EP3127105A1 - Verfahren und system zur beurteilung des risikos eines fahrspurwechsels während des fahrens eines führenden fahrzeugs auf einer fahrbahn mit mindestens zwei benachbarten fahrspuren - Google Patents

Verfahren und system zur beurteilung des risikos eines fahrspurwechsels während des fahrens eines führenden fahrzeugs auf einer fahrbahn mit mindestens zwei benachbarten fahrspuren

Info

Publication number
EP3127105A1
EP3127105A1 EP15774225.5A EP15774225A EP3127105A1 EP 3127105 A1 EP3127105 A1 EP 3127105A1 EP 15774225 A EP15774225 A EP 15774225A EP 3127105 A1 EP3127105 A1 EP 3127105A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
neighbouring
traffic lane
extent
traffic
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.)
Withdrawn
Application number
EP15774225.5A
Other languages
English (en)
French (fr)
Other versions
EP3127105A4 (de
Inventor
Jonny Andersson
Linus Bredberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Publication of EP3127105A1 publication Critical patent/EP3127105A1/de
Publication of EP3127105A4 publication Critical patent/EP3127105A4/de
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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 invention relates to a method to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes according to the introduction to claim 1 .
  • the invention relates also to a system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes.
  • the invention relates also to a motor vehicle.
  • the invention relates also to a computer program and a computer program product.
  • a change of traffic lane involves a risk in the case in which a vehicle behind is approaching in the neighbouring traffic lane to which a change is to take place. From the point of view of traffic safety, thus, there is a need to assess the risk of change of traffic lane in the presence of a vehicle that is approaching the leading vehicle from behind.
  • a blind-spot warning system is, according to one variant, used for this purpose.
  • Such a system warns or takes action in another manner when the driver's own vehicle is in the process of progressing into a neighbouring traffic lane in which an object such as another vehicle is present. This is normally achieved by means of a rearwards-directed radar that detects objects or vehicles in neighbouring traffic lanes, where it is assumed that the vehicle is being driven essentially straight ahead along the direction of travel. The assumption that the vehicle will drive straight forwards may lead to erroneous or omitted warnings.
  • a warning system such as what is known as a "blind-spot warning system” assumes in this case that a vehicle detected in the detection region and determined to be present in a zone extending directly backwards and at a distance that corresponds to the distance from the vehicle or the drawing vehicle of the vehicle to the neighbouring traffic lane constitutes a threat, whereby a warning is activated during a change of traffic lane since the trailer, which is located in the traffic lane in which the vehicle is present, constitutes a threat due to the degree of curvature of the roadway, whereby the blind-spot warning system takes measures when the vehicle intends to carry out a change of traffic lane and consequently gives an unnecessary warning.
  • Figure 1 illustrates this problem.
  • US2003025597 reveals a system to provide assistance during change of traffic lane where the position of the line markings at the traffic lanes are memorised, whereby the history of the traffic lane position is determined in order to determine the position of the vehicle.
  • One purpose of the present invention is to achieve a method and a system to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes that minimises the risk of erroneous warnings when a risk during change of traffic lane is not present.
  • a method to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes comprising the step: to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which the said vehicle is being driven, comprising the steps: to determine, based on specifications concerning the extent of a specified traffic lane in which the vehicle is being driven, the extent of at least one neighbouring traffic lane based on continuously determined reference positions at the vehicle relative to the said neighbouring traffic lane in order to determine an action zone extending a specified extent in the said neighbouring traffic lane alongside the said vehicle, and, in the event of the presence of objects in the said action zone, to take measures in association with a change of traffic lane.
  • reference positions are continuously determined at predetermined intervals. Efficient and predictable determination of the action zone is in this way made possible.
  • the intervals are intervals of extent along the direction of travel of the vehicle. Efficient and predictable determination of the action zone is in this way made possible, independently of the speed of the vehicle.
  • the intervals are intervals of time. Efficient and predictable determination of the action zone that is simple to achieve is in this way made possible.
  • the method comprises the step to determine the extent at the said neighbouring traffic lanes based on parameters with respect to the travel of the vehicle, which parameters include the rate of change of yaw angle and speed of the vehicle.
  • the said determination of extent of the said neighbouring traffic lanes includes the determination of distance relative to the vehicle.
  • An efficient manner to determine the width of the action zone is in this way made possible.
  • the extent by which the said action zone extends in the said neighbouring traffic lanes alongside the said vehicle is set to an extent corresponding to the length of the vehicle or somewhat greater than this. It is in this way ensured that measures such as giving a warning, in the event that such a detected vehicle is located in the action zone, are taken as soon as the vehicle is detected.
  • Figure 1 illustrates schematically the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes, where a vehicle that is approaching the vehicle from behind is detected according to prior art technology
