JP2023138401A - Support system and method for own vehicle - Google Patents

Abstract

To provide a support system and method thereof that improve safety during overtaking operation.SOLUTION: A support system for an own vehicle (1) capable of controlling longitudinal adjustment of the own vehicle (1), includes: a control device that controls actuators and/or sensors of the own vehicle; and at least one environment detection sensor device capable of detecting a rear object. The control device is configured to: calculate a speed of the rear object and/or a distance of the rear object with respect to the own vehicle on the basis of sensor data; and determine whether or not an overtaking process of the rear object to overtake the own vehicle exists or is imminent. The support system is configured to limit a speed of the own vehicle as long as the overtaking process exists or is imminent.SELECTED DRAWING: Figure 3

Description

The present invention provides an assistance system for the own vehicle which can control or at least intervene in the longitudinal adjustment of the own vehicle (e.g. adaptive cruise control, emergency braking assistance or (partial) automatic vehicle control) and a longitudinal adjustment of the own vehicle. In particular, it relates to a method for own vehicles that can be controlled on the basis of corresponding support systems.

Common means of transport, e.g. passenger cars (PKW), lorries (LKW) or motorcycles, are increasingly equipped with driver assistance systems, which use sensor systems to detect the environment and The situation can be recognized and the driver can be assisted, for example by intervening in braking or steering, or by outputting optical, tactile or acoustic warnings. Generally, a radar sensor, a lidar sensor, a camera sensor, etc. are used as a sensor system for detecting the environment. Based on the sensor data detected by the sensors, this makes it possible to draw inferences about the environment, based on which driver warning instructions and driver warning information or instructions to adjust the steering, braking and acceleration of the own vehicle can be drawn. is output. In this case, assistance functions that process sensor data and environmental data can, for example, help avoid accidents with other traffic participants, reduce complex driving maneuvers, and assist in driving tasks or vehicle guidance. , or even completely taken over (partial/full automation). For example, a vehicle can perform speed follow-up adjustment (ACC: Adaptive Cruise Control or ACC system), follow-up travel, and speed adjustment by, for example, emergency brake assist (EBA), automatic emergency brake (AEB), by Lane keeping is possible by active lane keeping assist (LKA) using steering assistance. Furthermore, several of these functions can be integrated into one system.

Here, modern ACC systems are not only able to adjust the speed to the vehicle in front, but also include the additional surrounding environment, ie objects or vehicles in adjacent lanes, in the speed adjustment. For example, it is possible to detect the overtaking intention of the driver of the own vehicle (for example, from a corresponding steering action, turn indicator lighting, yaw rate measurement, etc.). In this case, the preceding object in the target lane can be taken into account in the adjustment, so that the own vehicle does not enter the target lane prematurely (for example, if an object is moving slowly in the target lane). This allows collisions to be avoided. On the other hand, in general, the overtaking process must take place sufficiently quickly, for example on urban or rural roads, since there is a risk of a head-on collision with an oncoming vehicle. In this case, the preferred measure is to increase the speed of your vehicle as soon as an overtaking intention is detected or as soon as your vehicle is in the overtaking lane, thereby slowing down the overtaking process and returning to the original lane. Reversion can be completed as quickly as possible. On the other hand, serious collisions between the overtaking vehicle and the oncoming vehicle often occur in this case.

From patent document 1, a method for supporting the overtaking process in a vehicle using an inter-vehicle distance and speed adjustment device (ACC system) is known, in which vehicles in the overtaking lane are also taken into account and the traffic situation detected by sensors or the driver's If an overtaking request is inferred from the intervention, a temporary adjustment to the overtaking speed increase is made. Additionally, if the vehicle in the adjacent lane is slower than the preceding vehicle on the own lane, the distance between the vehicle and the vehicle in the adjacent lane can be adjusted in preparation for changing lanes. Therefore, the speed of the own vehicle is reduced.

German Patent Application No. 10114187

Based on the prior art, it is an object of the invention to provide an assistance system and a corresponding method, with which the safety during overtaking maneuvers is improved.

