EP2169649A1 - Procédé de préparation d'une suggestion pour l'exécution d'une manoeuvre de doublement - Google Patents

Procédé de préparation d'une suggestion pour l'exécution d'une manoeuvre de doublement Download PDF

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Publication number
EP2169649A1
EP2169649A1 EP09166545A EP09166545A EP2169649A1 EP 2169649 A1 EP2169649 A1 EP 2169649A1 EP 09166545 A EP09166545 A EP 09166545A EP 09166545 A EP09166545 A EP 09166545A EP 2169649 A1 EP2169649 A1 EP 2169649A1
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Prior art keywords
vehicle
route
route information
driver assistance
assistance device
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Granted
Application number
EP09166545A
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German (de)
English (en)
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EP2169649B1 (fr
Inventor
Marc Zimmermann
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the invention relates to a method for providing a recommendation for performing an overtaking maneuver, a driver assistance device for providing a recommendation for performing an overtaking maneuver, a computer program and a computer program product.
  • Car2Car communication communication takes place between at least two vehicles
  • Car2X communication communication takes place between a car and a device.
  • Conceivable are danger warning, in which z. B. a vehicle informs the other that it has remained in a curve. Collision detectors indicate when two vehicles are approaching too fast.
  • a so-called adaptive cruise control (ACC) for wireless communication between vehicles is from the document US 2007/0083318 A1 known.
  • this adaptive cruise control is suitable for a following vehicle, which follows a preceding vehicle.
  • the preceding vehicle transmits to the following vehicle operating parameters, which relate in particular to kinematic variables of the preceding vehicle, ie location, speed or acceleration. Taking into account these operating parameters, the adaptive cruise control of the following vehicle is possible to take into account a driving style of the vehicle ahead.
  • a method for communication of vehicle information is from the document GB 2 358 506 A known. This vehicle information is exchanged between vehicles. Again, this vehicle information may include kinematic variables, so that the vehicles inform each other about the kinematic variables and can adjust to other road users early.
  • One method of assisting an overtaking operation is from the document JP 2006/293 615 A known.
  • information relating to this overtaking process is exchanged between a preceding vehicle and a subsequent vehicle.
  • variables that are important for an overtaking operation ie, distance and relative speed, are taken into account in such a way that an escape space, which is suitable for performing the overtaking operation, is determined.
  • the invention relates to a method for providing a recommendation for performing an overtaking maneuver.
  • a second vehicle which follows the first vehicle, approaches from behind along a route or a traffic route on a lane of a first vehicle.
  • route information of the first vehicle informing on a further travel of the first vehicle can be used.
  • the overtaking maneuver is discouraged if the route information indicates that the first vehicle leaves the route in a timely manner.
  • This method is useful, for example, when the second vehicle has a higher speed than the first vehicle, so that due to the different speeds of the two vehicles for the second vehicle offers an overtaking. If, based on the route information of the first vehicle, it is to be expected that it will drive ahead of the second vehicle at a comparatively lower speed the next time, it may be recommended to a driver of the second vehicle to perform the overtaking procedure. Alternatively, in the context of the method, the driver of the second vehicle is advised against the overtaking maneuver if the first, preceding vehicle leaves the traffic lane. The typically timely leaving the lane and thus the route through the first vehicle has the consequence that the first vehicle for the second vehicle no longer represents a slow-moving obstacle and thus the overtaking is unnecessary.
  • the route information is transmitted to the second vehicle from the first vehicle by a usually wireless communication.
  • This route information can be provided regularly and / or on request.
  • An automatic provision of the route information can typically take place when leaving the lane in a timely manner, so that inter alia road users following the first vehicle are informed beforehand about profound changes in the route guidance of the first vehicle.