  • Figure 2 illustrates schematically a motor vehicle according to one embodiment of the present invention
  • Figure 3 illustrates schematically a block diagram of a system to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes according to the present invention
  • Figure 4 illustrates schematically the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes, where reference positions relative to traffic lanes that are neighbouring to the vehicle have been determined;
  • Figure 5 illustrates schematically the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes, where a vehicle that is approaching the vehicle from behind is detected according to one embodiment of the present invention
  • Figure 6 illustrates schematically a block diagram of a method to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes according to the present invention
  • Figure 7 illustrates schematically a computer according to one embodiment of the present invention.
  • Figure 1 illustrates schematically the driving of a vehicle 1 with a drawing vehicle 2 and a trailer 4 travelling in the direction of the arrow P1 on a roadway R2 with two neighbouring traffic lanes L1 , L2, according to the prior art.
  • a radar means with a certain range is arranged to achieve a detection region A1 that is directed from the right side of the vehicle and essentially directly backwards relative to its direction of travel.
  • a "blind-spot warning system” will in this case assume that a vehicle detected in the detection region and determined to be present in a zone ZA1 extending directly backwards and at a distance that corresponds to the distance from the vehicle 1 to the neighbouring traffic lane L2 constitutes a threat, whereby a warning is activated during change of traffic lane.
  • the degree of curvature of the roadway in this case means that the trailer of the vehicle that is located in the traffic lane L1 of the vehicle itself constitutes a threat whereby the blind-spot warning system takes measures when the vehicle 1 intends to carry out a change of traffic lane, and consequently gives an unnecessary warning.
  • link refers to a communication link that may be a physical line, such as an opto-electronic communication line, or a non- physical line, such as a wireless connection, for example a radio link or microwave link.
  • neighboring traffic lane refers to neighbouring traffic lanes for vehicles travelling in the same direction, i.e. traffic lanes in the form of neighbouring lanes in which vehicles travel in the same direction, commonly found on larger roads such as motorways, and to neighbouring traffic lanes for travel in opposing directions, i.e. neighbouring traffic lanes in which oncoming traffic is present in the neighbouring traffic lane and in which overtaking manoeuvres can take place.
  • roadway with at least two neighbouring traffic lanes refers to any appropriate roadway with neighbouring traffic lanes according to the definition above.
  • the term "roadway with at least two neighbouring traffic lanes” can consequently include a larger road such as a motorway with two or more neighbouring traffic lanes in the form of neighbouring lanes for travel in the same direction, a roadway with two neighbouring traffic lanes for travel in opposing directions, i.e. neighbouring traffic lanes in which oncoming traffic is present in the neighbouring traffic lane and in which overtaking manoeuvres can take place.
  • FIG. 2 illustrates schematically a motor vehicle 1 according to one embodiment of the present invention.
  • the vehicle 1 taken as an example is constituted by a heavy vehicle in the form of a truck with a drawing vehicle 2 and a trailer 4.
  • the vehicle may be a bus or a car.
  • the vehicle comprises a system I to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes according to the present invention.
  • Figure 3 illustrates schematically a block diagram of a system I to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes according to one embodiment of the present invention.
  • the system I comprises an electronic control unit 100.
  • the system I comprises means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven.
  • the means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven may include any appropriate sensor means.
  • the means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven comprises, according to one variant, radar means.
  • the means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven comprises, according to one variant, camera means.
  • the means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven comprises, according to one variant, lidar means.
  • the means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven comprises, according to one variant, laser scanning means.
  • the means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven includes sensor means for the detection on the relevant side of the vehicle in order to facilitate the detection of the presence of vehicles that are approaching the vehicle from behind in traffic lanes to the right of the vehicle and in traffic lanes to the left of the vehicle.
  • the vehicle comprises the means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven.
  • the system I comprises means 200a to determine, based on specifications concerning the extent of a defined traffic lane in which the vehicle is being driven, the extent of at least one neighbouring traffic lane based on continuously determined reference positions at the vehicle relative to the said neighbouring traffic lane in order to determine an action zone extending a specified extent in the said neighbouring traffic lane alongside the vehicle.
  • the system I comprises means 200 to determine an action zone extending a specified extent in the said neighbouring traffic lanes alongside the vehicle.
  • the means 200 to determine an action zone comprises the means 200a to determine the extent at the said neighbouring traffic lanes.
