the steering wheel of the vehicle ( 1 ) is applied, that the driver feels support in a steering movement in a certain direction and can override this; - An oversteerable hindrance of an evasive action of the driver at least in a certain direction, wherein on a steering torque of the driver out in one direction oversteer steering torque in an opposite direction; A driver motivation in relation to a control in a certain direction. Method according to one of the preceding claims, wherein at least one intervention parameter in the transverse guidance of the vehicle ( 1 ) depending on a change in the traffic situation and / or depending on a pre-determined parameter of the traffic situation in front of the preceding vehicle ( 3 ) is controlled in a near future. Method according to one of the preceding claims, in which it is also taken into account with what probability a collision or disturbance can occur in the target lane of the at least partially automated maneuver, wherein the target lane is currently or previously off the vehicle ( 1 ) is busy track. Control device for a motor vehicle ( 1 ) for the transverse guidance of the vehicle ( 1 ) comprising a control unit designed to carry out the method according to one of the preceding claims, comprising a corresponding computer program for an electronic control unit ( 2 ).

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