This problem is solved by the entire features of claim 1 and by the features of the parallel independent claims. Preferred forms of the invention are claimed in the dependent claims.

A support system for a host vehicle according to the present invention, which controls the longitudinal adjustment of the host vehicle (i.e., in particular, the speed acceleration and travel path of the host vehicle) and, if necessary, the lateral adjustment of the host vehicle (i.e., the The assistance system, which is capable of full or partial automation in its functioning, includes a control device for controlling the actuators and/or sensors of the own vehicle, and is provided with at least one sensor device for detecting the environment, which is capable of detecting rearward objects. In this case, the control device can calculate or detect the speed of the rear object (for example, a vehicle approaching the host vehicle from behind) and/or the distance of the rear object with respect to the host vehicle based on the sensor data (in particular, this (In this case, it is possible to detect the relative speed to the own vehicle). Here, based on the speed of the rear object and/or the distance of the rear object with respect to the own vehicle, it may be determined whether a process of overtaking the rear object to overtake the own vehicle exists or is imminent. Here, the assistance system is configured to limit the speed of the own vehicle as long as an overtaking process exists or is imminent. This prevents the speed of the host vehicle from increasing during the overtaking process. As a result, the process of overtaking a rear object or a vehicle approaching from behind is shortened in time compared to, for example, an overtaking process in the case of an inadvertent acceleration maneuver of the host vehicle.

Preferably, the assistance system is furthermore able to reduce the speed and/or acceleration of the own vehicle as long as an overtaking process exists or is imminent. Therefore, it is also possible to slow down the own vehicle (for example by adjusting the braking system or the motor control system) during an overtaking process in order to further increase safety.

Preferably, the assistance system is configured to limit the speed of the own vehicle to the speed value of the own vehicle at the time when it has been established that an overtaking process exists or is imminent.

Alternatively or additionally, the control device is accessible (e.g., via an internal memory) to various overtaking maneuvers and restricts the own vehicle to overtaking maneuvers or a corresponding predetermined category of overtaking maneuvers. A speed value is set (eg, to distinguish between in-town/out-of-town overtaking maneuvers).

Preferably, the assistance system is configurable such that the speed limitation of the own vehicle takes place only from a settable own vehicle speed of the own vehicle, in particular from an own vehicle speed of 50 km/h, so that, for example, the function The adjustment is turned off in urban scenarios or in traffic jams, and is only turned on in traffic conditions with smooth traffic flow. Furthermore, other speed thresholds can also be set, for example 30 km/h, 60 km/h, 80 km/h or 100 km/h.

According to a special embodiment of the invention, in order to determine the overtaking process, reference may also be made to at least one additional information, in particular the following information:
- object detection and environmental information (e.g. objects detected using environmental sensors in the surroundings of the own vehicle, in particular oncoming or preceding traffic participants, vulnerable traffic participants, etc.) and/or - lane information (e.g. (detectable on the basis of camera-assisted lane marking recognition) and/or - situational interpretation (e.g. in this case, the detected objects, e.g. other following vehicles or the surroundings, can be detected based on camera-assisted lane marking recognition) navigation information (e.g., can be received or obtained by a navigation system, e.g. map information, GPS information, weather and meteorological conditions, road condition information, traffic volume, etc.) and/or - driver attention information (e.g. internal space sensors can determine driver alertness or fatigue, driver movements, driver posture, driver position or eye movements are detected and interpreted) ) and/or - information of the rear object (e.g. its speed, its trajectory, acceleration, vehicle type, etc.), which information can also be transmitted from the rear object using data transmission, so-called Car-to-Car. own vehicle information (e.g. own vehicle movement, vehicle type, yaw rate, lateral acceleration, acceleration, speed, weight/load, etc.) and/or Infrastructure information (e.g. traffic signals or traffic signs, either detected using sensors or transmitted from the infrastructure by means of so-called Car-to-X transmission)
is taken into account.
This also allows you to determine whether a simple restriction of your vehicle's speed is sufficient or whether additional decelerations should be carried out to make the process of overtaking approaching objects even safer. It is possible.

