DE102021211534B4 - Turning assistance device for a turning or turning maneuver with an oncoming lane of an ego vehicle - Google Patents

Abstract

The invention relates to a turning assistance device for a turning or turning maneuver with an oncoming lane (G) of an ego vehicle (1), comprising an environment detection unit for detecting a rear exterior environment of the ego vehicle, an evaluation unit which is designed to detect a planned turning maneuver of the ego vehicle (1), wherein the evaluation unit is designed to determine following road users (2) in the detected external environment to the rear when a planned turning maneuver is determined, a control unit which is designed to output a warning signal to the driver and/or the turning maneuver of the To prevent the ego vehicle (1), to brake or to accelerate, an overtaking maneuver of the ego vehicle (1) should have been evaluated by the evaluation unit for at least one of the following road users (2).

Description

The present invention relates to a turning assistance device and a method for a turning or turning maneuver with an oncoming lane of an ego vehicle. Furthermore, the present invention relates to a vehicle which has a turning assistance device according to the invention and a computer program for carrying out the method and a storage medium on which the computer program for carrying out the method is stored.

Technological background

Generic vehicles such. B. Passenger vehicles (cars), trucks (trucks) or motorcycles are increasingly being equipped with driver assistance systems that use sensor systems to detect the environment, detect traffic situations and can support the driver, z. B. by braking or steering intervention or by issuing a visual, haptic or acoustic warning. Radar sensors, lidar sensors, camera sensors, ultrasonic sensors or the like are regularly used as sensor systems for detecting the surroundings. From the sensor data determined by the sensors, conclusions can then be drawn about the environment, e.g. B. also a so-called environment model can be generated. Based on this, instructions for driver warning/information or for controlled steering, braking and acceleration can then be issued. The assistance functions that process sensor and environment data can thus e.g. For example, accidents with other road users can be avoided or complicated driving maneuvers can be made easier by supporting the driving task or driving the vehicle or even taking it over completely (partially or fully automated). For example, the vehicle z. B. using an emergency brake assistant (EBA, Emergency Brake Assist) to carry out autonomous emergency braking (AEB, Automatic Emergency Brake), a time gap control cruise control or Adaptive Cruise Control Assistant (ACC) to carry out speed and following driving control or a steering assistant to keep the vehicle in lane ( LKA, Lane Keep Assist).

Furthermore, turning assistants are known, which are intended to warn the driver of possible collisions during a turning maneuver by means of object detection. Such assistants have so far considered traffic situations based on simplified logic, e.g. B. that oncoming traffic has priority over the turning vehicle. In reality, however, there are often more complex traffic scenarios due to the large number of road users.

The pamphlet DE 10 2019 216 584 A1 discloses a self-propelled agricultural machine with a trailer and/or with an attachment, with a side mirror and with an environment detection device. The environment detection device has a radar sensor which is arranged on the side exterior mirror and in such a way that a detection range of the radar sensor is aligned to the rear along the side of the trailer or the attachment and beyond the trailer or the attachment.

The pamphlet DE 10 2016 116 963 A1 The invention relates to a device for warning a driver of a vehicle of an object, with a dynamically changeable warning area being defined as a function of the speed of the vehicle.

The pamphlet DE 10 2013 004 999 A1 describes a device for preventing personal injury and damage to property that occurs when vehicles or objects are overlooked that are approaching the vehicle from the rear blind spot and when the vehicle is stationary when the vehicle doors are opened and when driving when turning off, using a warning system. A warning signal is issued when a stationary object is detected in the door opening area, an approaching object with regard to the motor vehicle door or one's own turning movement, the warning signal being triggered by a sensor detecting an object in the direction of the collision and determining whether the door has been opened or when the direction indicator is actuated he follows.

Against this background, the object of the present invention is to provide a turning assistance device and a method which, during a planned turning maneuver, take into account more complex, in particular traffic-critical traffic scenarios independently of the applicable traffic rules.

According to the invention, this object is achieved by a turning assistance device according to claim 1, by a vehicle according to claim 5 and by a method according to claim 6. Further advantageous configurations are specified in the dependent claims.

A turning assistance device for a turning or turning maneuver with an oncoming lane of an ego vehicle is proposed. A turning maneuver is to be understood in particular as a change of the ego vehicle from the current lane to the oncoming lane, in order to thus move in the opposite direction of travel. Under a turning maneuver with an oncoming lane is esp special to understand a turn into a lane with the intersection of an oncoming lane. The oncoming lane is in particular a lane of a traffic road, ie a road on which motor vehicles are moving. The turning assistance device is particularly preferably a left-turn assistant for traffic on the right and a right-turn assistant for traffic on the left.

