EP2926329A1 - Method and device for safeguarding a lane change and vehicle - Google Patents
Method and device for safeguarding a lane change and vehicleInfo
- Publication number
- EP2926329A1 EP2926329A1 EP13783853.8A EP13783853A EP2926329A1 EP 2926329 A1 EP2926329 A1 EP 2926329A1 EP 13783853 A EP13783853 A EP 13783853A EP 2926329 A1 EP2926329 A1 EP 2926329A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- lane
- lane change
- intent
- response
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008859 change Effects 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000006854 communication Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000004044 response Effects 0.000 claims description 36
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims 1
- 206010000210 abortion Diseases 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 7
- 238000011156 evaluation Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000009466 transformation Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Definitions
- the present invention relates to a method for securing a lane change, the method comprising the steps of: detecting a lane change intent of a first vehicle from a first lane to a destination lane and reporting lane change intent to at least one second vehicle by means of a first Car2Car communication, responses of the second Vehicle to the first vehicle by means of a second Car2Car communication and performing a measure in the first vehicle, which helps to cancel or at least avoid a lane change of the first vehicle, depending on a content of the response of the second vehicle.
- At least one state and / or environmental date of the second vehicle is communicated to the first vehicle, wherein following the responses of the second vehicle in the first vehicle, the following step is performed: second assessing a hazard potential of the one planned by the first vehicle Lane change taking into account the response of the second vehicle.
- the invention relates to a device for securing a lane change.
- the invention relates to a vehicle with a device for securing a lane change.
- each vehicle participating in the communication process can be made aware of the relative position and speed with respect to other road users.
- DE 10 2010 013 402 A1 describes a view of a graphic in a head-up display when a threading maneuver of a second vehicle is imminent.
- a lane change signal (threading request) of the threading vehicle (corresponding to the first vehicle of the present invention) is monitored by the host vehicle (corresponding to the second vehicle of the present invention).
- the threading requirement imposed by the threading vehicle is automatically allowed or denied.
- DE 10 2010 01 1 497 A1 describes a method for avoiding or attenuating a collision between a first vehicle traveling on a first lane (which corresponds to the second vehicle of the present invention) and a second vehicle traveling on a second lane (which corresponds to FIG first vehicle of the present invention) in a lane change of the second vehicle from the second lane to the first lane.
- a first distance of the second vehicle to the first vehicle is determined by means of at least one second determination device of the first vehicle. If the distance is less than a first predetermined threshold, the first vehicle automatically issues a warning message to the second vehicle (corresponding to the first vehicle of the present invention).
- DE 103 34 203 A1 describes a functional overall context of an accident prevention system in which at least two road users are automatically informed of the current movement of the other each other in direct communication and the information is automatically evaluated from the respective point of view with the determined data, wherein As a result of an automatically determined dangerous situation, an automatic intervention takes place on the driving operation in the respective vehicle.
- DE 101 49 206 A1 describes a method for excluding accidents by detection when vehicles leave their respective current corridor. By means of vehicle-to-vehicle communication, a second vehicle is informed about evasive maneuvers of a first vehicle. When a vehicle wants to change lanes, a message is transmitted to other vehicles, which then reduce their travel speed to allow the lane changing vehicle to change lanes.
- DE 101 34 367 A1 describes a method for a lane change, in which a reachability of possible Einscherlücken is displayed graphically and / or acoustically.
- DE 10 2006 033 743 A1 describes a method for detecting the surroundings of a vehicle in which information of other road users about the vehicle speed and steering angle are transmitted via radio and forwarded to a steering control unit and in which depending on the information a direction correction for collision avoidance or optimized collision encounter.
- DE 10 201 1018159 A1 describes a driver assistance device with an environment sensor for monitoring a monitoring space located laterally of the motor vehicle and with an evaluation unit for estimating a potential hazard to the motor vehicle by an object approaching a lane to be traveled by the vehicle ,
- DE 10 2005 036 714 A1 describes a lane change assistant which recognizes lanes by taking pictures of a road section by means of a camera system and by means of an image processing lane markings are extracted from the recorded images.
