DE102018112202A1 - Method and device for recognizing a lane change by a vehicle - Google Patents

Abstract

The invention relates to a method for detecting a lane change or leaving a lane (2) having at least one lane marking (6) or leaving at least one lane marking by a vehicle 81), comprising at least the following steps: detecting the lane marking (6) or the lane marking, determining whether a first reference point (20) of the vehicle (1) arranged on a first vehicle side and a second reference point (24) arranged on the second vehicle side opposite to the first vehicle side and on this side of the lane marking (6 or, if so, monitoring whether the first reference point (20) of the vehicle (1) having the lane marker (6) or the lane marker has a first coverage level greater than a predetermined first boundary coverage gsgrad, and if so, generating an optical, audible and / or haptic detectable first warning signal (38) at a first time (t1), and then deactivating the first warning signal (38) if a predetermined first time period (T1) the first time point (t1) has elapsed, or if it has been determined that the first reference point (20) has passed beyond the lane marking (6) or the lane marking and is now beyond the lane marking (6) or the lane marking, and then Monitoring whether the second reference point (24) with the lane marker (6) or with the lane mark has a second overlap degree greater than a predetermined second overlap coverage level or if the second reference point (24) extends beyond the lane marker (6) or lane mark has arrived and is now beyond the lane marking 86) or the lane marking, and if this is the Fa II is generating an optical, acoustic and / or haptic detectable second warning signal (38) at a second time (t2).

Description

The invention relates to a method and a device for detecting a lane change or leaving a lane having at least one lane marking or a lane having at least one lane marking by a vehicle, according to claims 1 and 10.

The invention also relates to a lane change assistance system or lane keeping assistance system including one according to claim 18.

A method and a device for recognizing a lane change or leaving a lane having at least one lane marking or a lane leaving at least one lane marking by a vehicle are known from the prior art in the form of lane departure warning systems or lane change assistants, such as in DE 10 2008 051 700 A1 described.

The present invention is based on the object of developing an aforementioned method and an aforementioned device such that for the driver of the vehicle leaving the lane or the road is detected safer. Furthermore, a lane-keeping assistance system or lane change assistance system including such a device should also be provided.

This object is achieved by the features of claims 1, 10 and 18.

Disclosure of the invention

1. a) Erfassen der Fahrspurmarkierung oder der Fahrbahnmarkierung,
2. b) Feststellen, ob sich ein auf einer ersten Fahrzeugseite angeordneter erster Referenzpunkt des Fahrzeugs und ein auf der der ersten Fahrzeugseite gegenüberliegenden zweiten Fahrzeugseite angeordneter zweiter und vom ersten Referenzpunkt verschiedener Referenzpunkt diesseits der Fahrspurmarkierung oder diesseits der Fahrbahnmarkierung befinden, und falls dies der Fall ist
3. c) Überwachen, ob der erste Referenzpunkt des Fahrzeugs mit der Fahrspurmarkierung oder mit der Fahrbahnmarkierung einen ersten Überdeckungsgrad aufweist, welcher größer als ein vorgegebener erster Grenzüberdeckungsgrad ist, und falls dies der Fall ist
4. d) Erzeugen eines optischen, akustischen und/oder haptisch erfassbaren ersten Warnsignals zu einem ersten Zeitpunkt.

The invention discloses a method for recognizing a lane change or leaving a lane having at least one lane marking or leaving a lane having at least one lane marking by a vehicle, having at least the following steps:

1. a) detecting the lane marking or the lane marking,
2. b) determining whether a first reference point of the vehicle arranged on a first vehicle side and a second reference side of the second vehicle side opposite to the first reference point are located on this side of the lane marking or on this side of the lane marking, and if this is the case
3. c) monitoring whether the first reference point of the vehicle with the lane marking or with the lane marking has a first degree of coverage which is greater than a predetermined first limit coverage level, and if so
4. d) generating an optical, acoustic and / or haptic detectable first warning signal at a first time.

If condition c) is not fulfilled, no first warning signal is generated.

It is assumed that a lane is limited by two lane markings and a roadway by two lane markings and a roadway may have at least one lane.