The turning assistance device includes an environment detection unit for detecting an external environment to the rear of the ego vehicle. The environment detection unit preferably includes a sensor unit, such. a rear view or surround view camera unit, rear view radar and/or lidar. Alternatively or optionally in addition, the environment detection unit includes a communication unit, such. B. a car-to-car or car-to-X communication.

Furthermore, the turning assistance device includes an evaluation unit, which is designed to determine a planned turning or turning process of the ego vehicle. The planned turning or turning process is preferably identified at least via the course of movement of the ego vehicle and via road information. For example, a turning maneuver can be assumed if there is no turning lane, but the turn signal has been activated and a corresponding steering maneuver has been initiated.

When a planned turning or turning process is determined, the evaluation unit is designed to determine road users, in particular vehicles following behind, such as passenger cars, trucks or motorcycles, in the recorded external environment to the rear.

Furthermore, the turning assistance device includes a control unit, which is designed to output a warning signal to the driver and/or to prevent, brake or accelerate the turning or turning maneuver of the ego vehicle if the evaluation unit detects at least one of the following road users Overtaking maneuvers of the ego vehicle have been evaluated. In particular, the evaluation unit is designed to evaluate both intended overtaking maneuvers and overtaking maneuvers that have already been initiated.

In other words, the driver is preferably informed about the overtaking process of the road user approaching behind that has been evaluated and, in particular, classified as critical, in particular when the driver of the ego vehicle is controlling the turning or turning maneuver. Should the turning maneuver take place partially or fully automatically, the control unit is designed in particular to control an adjustment of the lateral and/or longitudinal guidance during the planned turning or turning process and optionally to additionally inform the driver about the risk of collision.

According to the traffic regulations in force in many countries, the vehicle in front has the right of way over the following traffic when turning. In reality, however, accidental or reckless disregard for the privileges of the vehicle in front does occur on a recurring basis. Often the planned turn by the following motor vehicle z. B. overlooked due to excessive speed or intentionally disregarded. The turning assistance device according to the invention allows the oncoming road user to pass and thus relinquishes his right of way in a defensive manner. As a result, a collision or other potentially dangerous evasive maneuver can be avoided.

A preferred embodiment provides that the evaluation unit is designed to calculate the planned turning or turning process of the ego vehicle depending on the course of the road in the area surrounding the ego vehicle, on a turn signal setting, a steering angle, a current speed and/or a speed profile of the to determine the ego vehicle. The turning or turning process can be planned by the driver if he is controlling the ego vehicle or by the evaluation unit if the ego vehicle is being guided automatically. The planning of the turning or turning process by the evaluation unit is preferably based on a navigation request from the driver. The courses of the road can be determined using the sensor unit of the ego vehicle, alternatively or optionally additionally using lane information based on map data. information such as B. a turn signal replacement on a turning lane can be reliably concluded on the intended turning maneuver of the driver.

According to the invention, the evaluation unit is designed to evaluate the following road users in a predefined area of the detected external environment to the rear, with at least a section of the ego lane and optionally additionally the oncoming lane of the ego lane being defined as a predefined area.

The evaluation unit is preferably designed to evaluate a risk of collision with the following road user, identified as an overtaking vehicle, should a determined value for the collision TTC (time to collision) fall below a predefined time limit value.

Alternatively or optionally in addition, the evaluation unit is designed in particular to evaluate an overtaking maneuver by a following road user if they are in the predefined area and/or their actual speed exceeds a predefined threshold value and/or their relative position in relation to the ego vehicle exceeds a predefined threshold value fall below and/or have the same direction of travel as the ego vehicle.

Another subject matter of the invention relates to a vehicle comprising a turning assistance device according to the preceding description.

Another subject matter of the invention relates to a method for a turning or turning maneuver with an oncoming lane of an ego vehicle, the method comprising the following steps: detecting a rear exterior environment of the ego vehicle, determining a planned turning or turning maneuver of the ego vehicle , with a determined planned turning or turning process of the ego vehicle following road users are determined in the detected rear external environment, with a warning signal is issued to the driver and / or the turning maneuver of the ego vehicle is prevented, braked or accelerated, should an overtaking maneuver by the ego vehicle has been evaluated for at least one of the following road users, the following road users being evaluated in a predefined area of the detected rear external environment, the ego lane being defined as the predefined area.

A further subject relates to a computer program product, comprising instructions which, when the program is executed by a computer, cause the latter to execute the method according to the preceding description. Another subject matter of the invention relates to a computer-readable storage medium, comprising instructions which, when executed by a computer, cause the latter to carry out the steps of the method according to the preceding description.

Further features, advantages and effects of the invention result from the following description of preferred exemplary embodiments of the invention.