- DE 10 2010 052 406 A1 describes a method for avoiding or reducing the consequences of a vehicle collision.
- lane change information is transmitted via WLAN to a second vehicle located in a lane to which the first vehicle intends to change.
- the second vehicle is automatically accelerated or briefly braked in order to avoid a collision with the first vehicle or at least to reduce the consequences of the collision.
- the intended lane change is identified by an operation of a turn signal lever of the first vehicle or by a steering movement of the first vehicle.
- a method for securing a lane change comprises the following steps: detecting a lane change intent of a first vehicle from a first lane to a destination lane, reporting lane change intent to at least one second vehicle by means of a first Car2Car communication.
- the method comprises the following steps: responses of the second vehicle to the first vehicle by means of a second Car2Car communication.
- a measure is executed in the first vehicle, which stops or at least avoids a lane change of the first vehicle.
- At least one state and / or environmental date of the second vehicle is communicated to the first vehicle, wherein following the responses of the second vehicle in the first vehicle, the following step is performed: second assessing a hazard potential of the one planned by the first vehicle Lane change taking into account the response of the second vehicle.
- Second assessing a hazard potential of the one planned by the first vehicle Lane change taking into account the response of the second vehicle.
- a measure is carried out which leads to a termination or at least to avoiding a lane change of the first vehicle, instead of the lane Change intent of the first vehicle causes a termination or avoiding a lane change of the second vehicle, lane changes are hedged, without this one of the drivers is animated to a reckless driving style.
- the object is achieved in that the device is prepared to carry out the method according to the invention.
- the object is achieved in that the device of the vehicle is prepared to carry out the method according to the invention.
- the response of the second vehicle may include information about a state of the second vehicle.
- the state of a (first or second) vehicle may include a real or spurious subset of the following data:
- the information about the relative vehicle position may include a relative position of the first vehicle with respect to a position of the second vehicle and / or a relative position of the second vehicle with respect to the first vehicle.
- the information about a relative vehicle speed may include a relative speed of the first vehicle with respect to a speed of the second vehicle and / or a relative speed of the second vehicle with respect to a speed of the first vehicle.
- the information about the relative vehicle acceleration may include a relative acceleration of the first vehicle with respect to an acceleration of the second vehicle and / or a relative acceleration of the second vehicle with respect to an acceleration of the first vehicle.
- a refinement provides that, in the step of first assessing the hazard potential, a hazard potential of the lane change planned by the first vehicle is assessed, with the response transmitting a result of the first assessment of the hazard potential to the first vehicle.
- At least one state and / or environmental date of the second vehicle is communicated to the first vehicle, wherein following the responses of the second vehicle in the first vehicle, the step of: second assessing a hazard potential of the one of the first vehicle Lane change taking into account the response of the second vehicle.
- the first vehicle is enabled to carry out its own assessment of the hazard potential, taking into account data that is partially captured by the second vehicle and partly by itself.
- a lane change intent of the second vehicle is taken into account before the answer, provided that such lane change intent is present.
- the second vehicle can also incorporate its own lane change intention in the evaluation of the hazard potential, if such exists.
- a separate lane change intent also applies, if such exists. It is particularly preferred if, during the second evaluation of the hazard potential after the response, a lane change intent of the second vehicle is taken into account, if such Lane change intent is present.
- the first vehicle may also include a lane change intention of the second vehicle in the evaluation of the potential hazard, if such a lane change intent exists.
- Embodiments provide that the reporting of the lane change intention to the second vehicle by means of a radar or Lidar transmission, using WLAN and / or by means of another type of radio transmission and / or that the responses of the second vehicle to the first vehicle by means of a radar or lidar transmission, by means of WLAN and / or by means of another type of radio transmission.
- one of these types of Car2Car communication is provided so that it can be shared for the process of securing a lane change.