Further, the first reference point and the second reference point are located on different vehicle sides (right and left vehicle sides) with respect to a longitudinal center axis of the vehicle and are spatially separated from each other. In particular, the first reference point and the second reference point can be arranged on an imaginary connecting line, which is arranged on the one hand perpendicular to the longitudinal central axis and on the other hand in a horizontal plane. Anyway, the distance from the longitudinal central axis is arbitrary.

Consequently, the aforementioned lane marking may be a lane marking of the two lane markings, for example a right lane marking seen in the direction of travel of the vehicle or a left lane marking. Likewise, the lane marking considered here may be a lane marking of the two lane markings, for example a right lane marking seen in the direction of travel of the vehicle or a left lane marking.

If only only one lane marking or only one lane marking can be detected, for example because no second lane marking or no second lane marking is actually present, or because detection of an actually existing second lane marking or second lane marking is possible, the method is with only one detected or detectable lane marking or lane marking nevertheless executable.

• e) Deaktivieren des ersten Warnsignals
  • e1) falls eine vorbestimmte erste Zeitdauer ab dem ersten Zeitpunkt abgelaufen ist, oder
  • e2) falls festgestellt worden ist, dass der erste Referenzpunkt über die Fahrspurmarkierung oder die Fahrbahnmarkierung hinausgelangt ist und sich nun jenseits der Fahrspurmarkierung oder der Fahrbahnmarkierung befindet, und dann
• f) Überwachen, ob der zweite Referenzpunkt mit der Fahrspurmarkierung oder mit der Fahrbahnmarkierung einen zweiten Überdeckungsgrad aufweist, welcher größer als ein vorgegebener zweiter Grenzüberdeckungsgrad ist oder ob der zweite Referenzpunkt über die Fahrspurmarkierung oder die Fahrbahnmarkierung hinaus gelangt ist und sich nun jenseits der Fahrspurmarkierung oder der Fahrbahnmarkierung befindet, und falls dies der Fall ist
• g) Erzeugen eines optischen, akustischen und/oder haptisch erfassbaren zweiten Warnsignals zu einem zweiten Zeitpunkt.

The method is then characterized by at least the following further steps:

• e) deactivating the first warning signal
  • e1) if a predetermined first period of time has elapsed from the first time, or
  • e2) if it has been determined that the first reference point has passed beyond the lane mark or the lane mark and is now beyond the lane mark or the lane mark, and then
• f) monitoring whether the second reference point with the lane marking or with the lane marking has a second degree of coverage which is greater than a predetermined second boundary coverage level or if the second reference point has passed beyond the lane marking or the lane marking and is now beyond the lane marking or the lane marker Lane marker is located, and if so
• g) generating an optical, acoustic and / or haptic detectable second warning signal at a second time.

If the conditions e1) or e2) are not met, the first warning signal is preferably not deactivated or only maintained for a predetermined period of time. If the condition f) is not satisfied, then the second warning signal is not generated.

One and the same lane marking or one and the same lane marking is always considered here, and not the opposite second lane marking or second lane marking.

Furthermore, the first boundary coverage degree and / or the second boundary coverage degree may be greater than zero but also equal to zero. In the second case, therefore, even the slightest overlap of the first reference point and the second reference point with the lane marking or the lane marking triggers the corresponding warning signal.

The predetermined first time period, which starts from the first time and at the end or end of which the first warning signal is deactivated, is preferably based (for example on empirical values) such that it always ends in time before the second time.

Then, two warning signals which are perceptible to the driver in chronological order are generated, namely the first warning signal when the predefined first boundary coverage level is exceeded by the first reference point of the vehicle with the lane marking or the lane marking, and the second warning signal when the second boundary coverage level is exceeded by the second one Reference point of the vehicle with the lane marking or the lane marking or if the second reference point has already passed beyond the lane marking and is now beyond the lane marking or the lane marking.

The first warning signal and the second warning signal may be identical or differ from one another, in particular with respect to the nature of their perception by the driver (optical, acoustic, haptic), with respect to their intensity (for example, the second warning signal has a greater intensity than the first warning signal) and / or in terms of their frequency.

The driver is signaled by the two separately generated and also separately perceptible warning signals (first warning signal and second warning signal) that the vehicle has almost completely or completely left the lane marking limited lane or the lane marking by the lane marking and that, if necessary Intervention by active steering and / or braking is necessary.

