EP3288810A1 - Verfahren zur durchführung eines fahrspurwechsels bei einem kraftfahrzeug - Google Patents

Verfahren zur durchführung eines fahrspurwechsels bei einem kraftfahrzeug

Info

Publication number
EP3288810A1
EP3288810A1 EP16720705.9A EP16720705A EP3288810A1 EP 3288810 A1 EP3288810 A1 EP 3288810A1 EP 16720705 A EP16720705 A EP 16720705A EP 3288810 A1 EP3288810 A1 EP 3288810A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
lane
speed
slower
change
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Withdrawn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
EP16720705.9A
Other languages
German (de)
English (en)
French (fr)
Inventor
Günter Anton FENDT
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.)
Conti Temic Microelectronic GmbH
Original Assignee
Conti Temic Microelectronic GmbH
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 Conti Temic Microelectronic GmbH filed Critical Conti Temic Microelectronic GmbH
Publication of EP3288810A1 publication Critical patent/EP3288810A1/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Withdrawn legal-status Critical Current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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/24—Direction of travel

Definitions

  • the invention relates to a method for carrying out a lane change in a motor vehicle, wherein a change from one of the own motor vehicle currently traveled lane is carried out autonomously on an adjacent lane, according to the closer defined in the preamble of claim 1 Art.
  • a generic method is known from DE 10 2013 021 337 AI. It is proposed to autonomously perform a lane change from a currently traveled lane to an adjacent lane when the vehicle is prevented from driving on the currently traveled lane by a preceding vehicle at a predetermined driving speed and on the adjacent lane faster driving is possible.
  • this object is achieved by the ge in claim 1 ⁇ called features.
  • a lane change from a faster lane to a slower lane is made when a threat to one's own vehicle or a hazard to other road users is ruled out when faster driving on the currently traveled, faster lane is not desired and when does not approach a motor vehicle at a higher speed on its own motor vehicle on the slower lane, that is, if it is not to be feared that its own motor vehicle threatens to be overtaken by a motor vehicle on the slower lane.
  • the inventive solution increases road safety as an autonomous lane change is made to a slower lane in compliance with the established criteria, so the faster lane is better kept in the sense of existing at least in the gel ⁇ processing area of the German road traffic regulations right driving.
  • the lane with the faster lane is the left-hand lane and the slower lane the right-hand lane. If there are more than two lanes in one direction on a lane, then the lane closest to the lane is also the left lane of two adjacent lanes.
  • the method according to the invention also allows a lane change over a plurality of lanes, the method according to the invention always being carried out for each individual lane change.
  • countries with left-hand traffic in each case the right and with the slow ⁇ ren lane in each case meant the left lane with the faster lane.
  • the method according to the invention can be carried out primarily on multi-lane roadways such as highways and highway-like federal highways, but it is also possible to carry out the process on multi-lane inner-city roads.
  • the use of the method can, if appropriate, be controlled as a function of navigation data.
  • the own motor vehicle would also change from the faster lane to the slower lane in a completely empty lane.
  • the recommendation for lane change is issued by the controller only if no other motor vehicle is detected on the slower lane in front of the own motor vehicle, the speed is lower than ei ⁇ NEN certain amount the speed of your own motor vehicle. In this way it is prevented that a lane change from the faster to the slower lane is performed and immediately afterwards a change from the slower lane to the faster lane is required again because there is another motor vehicle on the slower lane. This results in a more continuous driving style.
  • the recommendation for lane change is issued by the control device only if the own motor vehicle has not reached the current maximum speed for the current driving lane.
  • the current speed limit is reached, such as in the field of auto ⁇ railway construction sites when all lanes are limited to a certain speed. In this way, a too frequent lane change is prevented.
  • a further restriction of the implementation of the method according to the invention may result if the recommendation for lane change is only issued by the control device. ben, if the own motor vehicle has overtaken another motor vehicle traveling on the slower lane and no other motor vehicle is detected in front of the other overtaken motor vehicle within a certain distance. This criterion is an indication that on the slower lane currently no overtaking takes place, so that your own vehicle can change to the slower lane.
