Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T7/00—Brake-action initiating means
  • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
  • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/17—Using electrical or electronic regulation means to control braking
  • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
  • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
  • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
  • B60W30/10—Path keeping
  • B60W30/12—Lane keeping
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D15/00—Steering not otherwise provided for
  • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
  • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
  • B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
  • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
  • B60T2201/02—Active or adaptive cruise control system; Distance control
  • B60T2201/022—Collision avoidance systems
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
  • B60T2201/08—Lane monitoring; Lane Keeping Systems

Definitions

• the present invention relates to a method for determining a lane adjustment parameter for a lane keeping system of a vehicle, to a method for tracking a vehicle, to a device for determining a lane adjustment parameter for a lane keeping system of a vehicle and / or for tracking a vehicle and to a corresponding computer program product according to the main claims.
• a step of recognizing the obstacle extension range of the visual obstacle caused by the at least one preceding vehicle may be provided transversely to the course of the driving lane to be traveled by the vehicle using the sensor signal from the at least one environmental sensor.
• the determination device 120 is configured to output the track adjustment parameter to the tracking device 130.
• the tracking device 130 is configured to receive the lane adjustment parameter from the determination device 120. Further, the tracking device 130 is configured to perform the tracking by using the track matching template. perform rameters such that the overlap of the obstacle recovery area and the vehicle extension area is reduced.
• the determination device 120 may also be a part of the tracking device 130 and the lane keeping system, respectively.
• FIG. 2A shows a schematic representation of a vehicle with a device according to an embodiment of the present invention in a traffic situation. Shown are a vehicle 100, a lane 200, a lane boundary 202, a vehicle extension area 204 of the vehicle 100, a preceding vehicle 250, a viewing obstacle 252, an obstacle severance area 254 and a direction of travel D.
• the vehicle 100 is here
• the lane 200 is, for example, a directional lane of a two-lane road.
• the lane 200 is bounded on a first side by the lane boundary 202, for example in the form of a median strip or the like.
• the lane boundary 202 is viewed in the direction of travel D is a driver-side lane boundary of the lane 200.
• the lane 200 is limited on a second side of another lane boundary, for example in the form of a roadside.
• the lane 200 may have a track width from the lane boundary 202 to the further lane boundary. In this case, the width extension of the lane 200 extends transversely to the direction D.
• the vehicle 100 and the preceding vehicle 250 move within the traffic lane 200 in the direction of travel D.
• the vehicle ahead 250 is located in front of the vehicle 100.
• the vehicle extension region 204 of the vehicle 100 extends transversely to the direction of travel D.
• the vehicle extension region 204 of the vehicle 100 has a portion of the
• the vehicle 100 and the preceding vehicle 250 move according to the embodiment of the present invention shown in FIG. 2A in a line one behind the other, wherein a distance of the vehicle 100 to the lane boundary 202 within a tolerance range is a distance of the preceding vehicle 250 to the lane boundary 202 corresponds.
• the vehicle 100 is thereby moved by means of the lane guiding device of FIG. 1 guided on a Vorgabetrajektorie within the carriageway 200.
• the visual obstacle 252 is disposed between the vehicle 100 and the preceding vehicle 250.
• the visual obstacle 252 is exemplary in
• the obstruction 252 is caused by the preceding vehicle 250.
• the particle cloud is whirled up by the preceding vehicle 250.
• the obstacle extension region 254 of the visual obstacle 252 extends transversely to the direction of travel D.
• the obstacle extension region 254 of the visual obstacle 252 has a partial section of the width extension of the traffic lane 200. According to the embodiment of the present invention shown in FIG. 2A, the obstacle extension region 254 and the vehicle extension region 204 overlap with the widthwise direction of the roadway 200.
• FIG. 2B shows a schematic illustration of the vehicle or the traffic situation from FIG. 2A.
• the illustration in FIG. 2B corresponds to the illustration from FIG. 2A, with the exception that the distance of the vehicle 100 from the lane boundary 202 is less than the distance of the preceding vehicle 250 from the lane boundary 202.
• Such a reduced distance of the vehicle 100 from the lane boundary 202 may be effected by the combined apparatus for determining a lane keeping system lane adjustment parameter and tracking as a possible reaction to the visual obstacle 252.
• an overlap of the obstacle extension region 254 and the vehicle extension region 204 with respect to the widthwise direction of the roadway 200 is reduced.
• the vehicle has at least one environment sensor.
• the method 300 includes a step reading-in 310 of an obstacle extent range of a visual obstacle caused by at least one preceding vehicle across a course of a lane to be traveled by the vehicle from a sensor signal from the at least one environmental sensor.
• the method 300 also includes a step of determining the track adjustment parameter in dependence on the read in obstacle extension area and a vehicle extension area transversely to the course of the lane to be traveled by the vehicle.
• the lane adjustment parameter is determined in such a way that the lane keeping system is configured when using the lane adjustment parameter in order to prevent an overlap of the obstacle extension area and the lane boundary

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• Engineering & Computer Science (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• Chemical & Material Sciences (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Multimedia (AREA)
• Combustion & Propulsion (AREA)
• Electromagnetism (AREA)
• Aviation & Aerospace Engineering (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• General Physics & Mathematics (AREA)
• Traffic Control Systems (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

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• 2012
  • 2012-04-16 DE DE102012206211A patent/DE102012206211A1/de active Pending
• 2013
  • 2013-04-15 EP EP13718811.6A patent/EP2838779A1/de not_active Withdrawn
  • 2013-04-15 WO PCT/EP2013/057760 patent/WO2013156422A1/de active Application Filing
  • 2013-04-15 US US14/394,917 patent/US9463798B2/en active Active
  • 2013-04-15 CN CN201380019728.2A patent/CN104271432B/zh active Active

Non-Patent Citations (1)

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