On the other hand, because the generation of the first warning signal and / or the second warning signal is suppressed, if there is a signal generated by a turn signal, which announces or makes a turn of the vehicle from the lane or the lane toward the lane mark or the lane mark represents, the driver of the vehicle is encouraged to press the direction indicator when leaving lanes or lanes accordingly.

According to a preferred embodiment, the first warning signal and / or the second warning signal may include a mechanical vibration of a steering wheel of a steering device of the vehicle.

The steering device may include an electrical superposition steering, which is an active steering device, wherein the steering wheel angle of the steering wheel and the steering angle of the steered wheels is adjusted by a mechatronic system. By means of a steering actuator of such a steering device, a mechanical vibration on the steering wheel can easily be generated by an electric signal independently of the driver.

Alternatively or additionally, the first warning signal and / or the second warning signal may also include a braking intervention. The braking intervention then takes place, for example, intermittently, ie temporarily suspended or declining, with time interruptions or with intervals in time or running. The braking interventions can also be carried out as the first warning signal and as the second warning signal on the same wheels or on the same wheel of the vehicle or in each case on different wheels.

Alternatively or additionally, further forms of the first warning signal and / or the second warning signal are conceivable, for example vibrations of the driver's seat or audible warning signals generated in at least one loudspeaker arranged in the driver's cab.

According to a particularly preferable development, the first reference point can be formed by a first wheel of an axle on the first vehicle side and the second reference point by a second wheel of the axle on the second vehicle side. The axle is preferably a front axle of the vehicle. This is particularly advantageous because a contact of wheels or their degree of coverage with a lane marking or with a lane marking is easily detectable.

1. a) Eine kombinierte Sensor- und Auswerteeinrichtung, welche ausgebildet ist zum Erfassen der Fahrspurmarkierung oder der Fahrbahnmarkierung, wobei
2. b) Die kombinierte Sensor- und Auswerteeinrichtung auch ausgebildet ist zum Feststellen, ob sich ein auf einer ersten Fahrzeugseite angeordneter erster Referenzpunkt des Fahrzeugs und ein auf der der ersten Fahrzeugseite gegenüberliegenden zweiten Fahrzeugseite angeordneter zweiter und vom ersten Referenzpunkt verschiedener Referenzpunkt diesseits der Fahrspurmarkierung oder diesseits der Fahrbahnmarkierung befinden, und falls die kombinierte Sensor- und Auswerteeinrichtung dies feststellt,
3. c) die kombinierte Sensor- und Auswerteeinrichtung weiterhin ausgebildet ist zum Überwachen, ob der erste Referenzpunkt des Fahrzeugs mit der Fahrspurmarkierung oder mit der Fahrbahnmarkierung einen ersten Überdeckungsgrad aufweist, welcher größer als ein vorgegebener erster Grenzüberdeckungsgrad ist, und falls dies die kombinierte Sensor- und Auswerteeinrichtung feststellt, sie ausgebildet ist, dass sie
4. d) Warnsignalerzeugungsmittel zu einem ersten Zeitpunkt zum Erzeugen eines optischen, akustischen und/oder haptisch erfassbaren ersten Warnsignals ansteuert.

The invention also discloses an apparatus for detecting a lane change or leaving a lane having at least one lane marking or leaving at least one lane marking by a vehicle, comprising at least the following:

1. a) A combined sensor and evaluation device, which is designed for detecting the lane marking or the lane marking, wherein
2. b) The combined sensor and evaluation device is also designed to determine whether a first reference point of the vehicle arranged on a first vehicle side and a second second vehicle side arranged on the first vehicle side and a reference point different from the first reference point are located on either side of the lane marking or on this side of the vehicle Lane marking, and if the combined sensor and evaluation device detects this,
3. c) the combined sensor and evaluation device is further configured to monitor whether the first reference point of the vehicle with the lane marking or with the lane marking has a first degree of coverage which is greater than a predetermined first limit coverage level, and if this is the combined sensor and evaluation device she realizes that she is trained
4. d) warning signal generating means at a first time for generating an optical, acoustic and / or haptic detectable first warning signal drives.