  • the second possibility is based on an active observation of the road traffic by an observation module of the second vehicle. Based on such observations, route information for other road users and thus vehicles can be collected. Such an observation can take place over a longer period of time. Furthermore, regularities of certain other road users and thus of other vehicles can be used to provide the route information. This embodiment lends itself to, if the route regularly traveled at a certain time of the day from the two vehicles becomes. Thus, route guidance of the first vehicle may be observed by the observation module of the second vehicle, evaluated and stored in consideration of regularities, so that the route information about the first vehicle is determined based on observations by the observation module. This is particularly useful when no active GPS-based route guidance of the first vehicle is active.
  • the method can be carried out in the presence of various conditions. If both vehicles are approaching a turn or intersection, it can be checked based on the route information whether the first vehicle turns at the turn and thus leaves the track in a timely manner. Alternatively or additionally, the method can also be carried out if at least one relative kinematic variable between the vehicles reaches a defined value. Values for these relative kinematic variables can be provided by a communication between the two vehicles, where kinematic variables or parameters are exchanged between the vehicles and, if necessary, calculated by comparing their own and external kinematic variables relative kinematic variables or parameters.
  • a first possible kinematic parameter is a distance between the two vehicles. Once the first vehicle has approached the second vehicle so far that a minimum distance between the two vehicles has fallen below, the procedure can be performed.
  • a second relative kinematic parameter is a relative velocity between the two vehicles. In this case, it can be considered whether the relative speed between the two vehicles exceeds a certain value, that is, if the second vehicle has a speed that is greater than the speed of the first vehicle by a definable amount.
  • One criterion for whether or not the overtaking process is recommended for the second vehicle also depends, inter alia, on the described kinematic variables of both vehicles, whereby it is usually also taken into account how large a distance of the first and / or second vehicle to the turn is. From current vehicle speeds it can then be calculated when the first and / or second vehicle will reach the turn. On the basis of a length of time that elapses to reach the turn, the Criterion for the recommendation of the overtaking process are defined, in addition, the described kinematic variables can be taken into account. Thus, the length of the period of time can be compared with a duration that is to be estimated for the possibly to be performed overtaking. The overtaking process will be worthwhile in a variant only if it is much shorter than the time to reach the turn by the first vehicle. If this time span is only a few seconds, the first vehicle usually leaves the turn in a timely manner.
  • the invention also relates to a driver assistance device for providing a recommendation for performing an overtaking maneuver, wherein provision is made for a second vehicle following the first vehicle to approach a first vehicle along a lane on a lane.
  • This driver assistance device is designed to use for the second vehicle route information of the first vehicle for providing the recommendation for performing the overtaking maneuver and to discourage the overtaking maneuver if the route information indicates that the first vehicle leaves the route in a timely manner.
  • This driver assistance device may be arranged in the second vehicle and interact with a communication module that is configured to receive route information provided by the first vehicle.
  • the driver assistance device can have an observation module, which is designed as a so-called self-learning module. In the event that a route is regularly, for example. At a certain time of day, traveled, the observation module described can be used. This observation module is configured to observe the first vehicle and to determine the route information about the first vehicle on the basis of the observations. Alternatively or additionally, it is also possible for the first vehicle to transmit observations of its own travel path to the observation module of the second vehicle.
