EP4291455A1 - Procédé de commande de mouvement longitudinal de véhicule à moteur dans un processus de changement de voie, produit programme informatique, support de stockage lisible par ordinateur, module de commande et véhicule à moteur - Google Patents

Procédé de commande de mouvement longitudinal de véhicule à moteur dans un processus de changement de voie, produit programme informatique, support de stockage lisible par ordinateur, module de commande et véhicule à moteur

Info

Publication number
EP4291455A1
EP4291455A1 EP21735249.1A EP21735249A EP4291455A1 EP 4291455 A1 EP4291455 A1 EP 4291455A1 EP 21735249 A EP21735249 A EP 21735249A EP 4291455 A1 EP4291455 A1 EP 4291455A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
control module
lane
lane change
computer
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.)
Pending
Application number
EP21735249.1A
Other languages
German (de)
English (en)
Inventor
Christian Friedrich
Johannes Blümel
Gilbert Rohde
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.)
Cariad SE
Original Assignee
Cariad SE
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 Cariad SE filed Critical Cariad SE
Publication of EP4291455A1 publication Critical patent/EP4291455A1/fr
Pending 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • 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
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Definitions

  • the invention relates to a method for controlling a longitudinal motion of a mo tor vehicle in a process of changing lanes on a road.
  • the inven tion relates to a method for controlling the vehicle in said process.
  • the process or maneuver of changing lanes may, for example, be a process or maneuver to overtake another vehicle that is on the road.
  • Motor vehicles with assisted driving functions support a driver during a process or maneuver of overtaking another vehicle.
  • ACC adaptive cruise control
  • advanced collision avoidance system support a driver during a process or maneuver of overtaking another vehicle.
  • the surround ings or environment of their vehicle i.e. the ego-vehicle
  • other road users in particular motorists, are taken into account, as well as information on an infra structure of an environment.
  • a driver activates the direction indicator (in right-hand traffic) to the left and to the infrastructure (for example, a dashed line).
  • an acceleration of the ego-vehicle may be performed by, for example, a longitudinal guiding function.
  • Such longitudinal guiding function may be a lane change assistant supporting the driver during the process of overtaking, in other words during the overtaking maneuver.
  • said function is not offered to the driver and may thus not be activated.
  • such feature cannot be activated or used unless the object is located in a predefined distance in front of the ego-vehicle.
  • DE 102007042 870 A1 describes a driver assistance system with at least one control unit and at least one sensor unit.
  • DE 10 2004 029 369 A1 describes blind spot monitors or motor vehicles with speed regulation systems and a surrounding sensor system for detecting the traffic environment including the traffic on an adjacent lane.
  • the above mentioned disadvantages occur. If there is an object, in partic ular another motor vehicle, on the adjacent lane when the driver activates the direction indicator system, the process of overtaking is performed to a later point of time with a sufficient safety distance. Also, an overtaking is in the end not possible, because there is already another object or motor vehicle behind the ego-vehicle on the adjacent lane. In other words, the ego-vehicle (which is the vehicle that is steered or controlled to perform the overtaking maneuver) cannot be ready for the overtaking process in time as a suitable gap is already closed by a further vehicle when the vehicle could be ready to overtake.
  • the invention also comprises embodiments that provide features which afford additional technical advantages.
  • the invention is based on the idea to predict a process of changing lanes, in particular a process or maneuver of overtaking another motor vehicle, whereby the trigger for said prediction is the driver’s activation of a turn signal of the direction indicator system.
  • a point of time is pre dicted based on a traffic situation model that may also be named “traffic simu lation model” or, e.g. “lane model”.
  • the traffic situation model is a dynamic model using input data that describe the driver’s vehicle (i.e. the first motor vehicle) and other objects on the road, as well as their movements and/or pre dicted movements in predefined lane change area.
  • the movements of the other objects, in particular of the other motor vehicles, is simulated or modelled and takes into account the infrastructure, in particular road markings, in other words the distinct lanes.
  • This model is used to predict a gap for the process of change of lanes, and a time range, in particular a point of time, is predicted for accelerating the motor vehicle in order to initiate the process of changing lanes before the motor vehicle actually may change the lane.
  • the motor vehicle is accelerated before a gap is found right next to the motor ve hicle so that the motor vehicle has a predetermined velocity at the point of time when the motor vehicle may actually be steered laterally onto the other lane.
  • the invention is based on a traffic prediction or traffic prognosis.
  • the other object or other objects trajectories are predicted.
  • the acceleration of the motor vehicle i.e. its increase of speed in a longitudinal way, is preponed to the actual action of steering the vehicle from one lane to the other.
  • a gap is predicted and/or surveyed.
  • the vehicle’s acceleration is initiated only when the gap is already next to the motor vehicle
  • the inventive method and the inventive subject-mat ters prepone the acceleration such that the process of changing lanes has already been initiated by acceleration on the initial lane when the gap appears next to the motor vehicle.
  • the object or objects- in particular another motor vehicle or a plurality of motor vehicles - and their trajectories are predicted, in particular of those on the adjacent lane.