• e) die kombinierte Sensor- und Auswerteeinrichtung weiterhin ausgebildet ist, dass sie die Warnsignalerzeugungsmittel ansteuert, um das erste Warnsignal zu deaktivieren, falls sie feststellt, dass
  • e1) eine vorbestimmte erste Zeitdauer ab dem ersten Zeitpunkt abgelaufen ist, oder
  • e2) der erste Referenzpunkt über die Fahrspurmarkierung oder die Fahrbahnmarkierung hinausgelangt ist und sich nun jenseits der Fahrspurmarkierung oder der Fahrbahnmarkierung befindet, und die kombinierte Sensor- und Auswerteeinrichtung ausgebildet ist, dass
• f) sie dann überwacht, ob der zweite Referenzpunkt mit der Fahrspurmarkierung oder mit der Fahrbahnmarkierung einen zweiten Überdeckungsgrad aufweist, welcher größer als ein vorgegebener zweiter Grenzüberdeckungsgrad ist oder ob der zweite Referenzpunkt über die Fahrspurmarkierung oder die Fahrbahnmarkierung hinausgelangt ist und sich nun jenseits der Fahrspurmarkierung oder der Fahrbahnmarkierung befindet, und falls sie dies feststellt
• g) sie die Warnsignalerzeugungsmittel zu einem zweiten, in Bezug auf den ersten Zeitpunkt späteren Zeitpunkt zum Erzeugen eines optischen, akustischen und/oder haptisch erfassbaren zweiten Warnsignals ansteuert.

The device is then further characterized in that

• e) the combined sensor and evaluation device is further configured to actuate the warning signal generating means to deactivate the first warning signal, if it determines that
  • e1) a predetermined first period of time has elapsed from the first time, or
  • e2) the first reference point has reached beyond the lane marking or the lane marking and is now beyond the lane marking or the lane marking, and the combined sensor and evaluation device is designed such that
• f) it then monitors whether the second reference point with the lane marking or with the lane marking has a second coverage level which is greater than a predetermined second boundary coverage level or if the second reference point has passed beyond the lane marking or the lane marking and is now beyond the lane marking or the lane mark, and if it detects it
• g) it activates the warning signal generating means at a second, with respect to the first time later time for generating an optical, acoustic and / or haptic detectable second warning signal.

The combined sensor and evaluation device can also be designed to actuate the warning signal generating means for deactivating the second warning signal if a predetermined second time duration has elapsed from the second point in time.

Preferably, the combined sensor and evaluation device is designed such that it does not trigger the warning signal generating means for generating the first warning signal and / or the second warning signal if a signal generated by a direction indicator has received an announcement or a turning of the vehicle from the Lane or from the roadway in the direction of the lane marking or the lane marking represents.

Furthermore, the first warning signal and / or the second warning signal, a mechanical swinging of a steering wheel of a controlled by the combined sensor and evaluation device steering device of the vehicle can be formed.

Preferably, the steering device includes an electrical superposition steering. Overlap steering means that independently generated by electrical signals from the driver's steering request a steering torque and thereby a steering wheel angle of the steering wheel and thus a steering angle of the front wheels can be adjusted by an electromechanical steering actuator. The steering torque can also be generated superimposed in relation to a driver's desire-dependent steering torque, which is caused by an actuation of the steering wheel by the driver.

The first warning signal and / or the second warning signal may also include a braking intervention by a braking device controlled by the combined sensor and evaluation device.

In this case, the combined sensor and evaluation device can control the braking device in such a way that the braking intervention takes place intermittently.

In particular, the combined sensor and evaluation device may include at least one electronic evaluation and control device and at least one of the following sensors: a video camera, a radar sensor, a lidar sensor.

The invention also relates to a lane change assist system or a lane keeping assist system including a device as described above.