Preferably, at least one radar sensor and/or lidar sensor and/or camera sensor and/or ultrasonic sensor is provided as the sensor device for detecting the environment.

Furthermore, a braking device or a motor control device may be provided as the actuator, and the speed of the own vehicle can be limited and/or decelerated by controlling the braking device and/or the motor control device.

Preferably, an optical, acoustic and/or tactile warning is output to the driver as soon as the overtaking process of the vehicle behind in order to overtake the own vehicle is established and/or the assistance system limits the speed of the own vehicle. It's okay to be. For example, the vehicle's display device or HMI (Human Machine Interface) interface, navigation system, speakers, steering wheel vibration or seat vibration, indicator lamps, etc. may be used to notify the driver of overtaking, associated speed limits, and if necessary. It may serve to indicate deceleration.

According to a preferred embodiment of the invention, furthermore, as long as an overtaking process exists or is imminent, the trajectory of the approaching object is determined, which furthermore causes a steering action in the direction of the trajectory of the approaching object. Prevented. For example, based on lane determination and speed, the trajectory of an approaching object can be predicted, so that steering actions in the direction of this trajectory are avoided, further reducing the likelihood of a collision. For example, if it is detected that a high-speed vehicle behind the vehicle that is attempting to overtake the vehicle is approaching the passing lane, it is possible to prevent the vehicle from changing lanes to the passing lane.

The present invention provides a method for a vehicle, in which the longitudinal adjustment of the vehicle can be controlled based on an assistance system, in which the assistance system controls the actuators of the vehicle (e.g., braking device, motor control device, steering ) and a control device that controls the sensor device, and at least one environment detection sensor device (for example, a camera, radar, lidar, ultrasonic wave, etc.) capable of detecting a rear object. In this case, the speed of the rear object and/or the distance of the rear object to the own vehicle is calculated by the control device based on the sensor data of the environment detection sensor device, and the speed of the rear object and/or the distance of the rear object to the own vehicle is Based on this, it is determined whether an overtaking process exists or is imminent for an object behind to overtake the own vehicle, and the assistance system adjusts the speed of the own vehicle as long as an overtaking process exists or is imminent. further comprising a method of limiting. In particular, in this case the method may include all features of the support system described above.

Hereinafter, the present invention will be described in detail with reference to preferred embodiments.

FIG. 1 is a simplified schematic diagram of a vehicle equipped with an assistance system according to the present invention. FIG. 2 is a simplified diagram of a traffic situation in which the host vehicle detects a vehicle approaching from behind and limits its speed using the method according to the invention. FIG. 3 is a simplified diagram of a further traffic situation in which the own vehicle detects a vehicle approaching from behind and detects an oncoming vehicle. FIG. 4 is a simplified diagram of a further traffic situation in which the own vehicle adjusts to follow the preceding vehicle and detects a vehicle approaching from behind.

Reference numeral 1 in FIG. 1 indicates a host vehicle, and the host vehicle 1 has a support system according to the present invention, and is equipped with a control device 2 for this purpose, and the control device 2 includes, for example, a central control unit (ECU (electronic control unit), ADCU (Assisted Automated Driving Control Unit)), the central control unit is capable of recognizing and classifying the surroundings and the objects present therein based on suitable environmental detection sensors or sensor devices. . The method according to the invention is actually implemented via the control device 2, which calculates the speed of the rear object and/or the distance of the rear object with respect to the host vehicle 1 based on sensor data. Furthermore, based on the speed of the rear object and/or the distance of the rear object with respect to the host vehicle 1, it is determined whether a process of overtaking the rear object to overtake the host vehicle 1 exists or is imminent, and the support system is configured to limit the speed of the host vehicle 1 as long as an overtaking process exists or is imminent.

As a sensor device for detecting the environment, the own vehicle 1 further includes a camera 3 and a lidar sensor 4 arranged behind the windshield of the own vehicle 1, and a radar sensor 5 arranged in the front area of the own vehicle 1. Furthermore, according to the invention, at least one environment detection sensor device is provided which is capable of detecting rear objects. For this reason, in the configuration of the own vehicle 1 in FIG. 1, rear radar sensors 6a, 6b, a rear camera 7, and surround view cameras 8a, 8b are provided. Explicitly herein, the present invention includes any type and configuration of known sensor devices for sensing the environment. Using sensors for detecting the environment, the control device 2 can recognize, for example, other traffic participants, constructions around the road, guardrails, road surface markings, road signs, etc., and can be used to perform/compute driving operations. used.