  • the time until the object has passed the ego-vehicle with a safety distance is estimated. If this time range is within a respective time window, a predefined acceleration can be initiated, although the object is still on the same level as the ego-vehicle, in other words next or sideways of the ego-vehicle.
  • a control module or control unit is a system unit, device or group of devices that is designed or configured to control one or more electrical systems or sub systems of the motor vehicle.
  • the control module may be designed as an electronic control unit (ECU) or as an integrated circuit.
  • the control module or control module may comprise a process unit, i.e. a compo nent for data processing, e.g. a CPU.
  • the optional processing unit may com prise at least one microprocessor and/or at least one microchip.
  • the control unit or control module may optionally comprise a data storage, whereby the data storage may have stored a program code for performing the inventive method. Thereby, the program code is designed to cause the control module to perform any of the above-mentioned embodiments of the inventive method when executed by the processing unit.
  • the control module determines that a user of the first motor vehicle, in partic ular a driver, activates a direction indicator system of said first motor vehicle for changing from the initial lane to a predetermined lane adjacent to the initial lane.
  • the “initial lane” is the lane the first vehicle is currently driving, i.e. said lane on which the motor vehicle is driving before changing lanes.
  • the adjacent lane is the overtaking lane, i.e. the passing lane.
  • control module detects or observes that the user activates a turn signal of the direction indicator system.
  • control module may define the adjacent lane depending on if the activated direction indicator indicates a change of lanes to the left or to the right.
  • the adja cent lane may be the lane indicated by the turn signal.
  • the control module predefines or determines a lane change area, optionally depending on the indicated direction of lane change.
  • the predefined lane change area is an area that comprises a predetermined part of the adjacent lane sideward of the first motor vehicle, a predetermined part of the road in front of the first motor vehicle, and a predetermined part of the road behind the first motor vehicle.
  • pre-settings may predetermine the size or the dimensions or extent of the various parts of the lane change area, thus prede termine the size or the dimensions or extent of the predefined lane change area.
  • the control module receives at least one surrounding data signal.
  • This sur rounding data signal describes at least one object on the road other than the first motor vehicle which is located within the predefined lane change area.
  • the received surrounding data signal may preferably also describe at least one property of said at least one object.
  • the control module may receive a plurality of surrounding data signals, thus may receive data on a plurality of objects within the predefined lane change area. Most preferably, said object is another motor vehicle.
  • the received surrounding data signal or a plurality of received surrounding data signals may describe several motor vehicles and/or at least one infrastructure element such as a dashed line between two lanes. Most preferably, information is collected on all objects and infrastructure elements within the predefined lane change area.
  • the control module also predicts a time period, in particular a point of time, of when said gap occurs or forms sideways the first motor vehicle, i.e. next to the first motor vehicle on the adjacent lane.
  • Said predicted gap is the gap into which the first motor vehicle may steer laterally for performing the lane change. This may preferably be performed by predicting and simulating the movement and/or locations of the objects described by the traffic situation model.
  • the at least one object that is described by the received surround ing data signal is another motor vehicle within the predefined lane change area.
  • the control module receives information of the plurality of motor vehicles in the predefined area, preferably including rearward traffic. This provides a more detailed traffic situation model, thus a more precise de termination of the lane changing process.
  • the at least one received surrounding data signal describes data from a radar, traffic supervision data, GPS data, and/or camera data.
  • the control module may receive the at least one surrounding data signal from a sensor system of the first motor vehicle. These data, in particular a combination of at least two kinds of these data, provide a much more precise traffic situation model.
  • the above-mentioned object is also solved by a computer program product comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method according to any of the embodiments of the inventive method.
  • the computer program product may, for example, be a software or app, or other computer program products.
  • the object is also solved by a computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out the steps of any embodiment of the inventive method as described above.
  • the computer-readable storage medium may, for example, be a USB stick, a hard drive or SD card, or a server.
  • a motor vehicle comprising a turn-signal indicator sys tem, an embodiment of the inventive control module (and/or an embodiment of the computer program product and/or the computer-readable storage me dium); and a sensor system or a sensor arrangement, whereby said sensor arrangement or sensor system comprises at least one sensor that is designed or constructed to detect the surroundings of the vehicle.
  • the sensor system may comprise at least one of the following sensors: a radar, a camera, and/or a GPS signal receiver.
  • the inventive vehicle is preferably designed as a motor vehicle, in particular as a passenger vehicle or a truck, or as a bus or a motorcycle.
  • the invention also comprises embodiments of the inventive subject-matters that comprise features that correspond to features as they have already been described in connection with the embodiments of the inventive method. For this reason, the corresponding features of the embodiments of the inventive subject-matters are not described here again.
  • the invention also comprises the combinations of the features of the different embodiments.