  • the means to determine the extent 200a at the said neighbouring traffic lanes comprises means 210 to determine continuously reference positions at the vehicle relative to the neighbouring traffic lane to the traffic lane of the vehicle.
  • the system I in this case comprises means 210 to determine continuously reference positions at the vehicle relative to the neighbouring traffic lanes to the traffic lane of the vehicle.
  • the means 210 to determine continuously reference positions at the vehicle relative to the neighbouring traffic lanes comprises means 212 to determine continuously the reference positions at predetermined intervals.
  • the predetermined intervals are constituted by intervals of extent.
  • the means 210 to determine continuously reference positions at the vehicle relative to the neighbouring traffic lanes consequently comprises, according to this embodiment, means 212a to determine continuously the reference positions at predetermined intervals of extent.
  • the intervals of extent are constituted by, according to one variant, predetermined distances/extents through which the vehicle has travelled, where the relevant distance/extent is the same.
  • the means 21 0 to determine reference position is in this case arranged to determine continuously a reference position after each such distance/each such extent.
  • the predetermined intervals are constituted by intervals of time.
  • the means 210 to determine continuously reference positions at the vehicle relative to the neighbouring traffic lanes consequently comprises, according to this embodiment, means 212b to determine continuously the reference positions at predetermined intervals of time.
  • the intervals of time are constituted by predetermined intervals of time during which the vehicle has travelled, where each interval of time is the same.
  • the means 210 to determine reference position is in this case arranged to determine continuously a reference position after each such interval of time.
  • the means 210 to determine continuously reference positions at the vehicle relative to the neighbouring traffic lanes comprises means 214 to determine parameters with respect to the travel of the vehicle. Parameters with respect to the travel of the vehicle include the rate of change of yaw angle and the speed of the vehicle.
  • the means 210 to determine extent at the said neighbouring traffic lanes consequently comprises means 214 to determine parameters with respect to the travel of the vehicle, which parameters include the rate of change of yaw angle and speed of the vehicle.
  • the system I thus comprises means 200a to determine extent at the said neighbouring traffic lanes based on parameters with respect to the travel of the vehicle, which parameters include the rate of change of yaw angle and speed of the vehicle.
  • the rate of change of yaw angle is in this case used as a basis to determine whether, and the extent to which, the traffic lane in which the vehicle is being driven curves, whereby the assumption is made that neighbouring traffic lanes have corresponding curvatures.
  • the means 214 to determine parameters with respect to the travel of the vehicle comprises means 214a to determine the rate of change of yaw angle of the vehicle.
  • the means 214a to determine the rate of change of yaw angle includes at least one gyroscope.
  • the means 214 to determine parameters with respect to the travel of the vehicle comprises means 214a to determine the speed of the vehicle.
  • the means 214b to determine the speed of the vehicle comprises a speed gauge at the vehicle.
  • the means 210 to determine continuously reference positions at the vehicle relative to neighbouring traffic lanes comprises, according to one variant, navigation means 214c that includes positional data of the current position of the vehicle, and map data that comprises information about the degree of curvature of the relevant route.
  • the means 214 to determine parameters with respect to the travel of the vehicle comprises the said navigation means 214c.
  • the navigation means 214c may be used as a supplement to the means 214a to determine the rate of change of yaw angle, to achieve redundancy.
  • the determination of the rate of change of yaw angle in order to determine whether the traffic lane curves may be influenced by lurching of the vehicle, where information from the navigation means 214c concerning the degree of curvature of the traffic lane can be used to avoid erroneous assessments on the basis of such lurching.
  • the navigation means 214c may be used also as an alternative to the means 214a to determine the rate of change of yaw angle.
  • the means 210a to determine extent of the said neighbouring traffic lanes consequently comprises, according to one variant, navigation means 214c that includes positional data of the current position of the vehicle, and map data that comprises information about the degree of curvature of the relevant route.
  • the system I comprises means 214a to determine the rate of change of yaw angle of the vehicle.
  • the system I comprises means 214b to determine the speed of the vehicle.
  • the system I comprises the said navigation means 214c.
  • the means 210 to determine continuously reference positions at the vehicle relative to neighbouring traffic lanes comprises means 216 to determine distance relative to the vehicle.
  • the means 216 to determine distance relative to the vehicle comprises means 216a to determine line markings of neighbouring traffic lanes.
  • the means 216a to determine line markings of neighbouring traffic lanes includes sensor means such as camera means.
  • the means 216 to determine distance relative to the vehicle includes, according to one variant, sensor means.
  • the said sensor means include, according to one variant, camera means.
  • the means 216 to determine distance relative to the vehicle comprises, according to one variant, means 216b to determine virtual line markings of neighbouring traffic lanes.
  • the means 216b to determine virtual line markings of neighbouring traffic lanes includes means to determine the width of traffic lanes in which the leading vehicle is travelling and/or neighbouring traffic lanes.