  • a two-way exchange and an evaluation of route guidance information between the vehicles take place, so that superfluous and dangerous overtaking maneuvers can be averted taking into account this route guidance information about the next action of the preceding vehicle. If the driver of the second, faster vehicle knows that the preceding vehicle will turn in a timely manner, the driver of the faster vehicle may be reluctant to start an overtaking maneuver. This saves fuel and increases safety on the roads.
  • the driver assistance device displays the information as to whether the overtaking maneuver is worthwhile.
  • risky and pointless overtaking maneuvers can be avoided if the vehicle in front intends to leave the traffic route on the next few meters. Often this turning intention is also the reason for a slowed down ride.
  • the described driver assistance device is designed to carry out all the steps of the presented method. In this case, individual steps of this method can also be carried out by individual components of the driver assistance device. Furthermore, functions of the driver assistance device or functions of individual components of the driver assistance device can be implemented as steps of the method.
  • the invention furthermore relates to a computer program with program code means in order to carry out all the steps of a described method when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in a driver assistance device according to the invention.
  • the computer program product according to the invention with program code means which are stored on a computer-readable data carrier is designed to carry out all steps of a described method when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in a driver assistance device according to the invention.
  • the arrangement according to the invention comprises a navigation unit, the position data of the vehicle, for. B. via satellite navigation systems (GPS, Galileo) or via a communication with infrastructure facilities in the environment (C2Enviroment), detected and connects for location with a road map, which z. B. can be done with map matching. Consequently, an individual route between at least two points or places, for. B. with route guidance.
  • This creates driving instructions that are sent to the driver sequentially.
  • a vehicle equipped with the driver assistance device according to the invention has, via the communication module, a transmission and reception unit that transmits route information to its surroundings and receives from surrounding vehicles. This could be realized by various wireless transmission media such as radio, WLAN, GSM or Bluetooth.
  • the driver assistance device interacts with the described communication module, the communication module may or may not be a component of the driver assistance device.
  • An evaluation unit as a component driver assistance device detects this information and can thus give a refill recommendation to a faster vehicle approaching a slower vehicle. If it is intended for the slower vehicle to drive a different route within a certain period of time than the faster vehicle, then the driver of the faster vehicle can use this as information, for. For example, "The vehicle ahead is likely to turn off at 400 m". A prerequisite for this is that two vehicles approach each other on a two-lane roadway and that both vehicles have the system according to the invention. If the driver of the faster vehicle receives this information, then he can cancel his possibly planned overtaking maneuver and follow the slower vehicle to the turn-off point.
  • the data exchange between navigation devices is triggered position-dependent.
  • each vehicle is also assigned a position. This position can then also be leaked to a public ticket.
  • the distance between them can also be calculated. If this calculated distance falls below a threshold, this can be a triggering criterion for exchanging route information.
  • the distance can of course also on more Environment sensor, z. As video, radar, laser, LIDAR, etc., are measured. In a further advantageous embodiment of the system according to the invention this is triggered upon reaching a definable relative speed between two vehicles.
  • a triggering criterion is then the relative or Auffahr für the faster vehicle to the slower vehicle.