  • Fig. 1 a schematic illustration of a preferred embodiment of the method of the invention, and the devices of the invention.
  • Fig. 2 a schematic illustration of a further preferred embodiment of the method of the invention.
  • the embodiment explained in the following is a preferred embodiment of the invention.
  • the described components of the em bodiment each represent individual features of the invention which are to be considered independently of each other and which each develop the invention also independently of each other and thereby are also to be regarded as a component of the invention in individual manner or in another than the shown combination.
  • the described embodiment can also be supple mented by further features of the invention already described.
  • Fig. 1 exemplifies the principal of the inventive method, and the inventive con trol module, as well as the inventive motor vehicle.
  • Fig. 1 shows an exemplary motor vehicle 10, e.g., a car.
  • Said exemplary car has a direction indicator system 12, in other words a device or system com prising direction indicator lamps or turn signals that may be activated by the driver on one side of the vehicle at a time to advertise intent to turn or change lanes towards that side.
  • Said turn signals are commonly controlled by operat ing a drop-arm switch or steering column switch.
  • control module 14 may, for example, receive a signal from the drop-arm switch whereby said signal from the drop-arm switch may describe both the activation of the direction indicator, as well as the desired direction, in other words, if the right turn signal or the left turn signal is activated.
  • Motor vehicle 10 of Fig. 1 also comprises a sensor system or sensor mod ule 22, said sensor module 22 exemplarily comprising different kinds of sen sors to sense and detect the surroundings of motor vehicle 10.
  • sensor module 22 may comprise a camera that may be directed to the traffic in front of the motor vehicle 10, and/or backwards to film the rearward traffic, and/or sideways.
  • a camera may be a roof top camera on top of the roof of motor vehicle 10, said camera being constructed to film the sur rounding in a 360° angle.
  • Sensor module 22 may also comprise a different sensor or additional sensors suitable for monitoring the surroundings, e.g., a radar, and/or means to receive GPS signals.
  • Such a receiver or GPS signals may alternatively or additionally be constructed to receive traffic supervision data, for example, traffic supervision data from an infrastructure being located external from motor vehicle 10.
  • the data provided by sensor module 22 pref- erably describes other objects on the road, such as other vehicles. Most pref erably, these data may also describe a type of these vehicles, for example, if it is a truck or a car, and/or information on the velocity.
  • the predefined lane change area 44 also comprises a predetermined part 48 of the road in front of the first motor vehicle 10, as well as predeter mined part 50 which is located behind first motor vehicle 10.
  • the predetermined part 46 may only cover the part of adjacent lane 26 which is next to motor vehicle 10 or may optionally cover all lanes 26, 28, 30 level with motor vehicle 10 in order to also consider possible traffic overtaking on right lane 30.
  • control module 14 may retrieve the default settings, for example, from storage unit 18.
  • control module 14 provides a traffic situation model in step S4, whereby the traffic simulation model is a digital model, preferably a digital simulation model of the traffic situation in the predefined lane change area 44 (S4).
  • Said traffic situation model may also describe the properties of vehicles 10, 40, 42, such as their locations and/or their velocities and/or their move ments or predicted movements. Alternatively, these properties or a selection of these properties like the velocity and trajectories of vehicles 10, 40, 42 may be estimated or deviated from said traffic situation model.
  • the model is then used by control module 14 for predicting a gap 52 adjacent to motor vehicle 10, which is located on adjacent lane 26 (S5).
  • the driver is assisted in clearly more situations in overtaking, since more “gaps” 52 in the adjacent lane 26 can be used. Moreover, the function is deac tivated less frequently, since an acceleration is already being built up and thus the difference in speed from the rear traffic has already been reduced.
  • the object is predicted on the adjacent lane 26 and thereby a time until the object of the ego vehicle 10 will have passed with a safety dis tance is estimated. If this time lies in a corresponding time window, a defined acceleration is already being executed, even though the object is still level with the ego vehicle 10.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de commande d'un mouvement longitudinal d'un premier véhicule à moteur (10) lors d'un processus de changement de voie (26, 28, 30). Un module de commande (14) détermine qu'un signal de virage d'un système d'indicateur de direction (12) est activé (S1), prédéfinit une zone de changement de voie (44, S2), et reçoit au moins un signal de données de l'environnement décrivant au moins un objet dans la zone de changement de voie prédéfinie (44, S3). Le module de commande (14) fournit un modèle de situation de circulation (S4), et prédit un espace (52) pour le changement de voie du premier véhicule à moteur (10, S5), un intervalle de temps pendant lequel l'espace prédit (52) est à côté du premier véhicule à moteur (10, S6), et un instant auquel accélérer le véhicule à moteur (10, S7) avant le changement de voie. Le module de commande (14) lance alors l'accélération du véhicule à moteur (10) précédant le changement de voie latéral.
EP21735249.1A 2021-06-21 2021-06-21 Procédé de commande de mouvement longitudinal de véhicule à moteur dans un processus de changement de voie, produit programme informatique, support de stockage lisible par ordinateur, module de commande et véhicule à moteur Pending EP4291455A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2021/066842 WO2022268289A1 (fr) 2021-06-21 2021-06-21 Procédé de commande de mouvement longitudinal de véhicule à moteur dans un processus de changement de voie, produit programme informatique, support de stockage lisible par ordinateur, module de commande et véhicule à moteur