In this case, the software routines executing the method described above can be implemented in an electronic control unit of the lane change assistance system or the lane keeping assistance system or the electronic evaluation and control device of the device can be integrated into such an electronic control device.

list of figures

• 1 eine Draufsicht auf ein Fahrzeug in einer Situation, in welches es von einer linken Fahrspur auf die rechte Fahrspur einer Fahrbahn wechselt und welches durch mit einer bevorzugten Ausführungsform einer Vorrichtung gemäß der Erfindung ausgestattet ist;
• 2 ein Diagramm, in welchem die Intensität I einer von der Vorrichtung erzeugten haptischen Rückkopplung über der Zeit t dargestellt ist und welches auf die Position des Fahrzeugs von 1 bezogen ist;
• 3 eine schematische Draufsicht auf ein Lenkrad einer Lenkeinrichtung des Fahrzeugs, welches in Vibration versetzt ist;
• 4 eine schematische Darstellung einer bevorzugten Ausführungsform der Vorrichtung gemäß der Erfindung.

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. In the drawing shows

• 1 a plan view of a vehicle in a situation in which it changes from a left lane to the right lane of a lane and which is equipped by a preferred embodiment of a device according to the invention;
• 2 a diagram in which the intensity I a haptic feedback over time generated by the device t is shown and which on the position of the vehicle of 1 is related;
• 3 a schematic plan view of a steering wheel of a steering device of the vehicle, which is set in vibration;
• 4 a schematic representation of a preferred embodiment of the device according to the invention.

Description of the embodiments

In 1 is as a preferred embodiment of a vehicle 1 a commercial vehicle shown in plan view. The commercial vehicle is with a preferred and in 4 closer device shown 26 for recognizing a lane change or for recognizing a leaving of at least one lane marking 4 . 6 having lane 2 or leaving at least one lane marking 16 . 18 having roadway 14 through the vehicle 1 fitted. Here, for example, the recognition of a lane change or at least one lane marking is to be considered 4 . 6 having lane 2 through the device 26 ,

The initial situation forms here as shown in 1 left, for example, that the vehicle 1 essentially in the middle of a left-hand lane, for example, here 2 moved, which seen from the left in the direction of travel lane marking 4 and a right lane marker 6 is limited. Furthermore, also seen in the direction of travel is a right lane 8th immediately to the right of the left lane 2 arranged, with the right lane marking 6 the left lane 2 with a left lane mark 12 the right lane 8th is covered or identical to this. The left and right lanes 2 . 8th Together they form a trafficable lane 14 , where there is a right lane marking 16 with the right lane marking 10 the right lane 8th and a left lane marking 18 with the left lane marking 4 the left lane 2 covers.

The vehicle 1 has a right front wheel 20 on a front axle 22 on the right side of the vehicle and a left front wheel 24 at the front axle 22 on the left side of the vehicle. The right side of the vehicle and the left side of the vehicle are by a longitudinal central axis 25 of the vehicle 1 separated from each other.

How out 4 shows, has a device 26 for detecting a lane change a combined sensor and evaluation 28 on, which signals from on-board sensors 30 . 32 which are designed, for example, as video cameras, radar sensors or lidar sensors. In this case, in the driving situation shown here, for example, as seen in the direction of travel left sensor 32 in the in 1 left illustrated driving situation visually detect a left vehicle area, the left lane marking 4 the left lane 2 and the left front wheel 24 includes, and a right in the direction of travel sensor 30 Capture a right vehicle area showing the right lane mark 6 the left lane 2 and the right front wheel 20 includes, and corresponding detection signals in the combined sensor and evaluation 28 one dear.

The combined sensor and evaluation device 28 is generally designed to determine if the right front wheel 20 and / or the left front wheel 24 within and therefore this side of the right and left lane markings 4 . 6 respectively. 10 . 12 are located or whether the right front wheel 20 or the left front wheel 24 (partially) with the right or left lane markings 4 . 6 respectively. 10 . 12 cover, and whether the right and / or the left front wheel 24 . 20 already the right or left lane markings 4 . 6 respectively. 10 . 12 run over and then have no coverage with this or this. Furthermore, in the first case, the combined sensor and evaluation 28 Also determine how large the degree of coverage of the right or left front wheel 20 . 24 with the right or left lane markings 4 . 6 respectively. 10 . 12 is. For this purpose, as described above, for example, on each side of the vehicle at least one sensor 30 . 32 arranged, which signals in an electronic evaluation and control device 33 the combined sensor and evaluation 28 be controlled to make such findings.