  • the means to determine the width of traffic lanes comprises, according to one variant, navigation means that includes map data with information about the width of traffic lanes at the relevant route, type of route, and information about the current position of the vehicle.
  • the navigation means may be constituted by the navigation means 214c.
  • the means to determine the width of traffic lanes comprises, according to one variant, sensor means to determine the width of the traffic lane in which the vehicle is travelling, where, according to one variant, the width of the traffic lane at the neighbouring traffic lane is assumed to be the same as the width of the traffic lane in which the vehicle is travelling.
  • the means to determine the width of traffic lanes comprises, according to one variant, predetermined stored information concerning the width of traffic lanes, which information may be stored in the electronic control unit 100.
  • the system I comprises means 100, 120 to take measures in association with a change of traffic lane, in the event of the presence of objects in the said action zone.
  • the system I comprises means 120 to carry out measures in the event of the determination of the presence of a vehicle that is approaching the vehicle from behind in the said action zone.
  • the means 120 for taking measures comprises, according to one embodiment, means 122 to warn against a change of traffic lane in the event that such presence is determined.
  • the means 122 of warning against change of traffic lane may be constituted by any suitable warning means at all, such as visual warning means, audible warning means and/or tactile warning means.
  • the visual warning means includes, according to one variant, a display unit and/or a blinking unit or equivalent.
  • the audible warning means includes warning in the form of a voice message and/or warning in the form of a sound alarm.
  • the tactile warning means includes an influence on the steering wheel of the vehicle in the form of vibration/motion and/or influence on the seat of the vehicle in the form of vibration and/or influence on a pedal such as the accelerator pedal or brake pedal.
  • the means 120 to take measures comprises, according to one embodiment, means 124 to prevent the vehicle from changing traffic lanes or to make it more difficult for the vehicle to change traffic lanes in the event that such a presence has been determined.
  • the means 124 to prevent or make it more difficult to change traffic lanes includes an influence on the control of the vehicle such as a change of steering wheel position in the direction towards the neighbouring traffic lane in which the risk is present.
  • the means 120 for taking measures comprises, according to one variant, the electronic control unit 100.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 1 1 with the means 1 10 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle is being driven.
  • the electronic control unit 100 is arranged such that it receives through the link 1 1 a signal from the means 1 10 that represents vehicle data about the presence of vehicles that are approaching the vehicle from behind.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 20 with the means 200 to determine an action zone extending in neighbouring traffic lanes a specified extent backwards from the vehicle.
  • the electronic control unit 100 is arranged to receive a signal over the link 20 from the means 200 representing action zone data for the action zone that has been determined extending backwards alongside the vehicle in neighbouring traffic lanes.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 20a with the means 200a to determine the extent of the said neighbouring traffic lanes.
  • the electronic control unit 100 is arranged to receive a signal over the link 20a from the means 200a representing extent data for the extent of neighbouring traffic lanes for the determination of the action zone backwards from the vehicle.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 21 with the means 210 to determine continuously reference positions at the vehicle relative to traffic lanes neighbouring the traffic lane of the vehicle.
  • the electronic control unit 100 is arranged to receive a signal over the link 21 from the means 210 representing reference position data for the reference positions to determine the extent of neighbouring traffic lanes for the determination of the action zone backwards from the vehicle.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 22 with the means 212 means to determine continuously the reference positions at predetermined intervals.
  • the electronic control unit 100 is arranged to receive a signal over the link 22 from the means 21 2 representing reference position data in order to determine continuously the reference positions at predetermined intervals, where the interval may be an interval of extent determined by means of the means 212a or an interval of time determined by means of the means 212b.
  • reference position data for intervals of extent or intervals of time are received over the link 22.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 24a with the means 214a to determine the rate of change of yaw angle of the vehicle.
  • the electronic control unit 100 is arranged to receive a signal over the link 24a from the means 214a representing rate of change of yaw angle data for the determination of any curvature of the traffic lane in which the vehicle is travelling.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 24b with the means 214b to determine the speed of the vehicle.
  • the electronic control unit 100 is arranged to receive over the link 24b a signal from the means 214b that represents speed data for the speed of the vehicle.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 24c with the navigation means 214c.
  • the electronic control unit 100 is arranged to receive a signal over the link 24c from the navigation means 214c representing map data for the width of the traffic lane in which the vehicle is travelling, including any curvature of the traffic lane