- a preferred development provides that the recognition of the lane change intent of the first and / or the second vehicle using a camera-based lane detection system takes place and / or that the lane change intent of the first and / or the second vehicle taking into account a difference of a steering angle minus a curvature of the respective Lane, a yaw angle minus a curvature of the respective lane, a turn signal position of the vehicle and / or a travel recommendation of a navigation system of the vehicle is detected.
- a yaw rate and / or a number of the lane for calculating the situation can be consulted in order to recognize the risk potential of the lane change of the vehicle as quickly as possible.
- the methods for recognizing lane change intentions which are not based on a turn signal, have the advantage that a lane change is detected even if the driver forgets to actuate the direction indicator during a lane change.
- a lane change description is transmitted from the first vehicle to the second vehicle, which contains a lane change direction indication, an identification of the destination lane and / or information about a vehicle state of the first vehicle.
- Lane change direction indication a marking of the target lane and / or include information about a vehicle condition of the first vehicle.
- the method may also be applied if the first lane is identical to the second lane or if the destination lane is a lane between the first and second lanes and the first or second lane is a passing lane for the destination lane.
- both vehicles want to drive simultaneously to a same middle lane occurs, for example, when the second vehicle on the second lane (in the right-hand drive system in the left lane) completed an overtaking and the vehicle on the first lane (in the right-hand drive system on the right lane) would like to start with an overtaking process.
- the execution of the measure for canceling or avoiding a lane change comprises an audible, visual and / or haptic warning to a driver of the first vehicle and / or an automatic steering intervention and / or an automatic accelerator intervention in the first vehicle. If the driver of the first vehicle does not react, an automatic intervention in the driving dynamics can be undertaken in the relevant vehicle, for example braking or accelerating or steering intervention, in order to defuse the situation.
- FIG. 1 shows schematically a dangerous traffic situation on a four-lane road, in which two vehicles initially travel side by side, with a free lane between them, the two vehicles being about to change to the same intervening lane at the same time, and
- Fig. 2 shows schematically a message exchange diagram of a method for securing a lane change.
- FIG. 1 shows a dangerous traffic situation on a four-lane road 30.
- two vehicles 10, 20 first ride side by side, but not on lanes that are directly next to each other, but on lanes 31, 33, which are only indirectly adjacent to each other. Between the two lanes 31, 33 is a free lane 32.
- the dangerous traffic situation arises from the fact that both vehicles 10, 20 want to change to the same intervening lane 32 at the same time.
- the message exchange diagram illustrated in FIG. 2 of a method 100 for securing a lane change comprises the following steps.
- a first step 110 a lane change intent of a first vehicle 10 is detected by a first lane 31 in a destination lane 32.
- the first vehicle 10 notifies the lane change intent to at least one second vehicle 20 by means of a first Car2Car communication.
- the second vehicle 20 responds to the first vehicle 10 by means of a second Car2Car communication.
- a measure is executed in the first vehicle 10, which stops or at least prevents a lane change of the first vehicle 10.
- a broadcast mode may be provided to address the lane change intent to the general public or simultaneously to multiple second vehicles (eg, vehicles of the same manufacturer), thereby more efficiently utilizing transmission resources.
- the limited radio range of WLAN connections limits the communication in an advantageous manner to those vehicles that are located in the environment of the respective vehicle.
- a development of the method envisages that before the response 130 of the second vehicle 20 in the second vehicle 20 (in a first assessment step 125) a hazard potential of the lane change planned by the first vehicle 10 is assessed, with the response 130 being a result of the first Judging 125 of the hazard potential to the first vehicle 10 is transmitted.
- a further development of the method provides that at least one state and / or ambient date of the second vehicle 20 is transmitted to the first vehicle 10 with the responses 130 of the second vehicle 20. The state and / or ambient date may then be after the response 130 of the second vehicle 20 in the first vehicle 10 (in a second assessment step) can be used to assess a hazard potential of the lane change planned by the first vehicle 10 taking into account the response of the second vehicle 20.