In 1 is the current driving position of the vehicle - left, center and right - in relation to the timeline t from 2 shown below. Starting from the in 1 On the left, the driver now steers the vehicle intentionally or unintentionally 1 for example, from the left lane 2 towards the right lane 8th to. The resulting new driving situation is in 1 Center shown.

If now the combined sensor and evaluation 28 or their electronic evaluation and control unit 33 with the help of the sensors 30 . 32 determines that according to the illustration in 1 Center the right front wheel arranged on the right side of the vehicle 20 with the right lane marking 6 the left lane 2 or with the left lane marking 12 the right lane 8th has a first degree of coverage, which is greater than a predetermined first boundary coverage of, for example, 70% controls the combined sensor and evaluation 28 or their electronic evaluation and control unit 33 an electrical overlap steering device 34 of the vehicle 1 or their electrically actuatable steering actuator in such a way that this at a first time t1, in which the above-described overlap situation between the right front wheel 20 and the right lane marking 6 the left lane 2 or the left lane marking 12 the right lane 8th occurs or has occurred, a steering wheel 36 the overlay steering device 34 mechanical vibrations 38 imprinted around the steering axle, which can be perceived haptically by the driver and schematically in 3 is shown.

Overlay steering device 34 means that by here, for example, from the electronic evaluation and control unit 33 triggered electrical signals and the driver's steering request independently generates a steering torque and thereby a steering wheel angle of the steering wheel 36 and thus also a steering angle of the front wheels 24 . 26 can be adjusted by an electromechanical steering actuator. This steering torque can also be generated superimposed in relation to a driver's desire-dependent steering torque, which by an actuation of the steering wheel 36 caused by the driver. In the present case, by a corresponding control of the steering actuator by the electronic evaluation and control unit 33 a periodically changing steering torque on the steering wheel 36 generated.

In 2 is the intensity shown in dashed line I the mechanical vibrations 38 of the steering wheel illustrated, which then from the time t1 from zero to one value 11 increases. From the time t = 0 to the time t = t1 is the intensity I just for drawing reasons of the timeline t spaced upward without, however, in this period of a non-zero intensity I is present. Furthermore, the time axis correlates t from 2 with the in 1 illustrated driving situations, that is, for example, the driving situation of 1 Middle at the time t1 occurred.

The combined sensor and evaluation device 28 is also trained that their electronic evaluation and control device 33 the electrical overlap steering device 34 or the steering actuator controls to the mechanical vibrations 38 of the steering wheel 36 if it determines here, for example, that a predetermined period of time T1 from the first time t1 has expired, to which the mechanical vibrations were triggered.

Alternatively, the combined sensor and evaluation could 28 or their electronic evaluation and control unit 33 to control the electrical superposition steering device or its steering actuator to the mechanical vibrations 38 of the steering wheel 36 to terminate if it determines that the right front wheel 20 about the right lane marking 6 the left lane 2 has already passed out and now beyond this right lane marking 6 and within the right lane 8th located.

In addition, the combined sensor and evaluation device 28 trained that she then monitors whether the left front wheel 24 with the right lane marking 6 the left lane 2 has a second degree of overlap, which is greater than a predetermined second limit overlap degree of, for example, also 70%, which is due to the driving position of the vehicle in 1 is symbolized on the right, or whether the left front wheel 24 about the right lane marking 6 the left lane 2 has already come out and now also beyond the right lane marking 6 the left lane 2 and thus on the right lane 8th located. Because then a lane change of the vehicle from the left lane to the right lane would have been completed or he would be imminent.

If the combined sensor and evaluation 28 detects this, so it controls the electrical superposition steering device 34 or their steering actuator to a second, with respect to the first time t1 later point in time t2 on to the steering wheel 36 again in mechanical vibrations according to 3 to move. Because as well 2 shows are between the end of the first period of time T1 and the second time t2 no mechanical vibrations 38 generated on the steering wheel. The intensity I2 of these second mechanical vibrations 38 which is, for example, dependent on the amplitude and / or frequency of the oscillations, can be identical to the intensity I1 the first mechanical vibrations 38 be or deviate from it and in particular be larger to signal the driver that he is the left lane 2 has now left.