  • the electronic control unit 100 is connected such that it exchanges signals over a link 26a with the means 216a to determine line markings of neighbouring traffic lanes.
  • the electronic control unit 100 is arranged to receive a signal over the link 26a from the means 216a representing distance data for the distance to line markings of neighbouring traffic lanes.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 26b with the means 216b to determine virtual line markings of neighbouring traffic lanes.
  • the electronic control unit 100 is arranged to receive a signal over the link 26b from the means 216b representing distance data for the distance to virtual line markings of neighbouring traffic lanes.
  • the electronic control unit 100 is connected such that it exchanges signals over a link 12 with the means 120 to carry out measures in the event of the determination of the presence of a vehicle that is approaching the vehicle from behind in the said action zone.
  • the electronic control unit 100 is arranged to transmit over the link 1 2 a signal to the means 120 representing action data, including warning data about the warning against change of traffic lane for the vehicle and/or impediment data in order to prevent or make more difficult change of traffic lane at the vehicle.
  • the electronic control unit 100 is arranged to process the said reference position data, rate of change of yaw angle data, speed data, and, where relevant, map data, distance data for line markings or virtual line markings in order to determine action zone data for action zones extending in neighbouring traffic lanes backwards from the vehicle, and to compare the action zone data with the said vehicle data for the presence of vehicles that are approaching the vehicle from behind in order to determine whether the vehicle that is approaching the vehicle from behind vehicle is present in the said action zone.
  • control unit is arranged to transmit to the means 120 action data, including warning data for the warning against change of traffic lane for the vehicle and/or impediment data in order to prevent or make more difficult change of traffic lane at the vehicle.
  • the reference positions are determined by means of the means 210 to determine continuously reference positions.
  • the means 210 to determine reference positions continuously is determined, according to one embodiment, by means of the following equations:
  • Dy(t) D y (t-t s ) - sin (t s *u))*ts*v (2) where the x-axis concerns positive values forwards in the direction of the leading vehicle, and the y-axis concerns positive values to the right in the direction of the leading vehicle.
  • D denotes the distance [m] to line marking from a reference point at the leading vehicle 1 , where such a reference point at the leading vehicle may be constituted by, for example, the central point of the rear axle, the central point of the front axle, the central point of the front of the vehicle or equivalent
  • v denotes the speed of the leading vehicle [m/s]
  • ⁇ denotes the rate of change of yaw angle of the leading vehicle (rad/s)
  • t s denotes the sampling time for updating of reference positions.
  • a new reference position is created regularly after a predetermined extent.
  • a new reference position is created regularly after a predetermined time.
  • Figure 4 illustrates schematically the driving of a leading vehicle 1 with a drawing vehicle 2 and a trailer 4 on a roadway R1 with two neighbouring traffic lanes L1 , L2, where reference positions relative to traffic lanes that are neighbouring to the vehicle have been determined.
  • the presence of objects in traffic lanes neighbouring to the traffic lane in which a vehicle 1 is being driven is intended to be detected according to one embodiment of the present invention.
  • Figure 4 illustrates in this case a list of reference positions D L AI , D L BI ; D L A2, DI_B2; D
  • the reference positions D L AI , D L BI ; DLA2, D L B2! D L A3, D L B3; D L A4, D L B4 according to Figure 4 have been determined by means of a system I according to the present invention.
  • An appropriate number N of reference positions D L AI , D L BI ; D L A2, D L B2! D L A3, DLBS; D L A4, D L B4 in the form of reference points D LA i, DLBI ! D LA 2, D LB 2; D LA 3, DLB3! D L A4, D L B4 is in this case determined.
  • the distances to the line markings M1 , M2 are here determined for the line marking M1 immediately to the right of the vehicle 1 and the next line marking M2 to the right, i.e. the line markings M1 , M2 defining the traffic lane L2 that is neighbour to the traffic lane L1 in which the vehicle 1 is travelling. This takes place continuously, whereby the oldest reference positions are overwritten when the desired number N of reference positions has been determined.
  • the reference positions D L AI , D L A2, D L A3, D L A4, D L B4 represent continuously determined distances to the line markings M1 immediately to the right of the leading vehicle 1 , and the reference positions D L BI , D L B2, D L B3, D L B4 the line markings M2 to the right of the line markings M1 .
  • An action zone is in this case continuously determined by means of the reference positions D L AI , DLBI ; D L A2, D L B2; DLAS, DLBS; D L A4, D L B4 as is made clear by Figure 5.
  • Figure 5 illustrates schematically the driving of a vehicle 1 with a drawing vehicle 2 and a trailer 4 travelling in the direction of the arrow P1 on a roadway R2 with two neighbouring traffic lanes L1 , L2, according to the present invention.
  • the roadway R2 and the scenario correspond to that illustrated in Figure 1 .
  • An action zone Z2 is here determined based on continuously determined reference positions according to the present invention. By means of the system I according to the present invention, it is determined that the trailer 4 of the vehicle 1 is not located in the action zone Z2 that has been determined whereby no measures are taken during change of traffic lane, in contrast to the prior art technology according to Figure 1 in which unnecessary warning takes place during change of traffic lane.