• 1 in einer Vogelperspektive ein Verkehrsszenario, bei dem ein Ego-Fahrzeug während eines geplanten Abbiegevorgangs von einem nachfolgenden Kraftfahrzeug überholt werden soll;
• 2 in einem Flussdiagramm beispielhafte Verfahrensschritte für die Planung eines Abbiegemanövers mit Gegenfahrspur des Ego-Fahrzeugs.

show:

• 1 a bird's-eye view of a traffic scenario in which an ego vehicle is to be overtaken by a following motor vehicle during a planned turning maneuver;
• 2 in a flowchart exemplary method steps for planning a turning maneuver with the ego vehicle in the opposite lane.

1 1 shows a bird's-eye view of an ego vehicle 1 comprising a turning assistance device for a turning maneuver with oncoming lane G. The turning assistance device has an environment detection unit for detecting a rear external environment of the ego vehicle 1 and an evaluation unit. The front external environment is particularly preferably also recorded in order to be able to determine the oncoming traffic in the oncoming lane G for the turning process. An environment model is preferably created which provides the evaluation unit with the information required, e.g. B. about stationary and dynamic objects, infrastructure, roadway, etc. provides.

The evaluation unit is designed to determine following road users 2 in the recorded external environment to the rear. In this embodiment, it is a car. Furthermore, the evaluation unit is designed to determine a planned turning maneuver of the ego vehicle 1, for example via the setting of the direction indicator.

Furthermore, the evaluation unit is designed in particular to evaluate whether at least one of the following road users 2, in this exemplary embodiment the car 2 approaching from behind, intends to overtake or is executing it. The following motor vehicle 2 is determined, for example, as an overtaking vehicle if the minimum distance between the ego vehicle 1 and the following motor vehicle 2 falls below a specified threshold value, the following motor vehicle 2 has set the left direction indicator, the following motor vehicle 2 has an excessive or a significantly higher actual speed than the ego vehicle 1 and/or the following motor vehicle 2 is moving in the oncoming lane G.

If an intended or executed overtaking maneuver of the following motor vehicle 2 has been evaluated by the evaluation unit, a control unit of the turning assistance device is designed to output a warning signal to the driver of the ego vehicle 1, alternatively or optionally additionally to prevent the turning maneuver of the ego vehicle 1, to brake or accelerate. The overtaking trajectory of the following motor vehicle 2 is particularly preferably predicted and compared with the trajectory of the ego vehicle 1 planned by the driver or by the system. Based on this, it is possible to determine whether the ego vehicle 1 is stopping, decelerating or accelerate to avoid a potential collision. The early detection of a potential collision allows the driver to be made aware of the critical traffic situation at an early stage, which proves to be particularly advantageous if the overtaking vehicle is in the blind spot and is not detected or is detected too late by the driver of ego vehicle 1 . In this way, the risk of accidents can be reduced.

The embodiment of 1 shows right-hand traffic purely by way of example, the turning assistance device according to the invention obviously also being applicable for left-hand traffic. Accordingly, the control unit is designed in particular to prevent, brake or accelerate a left-turn maneuver of the ego vehicle 1 in the case of right-hand traffic in the event of an evaluated left-hand overtaking maneuver by a following road user 2 and in left-hand traffic in the case of an evaluated right-hand overtaking maneuver by a following road user 2 a right-turn maneuver of the ego vehicle 1 and/or or issue a warning signal to the driver.

• - Dynamikbewertung des Ego-Fahrzeugs 1 zur Ermittlung einer Abbiegesituation.
• - Auswertung von Infrastrukturinformationen z. B. über Kartenmaterial und/oder die Sensoreinheit des Ego-Fahrzeugs 1 und Auswertung, ob ein Linksabbiegen z. B. auf eine Fahrspur oder einen Parkplatz möglich ist.
• - Prüfen, ob der linke Blinker des Ego-Fahrzeugs aktiviert ist.
• - Prüfen, ob die Gegenfahrspur frei ist.
• - Prüfen, ob die Ego-Fahrbahn ein rechtsseitiges Überholen nicht zulässt.
• - Ermittlung der Zeit bis zur Kollision (TTC) zwischen dem nachfolgenden Verkehrsteilnehmer 2 und dem Ego-Fahrzeug 1.
• - Sollte die Zeit bis zur Kollision kleiner sein als ein Kollisionsschwellenwert, wird eine Verzögerung von beispielsweise 0,2 g eingeleitet, erneute Ermittlung der Zeit bis zur Kollision.
• - Ermittlung der Zeit, die das Ego-Fahrzeug 1 benötigt, um den Fahrweg des nachfolgenden Verkehrsteilnehmers 2 zu räumen.
• - Sollte die erneute ermittelte Zeit bis zur Kollision kleiner sein als ein Schwellenwert TTCbrems und kleiner sein als die Zeit bis zur Räumung der Fahrspur Tfrei, wird ausgewertet, dass
  1. a. Der nachfolgende Verkehrsteilnehmer 2 nicht die Zeit hat, um sicher zu bremsen,
  2. b. Der nachfolgende Verkehrsteilnehmer 2 versuchen könnte, auf der linken Seite zu überholen,
  3. c. Der nachfolgende Verkehrsteilnehmer 2 mit dem Ego-Fahrzeug 1 kollidieren würde.
• - Hinweis an den Fahrer des Ego-Fahrzeugs 1, das Linksabbiegemanöver nicht zu starten oder zu unterbrechen, alternativ oder optional ergänzend das Ego-Fahrzeug 1 zu beschleunigen, zu bremsen oder das Ego-Fahrzeug auf einen Unfall vorzubereiten.