The predetermined first period of time T1 , which from the first time t1 begins and at the end or end of the vibration of the steering wheel 36 is disabled, is preferably based, for example based on empirical values such that in each case before the second time t2 ends, giving the driver mechanical vibrations 38 at the steering wheel 36 can perceive each other separately with time interval.

If then a predetermined period of time T2 from the second time t2 The combined sensor and evaluation device can run out 28 or their electronic evaluation and control unit 33 the electrical overlap steering device 34 drive to the mechanical vibrations 38 of the steering wheel 36 to end.

The driver is then by the two temporally separated generated and also separately perceptible mechanical vibrations 38 of the steering wheel 36 signals that the vehicle 1 the one by the right lane marking 6 limited left lane 2 has left almost completely or completely and is now in the right lane 8th If necessary, an intervention by active steering and / or braking by the driver is necessary.

Because on the other hand preferred to generate mechanical vibrations 38 at the steering wheel 36 is suppressed if, for example, before the first time t1 there is a signal generated by a turn signal, which is an announcement or a turning of the vehicle 1 from the left lane 2 towards the right lane 8th represents, becomes the driver of the vehicle 1 Continue to stop when leaving lanes 2 . 8th to operate the direction indicator in general.

It is understood that the above-described driving situation of turning from a left lane 2 on a right lane 8th a roadway 14 is merely exemplary and that the method or device according to the invention responds accordingly with respect to driving over any lane markings or lane markings.

The device described above can be integrated into a lane change assistance system or a lane keeping assistance system, which is particularly advantageous because then already existing sensors in a lane change assistance system or in a lane keeping assistance system 30 . 32 can be used.

Furthermore, the method described above can implement implementing software routines in an electronic control unit of the lane change assistance system or the lane keeping assistance system or the electronic evaluation and control device 28 the device 26 be integrated in such an electronic control unit.

LIST OF REFERENCE NUMBERS

1

vehicle

2

left lane

4

left lane marking

6

right lane marking

8th

right lane

10

right lane marking

12

left lane marking

14

roadway

16

right lane marking

18

left lane marking

20

right front wheel

22

Front

24

left front wheel

25

Longitudinal central axis

26

device

28

combined sensor and evaluation device

30

Sensor right

32

Sensor left

33

electronic evaluation and control unit

34

Overlay steering device

36

steering wheel

38

mechanical vibrations

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 102008051700 A1 [0003]

Claims (18)