- the first judgment 125 of the hazard potential before the response 130 also takes into account a lane change intent of the second vehicle 20, if such a lane change intent exists.
- a further option provides that the second assessment 135 of the hazard potential after the response 130 also takes into account a lane change intention of the second vehicle 20, if such a lane change intent exists.
- a further option provides that the lane change intention is reported to the second vehicle 20 by means of a radar or lidar transmission, by means of WLAN and / or by means of another type of radio transmission. It is also possible that the responses 130 of the second vehicle to the first vehicle by means of a radar or Lidar transmission, using WLAN and / or by means of another type of radio transmission.
- the recognition 110 of the lane change intent of the first 10 and / or the second 20 vehicle can be carried out, for example, using a camera-based lane recognition system.
- the lane change intent of the first 10 and / or the second vehicle taking into account a difference of a steering angle minus a curvature of the respective lane 31, 32, a yaw angle minus a curvature of the respective lane 31, 32, a turn signal of the vehicle 10, 20 and / or a travel recommendation of a navigation system of the vehicle 10, 20 is detected.
- a lane change description is transmitted from the first vehicle 10 to the second vehicle 20 containing a lane change direction indication, an identification of the destination lane and / or information about a vehicle state of the first vehicle 10.
- the first lane 31 may be identical to the second lane 33. As shown in Fig. 2, but it is also possible that the target track between the first 31 and second 33 lanes and the first 31 or second 33 lanes for the destination lane 32 is a fast lane.
- Executing 130 the measure to cancel or avoid a lane change may include an audible, visual and / or haptic alert to a driver of the first vehicle 10 and / or an automatic steering intervention and / or an automatic accelerator intervention in the first vehicle 10.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201210023361 DE102012023361A1 (en) | 2012-11-28 | 2012-11-28 | Method and device for securing a lane change and vehicle |
PCT/EP2013/003242 WO2014082698A1 (en) | 2012-11-28 | 2013-10-29 | Method and device for safeguarding a lane change and vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2926329A1 true EP2926329A1 (en) | 2015-10-07 |
EP2926329B1 EP2926329B1 (en) | 2016-06-29 |
Family
ID=49513898
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13783853.8A Active EP2926329B1 (en) | 2012-11-28 | 2013-10-29 | Method and device for safeguarding a lane change |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2926329B1 (en) |
DE (1) | DE102012023361A1 (en) |
WO (1) | WO2014082698A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10377383B2 (en) | 2017-12-11 | 2019-08-13 | Ford Global Technologies, Llc | Vehicle lane change |
CN112470200A (en) * | 2018-07-16 | 2021-03-09 | 日产自动车株式会社 | Driving assistance method and driving assistance device |
CN114980031A (en) * | 2021-08-18 | 2022-08-30 | 长城汽车股份有限公司 | Multi-vehicle lane-changing interactive control method, device and system, storage medium and vehicle |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9550528B1 (en) * | 2015-09-14 | 2017-01-24 | Ford Global Technologies, Llc | Lane change negotiation |
DE102016205141A1 (en) | 2015-11-04 | 2017-05-04 | Volkswagen Aktiengesellschaft | A method and vehicle communication system for determining a driving intention for a vehicle |
DE102016122686B4 (en) | 2016-11-24 | 2021-01-07 | Henrik Stiewe | Method for informing a road user about a traffic situation |
JP6859931B2 (en) * | 2017-11-15 | 2021-04-14 | トヨタ自動車株式会社 | Autonomous driving system |
DE102018202469A1 (en) * | 2018-02-19 | 2019-08-22 | Audi Ag | Method for determining the height of a motor vehicle and motor vehicle |