  • Figure 6 illustrates schematically a block diagram of a method to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes according to one embodiment of the present invention.
  • the method to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes comprises a first step S1 .
  • the presence of objects in traffic lanes neighbouring to the traffic lane in which the said vehicle is being driven is detected in this step.
  • the method to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes, comprises a second step S2.
  • the extent of at least one neighbouring traffic lane is determined in this step based on specifications concerning the extent of a defined traffic lane in which the vehicle is being driven, based on continuously determined reference positions at the vehicle relative to the said neighbouring traffic lane in order to determine an action zone extending a specified extent in the said neighbouring traffic lanes alongside the said vehicle [something strange in the source texte here!].
  • the method to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes comprises a third step S3.
  • measures are taken in association with the change of traffic lane [and again!], in the event of the presence of objects in the said action zone.
  • the control unit 100 that has been described with reference to Figure 3 can comprise in one execution the arrangement 500.
  • the arrangement 500 comprises a non-transient memory 520, a data processing unit 510 and a read/write memory 550.
  • the non-transient memory 520 has a first section of memory 530 in which a computer program, such as an operating system, is stored in order to control the function of the arrangement 500.
  • the arrangement 500 comprises a bus controller, a serial communication port, I/O means, an A D converter, a unit for the input and transfer of time and date, an event counter and an interrupt controller (not shown in the drawing).
  • the non-transient memory 520 has also a second section of memory 540.
  • a computer program P that comprises routines to assess the risk of change of traffic lane during the driving of a vehicle on a roadway with at least two neighbouring traffic lanes.
  • the program P comprises routines to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which the said vehicle is being driven [and again!].
  • the program P comprises routines to determine, based on specifications concerning the extent of a defined traffic lane in which the vehicle is being driven, the extent of at least one neighbouring traffic lane based on continuously determined reference positions at the vehicle relative to the said neighbouring traffic lane in order to determine an action zone extending a specified extent in the said neighbouring traffic lane alongside the said vehicle.
  • the program P comprises routines to take measures in association with a change of traffic lane, in the event of the presence of an object in the said action zone [and again!].
  • the program P may be stored in an executable form or in a compressed form in a memory 560 and/or a read/write memory 550.
  • the data processing unit 510 carries out a certain function, it is to be understood that the data processing unit 510 carries out a certain part of the program that is stored in the memory 560, or a certain part of the program that is stored in the read/write memory 550.
  • the data processing arrangement 510 can communicate with a data port 599 through a data bus 515.
  • the non-transient memory 520 is intended for communication with the data processing unit 510 through a data bus 512.
  • the separate memory 560 is intended to communicate with the data processing unit 510 through a data bus 51 1 .
  • the read/write memory 550 is arranged to communicate with the data processing unit 510 through a data bus 514. Links associated with the control units 200; 300, for example, may be connected to the data port 599.
  • the data processing unit 510 When data is received at the data port 599 it is temporarily stored in the second section of memory 540. When the data that has been received has been temporarily stored, the data processing unit 510 is prepared for the execution of code in a manner that has been described above. The signals that have been received at the data port 599 can be used by the arrangement 500 to detect the presence of objects in traffic lanes neighbouring to the traffic lane in which the said vehicle is being driven .
  • the signals that have been received at the data port 599 can be used by the arrangement 500 to determine, based on specifications concerning the extent of a specified traffic lane in which the vehicle is being driven, the extent of at least one neighbouring traffic lane based on continuously determined reference positions at the vehicle relative to the said neighbouring traffic lane in order to determine an action zone extending a specified extent in the said neighbouring traffic lane alongside the said vehicle.
  • the signals that have been received at the data port 599 can be used by the arrangement 500, in the event of the presence of objects in the said action zone, to take measures in association with a change of traffic lane. Parts of the methods described here may be carried out by the arrangement 500 with the aid of the data processing unit 510, which runs the program stored in the memory 560 or in the read/write memory 550. When the arrangement 500 runs the program, the method described here is executed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
EP15774225.5A 2014-04-01 2015-03-23 Verfahren und system zur beurteilung des risikos eines fahrspurwechsels während des fahrens eines führenden fahrzeugs auf einer fahrbahn mit mindestens zwei benachbarten fahrspuren Withdrawn EP3127105A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1450385A SE540270C2 (sv) 2014-04-01 2014-04-01 Förfarande och system för att riskbedöma körfältsbyte vid framförande av ett ledande fordon på en vägbana med åtminstonetvå angränsande körfält
PCT/SE2015/050342 WO2015152792A1 (en) 2014-04-01 2015-03-23 Method and system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes.