  • Claim 9 specifies a computer program with program means for carrying out the method according to the invention when the computer program is executed on a computer.
  • a control device configured for executing the computer program according to claim 9 results from claim 10.
  • FIG. 2 shows a second situation in which the method according to the invention is carried out
  • FIG. 1 shows a roadway 1, in the present case a motorway, which in each case has two lanes for each direction of travel. has.
  • the lane 1 has two lanes, namely a left, faster lane 2 and a right, slower lane 3.
  • the faster lane 2 travels own motor vehicle 4, the faster lane 2 at a certain speed.
  • Two other motor vehicles namely a motor vehicle 5 traveling behind its own motor vehicle 4 and a motor vehicle 6 traveling in front of its own motor vehicle 4, drive on the slower lane 3.
  • Fig. 2 shows a second situation in which the invention shown SSE method can be performed.
  • Turn one's own motor vehicle 4 thereby moves with a certain Ge ⁇ speed on the faster lane 2.
  • On the slower lane 3 drive the other two cars 5 and 6.
  • the speed of the host Automotive ⁇ zeugs 4 is indeed greater than the speed of behind the egg ⁇ own motor vehicle 4 on the slower lane 3 moving motor vehicle 5, but about the same size or only slightly larger than the speed of the driving in front of the own motor vehicle 4 on the slower lane 3
  • FIG. 1 A situation in which the method according to the invention is not carried out is shown in FIG.
  • the Ge ⁇ speed of the own vehicle 4 which in turn moves on the faster-running lane 2, while greater than the speed of the traveling behind the own vehicle 4 on the slower lane 3 the motor vehicle 5, but also greater than the speed of the front of the own motor vehicle 4 on the slower lane 3 moving motor vehicle 6.
  • the distance to the driving in front of the own motor vehicle 4 on the slower lane 3 motor vehicle 6 is too low. Since in this case when changing from the faster lane 2 to the slower lane 3 immediately afterwards another lane change back to the faster lane 2 would be required to overtake the other power ⁇ vehicle 6, the controller gives the recommendation for lane change in this case not from.
  • Basic ⁇ additionally may be provided, that the recommendation is only output to the lane change by the control device when no other vehicle is detected on the slower lane 3 in front of the own vehicle 4, the Ge ⁇ speed of at least 20 km / h in a another embodiment by at least 10 km / h and in another embodiment by at least 5 km / h less than the speed of the own motor vehicle 4.
  • FIG. 4 likewise shows a situation in which the method according to the invention is not carried out.
  • the own motor vehicle 4 moves on the faster Fahr ⁇ track 2 again with the preferably via a cruise control or the like entered, constant speed.
  • the slower lane 3 again drive the two motor vehicles 5 and 6, the speed in the present case ever ⁇ but irrelevant.
  • another motor vehicle 8 whose speed is equal to or less than the speed of the own motor vehicle 4.
  • the change to the slower lane 3 is not required, which is why the recommendation from the controller to change from the faster lane 2 to the slower lane 3 not is output and the own motor vehicle 4 remains on the faster lane 2. If the running ahead of the own car 4 car 8 is moved at a slightly higher rate than the own automobile 4, removed the ⁇ same from one's own motor vehicle 4 and therefore does not constitute an obstacle. In this case, the change from the faster Lane 2 are performed on the slower lane 3 according to the conditions described above, if all other required criteria are met.
  • a situation, not shown in the figures, in which the method is performed, may also consist in that the recommendation for lane change is issued by the control device only if the own motor vehicle 4 has overtaken another, moving in the slower lane motor vehicle and before the other, overhauled motor vehicle within a certain sufficient distance no further motor vehicle is detected.
  • the recommendation is only output for changing lanes by the control device when the host vehicle has not reached for the currently be ⁇ extended lane, so the faster lane 2, applicable to ⁇ permeable top speed.
EP16720705.9A 2015-04-30 2016-03-15 Verfahren zur durchführung eines fahrspurwechsels bei einem kraftfahrzeug Withdrawn EP3288810A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015208007.2A DE102015208007A1 (de) 2015-04-30 2015-04-30 Verfahren zur Durchführung eines Fahrspurwechsels bei einem Kraftfahrzeug
PCT/DE2016/200140 WO2016173591A1 (de) 2015-04-30 2016-03-15 Verfahren zur durchführung eines fahrspurwechsels bei einem kraftfahrzeug