  • the driver of the faster, trailing vehicle can independently retrieve the next route information of the preceding vehicle. Since it is likely that a driver does not use route guidance on a known route, the driver assistance device according to the invention can to a certain extent be self-learning. Become at certain times, eg. B in the morning and in the evening, always the same route profiles used, z. As by commuters, this can be used as route information and exchanged. Thus, the instruction "the preceding vehicle routinely turns 400 meters to the right" could be provided.
  • the number of other freely accessible driving instructions can be selected by the driver himself, for example, no driving instruction, only the next driving instruction or all driving instructions to the destination.
  • the refilling recommendation is linked to an infrastructure facility.
  • the route guidance information about the preceding vehicle can be omitted.
  • the information about the route guidance or the destination can also be sent to the surrounding infrastructure, in order, for. B. to influence the traffic management of individual vehicles.
  • FIG. 1 shows a schematic representation of a main road 2 and one of them turning off side road 4.
  • On this main road 2 drives a first vehicle 6 in the direction of a turn 8.
  • the first vehicle 6 drives a second vehicle 10 behind.
  • the second vehicle 10 has a higher speed than the first vehicle 6.
  • a distance between the two vehicles 6, 10 decreases over time. For this reason, it is appropriate for the driver of the second vehicle 10 to overtake the first vehicle 6.
  • a decision as to whether overtaking of the first vehicle 6 by the second vehicle 10 is worthwhile is made in one embodiment of the method according to the invention.
  • route information from the first vehicle 6 is provided to the second vehicle 10 by the first vehicle 6.
  • a driver assistance device 14 of the second vehicle 10 is informed as to whether the first vehicle 6 selects a first route 16 (dashed line) or a second route 18 (dotted line) for onward travel. If the first vehicle 6 selects the first route 16, this means that the first vehicle 6 continues to travel on the main road 2. If that Alternatively, the first vehicle alternatively selects the second route 18, this means that the first vehicle 6 leaves the main road 2 at the turn 8 and continues on the side road 4.
  • a distance between the two vehicles 6,10 four hundred meters, this distance is reduced due to the increased speed of the second vehicle 10.
  • the first vehicle 6 selects the second route 18 and provides corresponding route information to the second vehicle 10.
  • an overtaking maneuver for overtaking the first vehicle 6 is not worthwhile, so that this overtaking maneuver can be dispensed with.
  • the first vehicle 6 should not leave the main road 2 and thus follows the first route 16, it can be decided that the overtaking maneuver is worthwhile, so that the driver of the second vehicle 10 is given a corresponding recommendation.
  • FIG. 2 shows a road 30 having a first preceding vehicle 32 and a second vehicle 34 following the first vehicle 32.
  • the driver of the first vehicle 32 plans to exit the road 30 at a turn 40 toward a side road 42. This is transmitted as route information 38 of a driver assistance device 44 of the second vehicle 34 by wireless communication 46.
  • One embodiment of the method for providing a recommendation to perform an overtaking maneuver is represented by the flowchart 48 in FIG. 2 shown.
  • the driver assistance device 44 checks in a distance check 52 how large the distance 36 to the first vehicle 32 is. If this distance 36 is large enough, the process at start 50 is restarted. However, if the distance 36 is less than a triggering distance, a reception 54 follows the route information 38 of the first, preceding vehicle 32. In a route comparison 56, the route information 38 of the first vehicle 32 is compared with a route planning of the second vehicle 34.
  • the route comparison 56 based on the route information 38 of the first vehicle 32, has revealed that it turns right into the side street 42 in 200 meters becomes.
  • This route information 38 is used for decision making 58 in the process.
  • an overtaking maneuver and thus overtaking of the first vehicle 32 will be useless since the first preceding vehicle 32 will turn in 200 meters.
  • an end 60 of the method takes place.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
EP09166545A 2008-09-24 2009-07-28 Procédé de préparation d'une suggestion pour l'exécution d'une manoeuvre de doublement Active EP2169649B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008042304A DE102008042304A1 (de) 2008-09-24 2008-09-24 Verfahren zum Bereitstellen einer Empfehlung zum Durchführen eines Überholmanövers