Publications (1)

Publication Number Publication Date
EP4291455A1 true EP4291455A1 (fr) 2023-12-20

Family

ID=76641692

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21735249.1A Pending EP4291455A1 (fr) 2021-06-21 2021-06-21 Procédé de commande de mouvement longitudinal de véhicule à moteur dans un processus de changement de voie, produit programme informatique, support de stockage lisible par ordinateur, module de commande et véhicule à moteur

Country Status (2)

Country Link
EP (1) EP4291455A1 (fr)
WO (1) WO2022268289A1 (fr)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4313568C1 (de) * 1993-04-26 1994-06-16 Daimler Benz Ag Verfahren zur Leithilfe für einen Fahrspurwechsel durch ein Kraftfahrzeug
DE102004029369B4 (de) 2004-06-17 2016-09-15 Robert Bosch Gmbh Spurwechselassistent für Kraftfahrzeuge
DE102007042870B4 (de) 2007-09-08 2023-01-26 Volkswagen Ag Überholassistent
US11027736B2 (en) * 2018-04-27 2021-06-08 Honda Motor Co., Ltd. Systems and methods for anticipatory lane change
DE102018221862B4 (de) * 2018-12-17 2022-05-19 Volkswagen Aktiengesellschaft Verfahren zur Vorbereitung und/oder Durchführung eines Spurwechsels oder eines Überholmanövers und Fahrassistenzsystem zur Durchführung des Verfahrens

Also Published As

Publication number Publication date
WO2022268289A1 (fr) 2022-12-29

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