2 shows exemplary method steps for planning the turning maneuver with oncoming lane G of the ego vehicle 1 in a flowchart:

• - Dynamic evaluation of the ego vehicle 1 to determine a turning situation.
• - Analysis of infrastructure information e.g. B. on maps and / or the sensor unit of the ego vehicle 1 and evaluation of whether a left turn z. B. is possible on a lane or a parking lot.
• - Check if the left turn signal of the ego vehicle is activated.
• - Check whether the oncoming lane is clear.
• - Check whether the Ego lane does not allow overtaking on the right.
• - Determination of the time to collision (TTC) between the following road user 2 and the ego vehicle 1.
• - Should the time to collision be less than a collision threshold value, a deceleration of e.g. 0.2 g is initiated, re-determination of the time to collision.
• - Determination of the time that the ego vehicle 1 needs to clear the route of the following road user 2.
• - If the re-determined time until the collision is less than a threshold value TTCbrake and less than the time until the lane Tfrei is cleared, it is evaluated that
  1. a. The following road user 2 does not have the time to brake safely,
  2. b. The following road user 2 could try to overtake on the left side,
  3. c. The following road user 2 would collide with the ego vehicle 1.
• - Advice to the driver of the ego vehicle 1 not to start or interrupt the left turning maneuver, alternatively or optionally additionally to accelerate the ego vehicle 1, to brake or to prepare the ego vehicle for an accident.

Claims (7)

Turning assistance device for a turning or turning maneuver with an oncoming lane (G) of an ego vehicle (1), comprising an environment detection unit for detecting a rear exterior environment of the ego vehicle (1), an evaluation unit which is designed to detect a planned turning or turning process of the The ego vehicle (1), the evaluation unit being designed to determine following road users (2) in the detected external environment to the rear when a planned turning or turning process is determined, a control unit which is designed to output a warning signal to the driver and/or to prevent, brake or accelerate the turning or turning maneuver of the ego vehicle (1) if an overtaking maneuver of the ego vehicle (1) has been evaluated by the evaluation unit for at least one of the following road users (2), characterized in that the evaluation unit is designed to evaluate the following road users in a predefined area of the detected rear external environment, the ego lane being defined as the predefined area. Turning assistance device after claim 1 , wherein the evaluation unit is designed to determine the planned turning or turning process of the ego vehicle depending on the course of the road in the area surrounding the ego vehicle (1), on a turn signal setting, a steering angle, a current speed and/or a speed course of the ego vehicle Vehicle (1) to determine. Turning assistance device after claim 2 , The evaluation unit being designed to evaluate an overtaking maneuver by a following road user (2), should this be in the are in a predefined area and its actual speed exceeds a predefined threshold value and/or its relative position in relation to the ego vehicle (1) falls below a predefined threshold value. Vehicle (1) comprising a turning assistance device according to one of the preceding Claims 1 until 3 . Method for a turning or turning maneuver with an oncoming lane (G) of an ego vehicle (1), the method comprising the following steps: detecting a rear exterior environment of the ego vehicle (1), determining a planned turning or turning process of the ego -Vehicle (1), wherein in a determined planned turning or turning process of the ego vehicle (1) following road users (2) are determined in the detected rear external environment, wherein a warning signal is issued to the driver and / or the turning or turning maneuver of the ego vehicle (1) is prevented, braked or accelerated, an overtaking maneuver by the ego vehicle (1) should have been evaluated for at least one of the following road users (2), with the following road users being in a predefined area of the detected Rear external environment are evaluated, with the ego lane is set as a predefined area. Computer program product, comprising instructions which, when the program is executed by a computer, cause it to carry out the method according to claim 5 to execute. A computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method claim 5 to execute.

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