Method for detecting a lane change or leaving a lane (2) having at least one lane marking (6) or leaving a lane having at least one lane marking by a vehicle (1), comprising at least the following steps: a) detecting the lane marking (6) or the lane marking, b) determining whether a first reference point (20) of the vehicle (1) arranged on a first vehicle side and a second reference point (24) arranged on the second vehicle side opposite the first vehicle side and on this side of the lane marking (6) or this side of the lane mark, and if so c) monitoring whether the first reference point (20) of the vehicle (1) with the lane marking (6) or with the lane marking has a first degree of coverage which is greater than a predetermined first boundary coverage level, and if so d) generating an optical, acoustic and / or haptic detectable first warning signal (38) at a first time (t1), and then e) deactivating the first warning signal (38) e1) if a predetermined first time period (T1) has elapsed from the first time (t1), or e2) if it has been determined that the first reference point (20) has passed beyond the lane marker (6) or the lane marker and is now beyond the lane marker (6) or lane marker, and then f) monitoring whether the second reference point (24) with the lane marking (6) or with the lane marking has a second overlap degree that is greater than a predetermined second limit overlap degree or if the second reference point (24) is above the lane marker (6) or Lane marker has come out and is now beyond the lane marker 86) or the lane marker, and if so g) generating an optical, acoustic and / or haptic detectable second warning signal (38) at a second time (t2). Method according to Claim 1 , characterized in that the second warning signal (38) is deactivated if a predetermined second period of time (T2) from the second time (t2) has expired. Method according to Claim 1 or 2 characterized in that the generation of the first warning signal (38) and / or the second warning signal (38) is suppressed if there is a signal generated by a turn signal indicating an announcement or a turning of the vehicle from the driving lane (2) or from the lane in the direction of the lane marking 86) or the lane marking. Method according to Claim 1 or 2 , characterized in that the first warning signal (38) and / or the second warning signal (38) are identical or deviate from one another. Method according to one of the preceding claims, characterized in that the first warning signal (38) and / or the second warning signal (38) include a mechanical vibration of a steering wheel (36) of a steering device (34) of the vehicle (1). Method according to Claim 5 , characterized in that the steering device (34) includes an electrical superposition steering. Method according to one of the preceding claims, characterized in that the first warning signal (38) and / or the second warning signal (38) include a brake intervention. Method according to one of the preceding claims, characterized in that the braking intervention takes place intermittently. Method according to one of the preceding claims, characterized in that the first reference point (20) by a first wheel of an axle (22) on the first vehicle side and the second reference point (24) by a second wheel of the axle (22) on the second vehicle side is formed. Device (26) for recognizing a lane change or leaving a lane (2) having at least one lane marking (6) or leaving at least one lane marking by a vehicle (1), comprising at least the following: a) A combined sensor and evaluation device (28), which is designed to detect the lane marking (6) or the lane marking, wherein b) the combined sensor and evaluation device (28) is also designed to determine whether a first reference point (20) of the first side of the vehicle arranged on a first vehicle side Vehicle (1) and a second located on the second side of the vehicle opposite second side and the first reference point (20) different reference point (24) on this side of the lane marking (6) or this side of the lane marker are located, and if the combined sensor and evaluation (28 ) detects this, c) the combined sensor and A means (28) is further adapted to monitor whether the first reference point (20) of the vehicle (1) having the lane marking (6) or with the lane marking has a first degree of coverage which is greater than a predetermined first degree of coverage, and if this determines the combined sensor and evaluation device (28) is designed such that it d) at a first time (t1) warning signal generating means (34) for generating an optical, audible and / or haptic detectable first warning signal (38), wherein e) the combined sensor and evaluation device (28) is further formed in that it actuates the warning signal generating means to deactivate the first warning signal if it determines that e1) has elapsed a predetermined first time period (T1) from the first time point (t1), or e2) the first reference point point (20) over the Lane marking (6) or the lane marking has come out and is now beyond the lane marking (6) or the lane marking , and the combined sensor and evaluation device (28) is designed such that it then monitors whether the second reference point (24) with the lane marking (6) or with the lane marking has a second degree of coverage which is greater than a predefined second boundary coverage level or whether the second reference point (24) has passed beyond the lane marker (6) or the lane marker and is now beyond the lane marker (6) or lane marker, and if so detects g) turns the warning signal generating means (34) into one second, with respect to the first time (t1) later time (t2) for generating an optical, acoustic and / or haptic detectable second warning signal (38) drives. Device after Claim 10 characterized in that the combined sensor and evaluator (28) is arranged to drive the warning signal generating means (34) to deactivate the second warning signal (38) if a predetermined second time period (T2) has elapsed from the second time point (t2) , Device after Claim 10 or 11 characterized in that the combined sensor and evaluation device (28) is arranged not to actuate the warning signal generating means (34) to generate the first warning signal (38) and / or the second warning signal (38) if a signal generated by a turn signal indicator Received a signal representing an announcement or a turning of the vehicle from the lane (2) or from the road in the direction of the lane marking (6) or the lane marking. Device according to one of Claims 10 to 12 , characterized in that the first warning signal (38) and / or the second warning signal (38), a mechanical oscillation of a steering wheel (36) of the combined sensor and evaluation device (28) controlled steering device (34) of the vehicle is formed. Device after Claim 13 , characterized in that the steering device (34) includes an electrical superposition steering. Device according to one of the preceding Claims 10 to 14 , characterized in that the first warning signal (38) and / or the second warning signal (38) include a braking intervention by a braking device controlled by the combined sensor and evaluation device (28). Device according to one of Claims 10 to 15 , characterized in that the combined sensor and evaluation device (28) controls the braking device, that the braking intervention takes place intermittently. Device according to one of Claims 10 to 16 , characterized in that the combined sensor and evaluation device (28) at least one electronic evaluation and control device and at least one of the following sensors (30, 32) includes: a video camera, a radar sensor, a lidar sensor. Lane change assistance system or lane departure warning system including a device according to one of Claims 10 to 17 ,

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