Publications (2)

Publication Number Publication Date
EP3127105A1 true EP3127105A1 (de) 2017-02-08
EP3127105A4 EP3127105A4 (de) 2017-11-22

Family

ID=54240947

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15774225.5A Withdrawn EP3127105A4 (de) 2014-04-01 2015-03-23 Verfahren und system zur beurteilung des risikos eines fahrspurwechsels während des fahrens eines führenden fahrzeugs auf einer fahrbahn mit mindestens zwei benachbarten fahrspuren

Country Status (5)

Country Link
EP (1) EP3127105A4 (de)
KR (1) KR101997817B1 (de)
BR (1) BR112016021671B1 (de)
SE (1) SE540270C2 (de)
WO (1) WO2015152792A1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016052507A1 (ja) * 2014-09-30 2016-04-07 エイディシーテクノロジー株式会社 自動運転制御装置
DE102017203129A1 (de) * 2017-02-27 2018-08-30 Robert Bosch Gmbh Verfahren zum Überwachen einer Umgebung eines Fahrzeugs

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19921449C1 (de) * 1999-05-08 2001-01-25 Daimler Chrysler Ag Leithilfe bei einem Fahrspurwechsel eines Kraftfahrzeuges
ES2158827B1 (es) * 2000-02-18 2002-03-16 Fico Mirrors Sa Dispositivo de deteccion de presencia de objetos.
JP4108706B2 (ja) * 2005-10-31 2008-06-25 三菱電機株式会社 車線逸脱防止装置
JP4950494B2 (ja) * 2006-01-17 2012-06-13 アルパイン株式会社 走行車線推定装置及び走行車線推定方法
US7388475B2 (en) * 2006-01-19 2008-06-17 Gm Global Technology Operations, Inc. Lane departure warning and avoidance system with warning modification criteria
JP4229189B2 (ja) * 2007-01-26 2009-02-25 株式会社デンソー 先行車選択装置、車間制御装置、車間警報装置及び記録媒体
ES2344880B1 (es) * 2008-12-18 2011-06-28 Cion De Galicia Fundacion Para La Promocion De Innovacion, Investigacion Y Desarrollo Tecnolog. En La Ind. De Automo Sistema y metodo de asistencia al cambio de carril con zona de evaluacion adaptativa.
JP5407952B2 (ja) * 2009-06-18 2014-02-05 日産自動車株式会社 車両運転支援装置及び車両運転支援方法
EP2704122B1 (de) * 2011-04-27 2015-02-25 Toyota Jidosha Kabushiki Kaisha Umgebungsdetektor für fahrzeug
MY180606A (en) * 2011-08-02 2020-12-03 Nissan Motor Driving assistance device and driving assistance method
SE536537C2 (sv) * 2012-06-11 2014-02-11 Varningssystem