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EP2169649A1 true EP2169649A1 (fr) 2010-03-31
EP2169649B1 EP2169649B1 (fr) 2011-06-01

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EP (1) EP2169649B1 (fr)
AT (1) ATE511686T1 (fr)
DE (1) DE102008042304A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2434468A1 (fr) 2010-09-28 2012-03-28 Scania CV AB Système d'assistance pour véhicule afin de générer les instructions de dépassement
CN103359013A (zh) * 2012-04-01 2013-10-23 同济大学 一种基于车车通信的换道超车辅助方法及系统
DE102012011994A1 (de) 2012-06-16 2013-12-19 Volkswagen Aktiengesellschaft Verfahren zur Unterstützung von Fahrerassistenz- und/oder Sicherheitsfunktionen von Kraftfahrzeugen
US20150142207A1 (en) * 2013-11-18 2015-05-21 Robert Bosch Gmbh Method and driver assistance device for supporting lane changes or passing maneuvers of a motor vehicle
CN112550296A (zh) * 2019-09-10 2021-03-26 奥迪股份公司 用于车辆的驾驶辅助系统、方法和介质及车辆

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE536549C2 (sv) 2012-06-14 2014-02-11 Scania Cv Ab System och metod för att assistera ett fordon vid omkörningav fordonståg
DE102014211507A1 (de) * 2014-06-16 2015-12-17 Volkswagen Aktiengesellschaft Verfahren für ein Fahrerassistenzsystem eines Fahrzeugs
DE102016005251A1 (de) * 2016-04-29 2017-11-02 Audi Ag Verfahren zum Betreiben eines Fahrerassistenzsystems für ein Kraftfahrzeug
DE102019113720A1 (de) * 2019-05-23 2020-11-26 Bayerische Motoren Werke Aktiengesellschaft Relokation eines Carsharing-Kraftwagens im fahrerlosen Fahrbetrieb mit geringer Fahrgeschwindigkeit
DE102021203402A1 (de) 2021-04-07 2022-10-13 Zf Friedrichshafen Ag Fahrerassistenzsystem zum Anzeigen eines Abfahrmanövers und Lastkraftwagen
DE102022204335B3 (de) 2022-05-03 2023-10-12 Volkswagen Aktiengesellschaft Verfahren zum Bereitstellen einer Handlungsempfehlung in einem Kraftfahrzeug für einen Überholvorgang, Fahrerassistenzsystem und Kraftfahrzeug

Citations (6)

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GB2358506A (en) 2000-01-21 2001-07-25 Lucent Technologies Inc Communication of vehicle information
WO2004031692A1 (fr) * 2002-09-27 2004-04-15 Robert Bosch Gmbh Dispositif de navigation
WO2005102765A1 (fr) * 2004-04-21 2005-11-03 Siemens Aktiengesellschaft Systeme d'assistance pour vehicules
JP2006293615A (ja) 2005-04-08 2006-10-26 Denso Corp 車両の追い越し支援装置
US20070083318A1 (en) 2005-10-07 2007-04-12 Parikh Jayendra S Adaptive cruise control using vehicle-to-vehicle wireless communication
DE102007036248A1 (de) * 2007-08-02 2009-02-05 Robert Bosch Gmbh Signalisierungsvorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2358506A (en) 2000-01-21 2001-07-25 Lucent Technologies Inc Communication of vehicle information
WO2004031692A1 (fr) * 2002-09-27 2004-04-15 Robert Bosch Gmbh Dispositif de navigation
WO2005102765A1 (fr) * 2004-04-21 2005-11-03 Siemens Aktiengesellschaft Systeme d'assistance pour vehicules
JP2006293615A (ja) 2005-04-08 2006-10-26 Denso Corp 車両の追い越し支援装置
US20070083318A1 (en) 2005-10-07 2007-04-12 Parikh Jayendra S Adaptive cruise control using vehicle-to-vehicle wireless communication
DE102007036248A1 (de) * 2007-08-02 2009-02-05 Robert Bosch Gmbh Signalisierungsvorrichtung

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2434468A1 (fr) 2010-09-28 2012-03-28 Scania CV AB Système d'assistance pour véhicule afin de générer les instructions de dépassement
CN103359013A (zh) * 2012-04-01 2013-10-23 同济大学 一种基于车车通信的换道超车辅助方法及系统
CN103359013B (zh) * 2012-04-01 2016-08-17 同济大学 一种基于车车通信的换道超车辅助方法及系统
DE102012011994A1 (de) 2012-06-16 2013-12-19 Volkswagen Aktiengesellschaft Verfahren zur Unterstützung von Fahrerassistenz- und/oder Sicherheitsfunktionen von Kraftfahrzeugen
US20150142207A1 (en) * 2013-11-18 2015-05-21 Robert Bosch Gmbh Method and driver assistance device for supporting lane changes or passing maneuvers of a motor vehicle
DE102013223428A1 (de) 2013-11-18 2015-05-21 Robert Bosch Gmbh Verfahren und Fahrerassistenzeinrichtung zur Unterstützung von Spurwechseln bzw. Überholmanövern eines Kraftfahrzeugs
CN112550296A (zh) * 2019-09-10 2021-03-26 奥迪股份公司 用于车辆的驾驶辅助系统、方法和介质及车辆

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Publication number Publication date
DE102008042304A1 (de) 2010-04-01
EP2169649B1 (fr) 2011-06-01
ATE511686T1 (de) 2011-06-15

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