Publications (1)

Publication Number Publication Date
EP3288810A1 true EP3288810A1 (de) 2018-03-07

Family

ID=55913420

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16720705.9A Withdrawn EP3288810A1 (de) 2015-04-30 2016-03-15 Verfahren zur durchführung eines fahrspurwechsels bei einem kraftfahrzeug

Country Status (6)

Country Link
US (1) US10926767B2 (ja)
EP (1) EP3288810A1 (ja)
JP (1) JP6831329B2 (ja)
CN (1) CN107406078B (ja)
DE (2) DE102015208007A1 (ja)
WO (1) WO2016173591A1 (ja)

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JP6547969B2 (ja) * 2016-11-30 2019-07-24 トヨタ自動車株式会社 車両運転支援装置
CN110087964B (zh) * 2017-01-24 2022-05-24 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
DE102017212277B3 (de) 2017-07-18 2018-09-06 Robert Bosch Gmbh Gefahrerkennung bei beabsichtigtem Spurwechsel
DE102017011140A1 (de) * 2017-12-01 2019-06-06 Lucas Automotive Gmbh Steuerungssystem und Steuerungsverfahren zum Führen eines Kraftfahrzeugs und zum Vermeiden einer Kollision mit einem anderen Kraftfahrzeug
JP6600889B2 (ja) * 2017-12-13 2019-11-06 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
CN108594812A (zh) * 2018-04-16 2018-09-28 电子科技大学 一种结构化道路的智能车辆平滑轨迹规划方法
WO2020003452A1 (ja) * 2018-06-28 2020-01-02 日産自動車株式会社 運転支援方法及び運転支援装置
DE102018117692A1 (de) 2018-07-23 2020-01-23 Valeo Schalter Und Sensoren Gmbh Verfahren zum Durchführen eines Überholmanövers mit Berücksichtigung eines Sicherheitsabstands, Analysekomponente, Fahrerassistenzsystem sowie Fahrzeug
DE102018219391B4 (de) * 2018-11-14 2021-05-20 Honda Motor Co., Ltd. Fahrzeugsteuervorrichtung, Fahrzeugsteuerverfahren undFahrzeugsteuerprogramm
US11231724B2 (en) 2018-11-29 2022-01-25 Psa Automobiles Sa Dynamic management of insertions of vehicles
CN109849909B (zh) * 2019-03-21 2021-01-12 昆山宝创新能源科技有限公司 车辆及其控制方法和装置
FR3104518B1 (fr) * 2019-12-13 2022-06-24 Renault Sas Système et procédé de prédiction de la trajectoire d’un véhicule
DE102021206723A1 (de) 2021-06-29 2022-12-29 Volkswagen Aktiengesellschaft Verfahren zum Betreiben eines Kraftfahrzeugs sowie Kraftfahrzeug

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JP2003025868A (ja) * 2001-07-16 2003-01-29 Nissan Motor Co Ltd 車両の車線変更支援装置
DE102005023185A1 (de) * 2005-05-19 2006-11-23 Robert Bosch Gmbh Spurwechselassistent für Kraftfahrzeuge
DE102005050662A1 (de) 2005-10-20 2007-04-26 Volkswagen Ag Autobahnassistent
JP2007240338A (ja) * 2006-03-09 2007-09-20 Aisin Aw Co Ltd ナビゲーションシステム
DE102007033887A1 (de) * 2007-07-20 2008-09-04 Vdo Automotive Ag Fahrerassistenzsystem mit Empfehlung für einen Fahrspurwechsel
JP2012073925A (ja) * 2010-09-29 2012-04-12 Fuji Heavy Ind Ltd 車両用運転支援装置
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DE102013021337A1 (de) 2013-12-14 2014-08-14 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeugs

Also Published As

Publication number Publication date
DE102015208007A1 (de) 2016-11-03
WO2016173591A1 (de) 2016-11-03
US10926767B2 (en) 2021-02-23
US20180037233A1 (en) 2018-02-08
JP6831329B2 (ja) 2021-02-17
CN107406078A (zh) 2017-11-28
JP2018522295A (ja) 2018-08-09
CN107406078B (zh) 2021-07-27
DE112016000336A5 (de) 2017-10-19

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