US11548511B2 (en) | 2019-06-14 | 2023-01-10 | GM Global Technology Operations LLC | Method to control vehicle speed to center of a lane change gap |
FR3105961B1 (en) * | 2020-01-08 | 2022-08-12 | Psa Automobiles Sa | Method and device for determining a lane change indicator for a vehicle |
CN111942405B (en) * | 2020-09-24 | 2021-10-15 | 北京百度网讯科技有限公司 | Vehicle control method, vehicle control device, vehicle, electronic device, and storage medium |
CN113763750B (en) * | 2021-09-29 | 2023-06-13 | 天翼交通科技有限公司 | 5G-based intelligent vehicle-road cooperation system and method |
FR3132958B1 (en) * | 2022-02-23 | 2024-01-19 | Psa Automobiles Sa | Method and device for communicating data by selecting at least one radar from a plurality of radars of a vehicle |
CN114735075B (en) * | 2022-04-13 | 2023-06-13 | 中国第一汽车股份有限公司 | Vehicle turning state determining method and device, electronic equipment and storage medium |
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GB2373117B (en) * | 2000-10-04 | 2005-02-16 | Intelligent Tech Int Inc | Method and arrangement for mapping a road and accident avoidance system |
DE10134367A1 (en) * | 2001-07-14 | 2003-01-23 | Daimler Chrysler Ag | Road vehicle guidance system for vehicles, for safe entry over taking lane within defined distance |
US6882287B2 (en) * | 2001-07-31 | 2005-04-19 | Donnelly Corporation | Automotive lane change aid |
DE10334203A1 (en) * | 2003-07-26 | 2005-03-10 | Volkswagen Ag | Interactive traffic handling method, by informing respective road users of current movements of other road users by direct intercommunication |
DE102005036714A1 (en) | 2005-08-04 | 2007-02-08 | Daimlerchrysler Ag | Method for assisting the driver of a vehicle in a lane change and driver assistance system for carrying out the method |
DE102006033743A1 (en) * | 2006-07-21 | 2007-10-04 | Conti Temic Microelectronic Gmbh | Method for environment recording of vehicle entails transmission of information about the vehicle which at least temporarily is superposed upon electromagnetic beam |
US8269652B2 (en) * | 2009-04-02 | 2012-09-18 | GM Global Technology Operations LLC | Vehicle-to-vehicle communicator on full-windshield head-up display |
DE102010011497A1 (en) * | 2010-03-16 | 2011-09-22 | GM Global Technology Operations LLC , (n. d. Ges. d. Staates Delaware) | Method for avoiding or mitigating a collision, control device for a driver assistance system and vehicle |
DE102010052406A1 (en) | 2010-11-24 | 2011-07-07 | Daimler AG, 70327 | Method for preventing car collisions, involves transferring lane change information with car lane change to another car, and triggering measurement in latter car to obviate collision with former car or to diminish consequences of collision |
DE102011018159A1 (en) * | 2011-04-19 | 2012-10-25 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Device and method for driver assistance |
-
2012
- 2012-11-28 DE DE201210023361 patent/DE102012023361A1/en not_active Withdrawn
-
2013
- 2013-10-29 WO PCT/EP2013/003242 patent/WO2014082698A1/en active Application Filing
- 2013-10-29 EP EP13783853.8A patent/EP2926329B1/en active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2014082698A1 * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10377383B2 (en) | 2017-12-11 | 2019-08-13 | Ford Global Technologies, Llc | Vehicle lane change |
CN112470200A (en) * | 2018-07-16 | 2021-03-09 | 日产自动车株式会社 | Driving assistance method and driving assistance device |
CN112470200B (en) * | 2018-07-16 | 2022-06-07 | 日产自动车株式会社 | Driving assistance method and driving assistance device |
CN114980031A (en) * | 2021-08-18 | 2022-08-30 | 长城汽车股份有限公司 | Multi-vehicle lane-changing interactive control method, device and system, storage medium and vehicle |
Also Published As
Publication number | Publication date |
---|---|
DE102012023361A1 (en) | 2014-05-28 |
EP2926329B1 (en) | 2016-06-29 |
WO2014082698A1 (en) | 2014-06-05 |
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