Also Published As

Publication number Publication date
SE1450385A1 (sv) 2015-10-02
BR112016021671B1 (pt) 2022-12-06
KR20160134829A (ko) 2016-11-23
WO2015152792A1 (en) 2015-10-08
SE540270C2 (sv) 2018-05-22
BR112016021671A2 (de) 2017-08-15
EP3127105A4 (de) 2017-11-22
KR101997817B1 (ko) 2019-07-08

Similar Documents

Publication Publication Date Title
US9669760B2 (en) Warning device
CN108027422B (zh) 借助于汽车传感器自动检测危险偏离车辆
US8583341B2 (en) Method for the open-loop and closed-loop control of traffic flow
EP3127104A1 (de) Verfahren und system zur beurteilung des risikos eines wechsels einer fahrspur während des fahrens für ein vorausfahrendes fahrzeug auf einer strasse mit mindestens zwei benachbarten fahrspuren
CN108698601B (zh) 机动车和控制单元以及用于横向引导辅助的设备和方法
CN107438546B (zh) 控制系统和控制方法
US20150127190A1 (en) Method for preventing a collision of a motor vehicle with a vehicle driving the wrong way and a control and detection device for a vehicle to prevent a collision of the motor vehicle with a vehicle driving the wrong way
EP2484566A1 (de) Bremshilfesystem
CN103477377A (zh) 用于在小横向距离驾驶情况下防止机动车辆碰撞的方法和距离控制设备
EP2858879B1 (de) Verfahren und system zur fahrspurverfolgungshilfe für ein fahrzeug
CN105398379A (zh) 驾驶辅助影像显示方法
US20180170380A1 (en) Lane-keeping assistance device, motor vehicle having such a lane-keeping assistance device, and a method for monitoring lane-keeping
EP3957533A2 (de) Fahrzeugsensorsystem
US20220371595A1 (en) Control system and control method for detection and reaction of a zipper process for a motor vehicle
WO2015152792A1 (en) Method and system to assess the risk of change of traffic lane during the driving of a leading vehicle on a roadway with at least two neighbouring traffic lanes.
EP3145766B1 (de) Verfahren und system zur anpassung des fahrens eines fahrzeugs auf einer strasse im zusammenhang mit einer kurvenfahrt
CN114829219A (zh) 用于为车辆提供肯定决策信号的方法
KR101997818B1 (ko) 이웃하는 적어도 두 개의 차로가 있는 도로에서 선행 차량을 주행하는 중의 차로 변경의 위험성을 평가하는 방법 및 시스템
US11702072B2 (en) Motor vehicle driving assistance using minimum lateral shift of fluctuating relevant object
CN115027494A (zh) 用于车辆的碰撞避免方法及系统
WO2015178844A1 (en) Method and system for safe driving when driving a vehicle in a curve
EP4101713A1 (de) Verfahren zur automatischen reaktivierung eines spurabweichungswarnungs- und/oder spurhaltesystems eines fahrzeugs
EP2648173A2 (de) Verfahren und System zur Erhöhung der Sicherheit während des Fahrens eines Kraftfahrzeugs
SE541294C2 (en) Method and system for facilitating the manoeuvring of a vehicle on a road

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20161102

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20171020

RIC1 Information provided on ipc code assigned before grant

Ipc: G08G 1/16 20060101AFI20171016BHEP

Ipc: B60W 30/12 20060101ALI20171016BHEP

Ipc: B60W 30/06 20060101ALI20171016BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20210222

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SCANIA CV AB

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20230221