In addition, it is a part of the HMI (human machine interface) interface, a part of the navigation system, etc. that displays or warns the driver of overtaking, the associated speed limit, and deceleration if necessary. A display device 9 is provided which may be used. Naturally, other warnings are also output to the driver as soon as the overtaking of a rear object in order to overtake the host vehicle 1 is confirmed and/or the speed of the host vehicle 1 is limited by the assistance system. It's okay.

According to the present invention, the control device 2 performs steering intervention and/or braking intervention in vehicle control based on the environment detection or sensor data of the sensor device for environment detection, and supports the driver of the own vehicle 1 or supports the own vehicle. 1 by (partial) driving automation, the braking device 10, the motor control device 11 or the steering device 12 are controlled. A wireless module 13 may also be provided, which in order to communicate with other traffic participants (Car-to-Car) or with other higher-level units or infrastructure elements (Car-to-X) It may also be a component thereof integrated into the control device 2.

This allows the driver to use a driving support system that can perform various driving functions. Typical driving functions include, for example, emergency brake assist (EBA), active lane keeping assist (LKA) using steering support, and adaptive cruise control (ACC) for following driving. ) etc. The assistance system according to the invention or its individual components may furthermore be implemented as its components integrated into the control device 2. The control device 2 may also include a microcontroller or a microprocessor having access to a memory or a portable computer-readable storage medium storing a computer program in program code containing instructions for the execution of the method according to the invention.

FIG. 2 shows a traffic situation in which the own vehicle 1 is running behind or a vehicle 20 approaching from the rear or behind is detected. Detection takes place via rearward sensor devices for detecting the environment (in this case radar sensors 6a, 6b; additionally or alternatively cameras 7, 8a, 8b may also be provided). Here, it is recognized that the vehicle 20 is approaching from behind or is approaching the own vehicle 1 at a higher speed. Based on a higher speed and/or a decreasing distance relative to the own vehicle 1 compared to the own vehicle 1, it is possible to infer an impending overtaking in which the own vehicle 1 will be overtaken by the approaching vehicle 20. be. From this point on, the control device 2 can adjust the speed of the host vehicle 1 by adjusting the actuator (braking device 10 or motor control device 11) accordingly. For example, the speed of the host vehicle 1 is The overtaking process of the approaching vehicle 20 is limited to the speed value at the time when it is first determined. This actually shortens the overtaking process of the approaching vehicle 20 in time, since the speed of the own vehicle 1 is not increased further, i.e. a driver request or driving action to accelerate the own vehicle 1 ( For example, the operation of the accelerator pedal) is also overridden. Furthermore, via the control device 2 it is possible to prevent or override a lateral movement by the driver of the own vehicle 1 in the direction of the trajectory of the approaching vehicle 20, which further improves the safety of the overtaking process. . Furthermore, a warning is output to the driver so that he/she can carry out the overtaking process of other traffic participants, limit/reduce the speed and, optionally, prevent steering in the direction of the overtaking lane. Know that. Furthermore, the own vehicle 1 can also detect a vehicle in front of the own vehicle 1 via the forward radar sensor 5 . In fact, by using the forward direction radar sensor 5 (or forward direction sensor device), when the rear vehicle 20 is no longer detected by the rear direction sensor (radar sensors 6a, 6b) and is detected by the forward direction sensor or radar sensor 5. It is immediately possible to check whether the overtaking process for this vehicle 20 has been completed. Further sensors may be provided for this purpose.

FIG. 3 shows a further traffic situation in which the own vehicle 1 detects an oncoming vehicle 21 or an oncoming vehicle at the same time as a vehicle 20 approaching from behind. Here, the traffic situation (two vehicles driving close to each other) and, if necessary, the interpretation of the situation, indicate a high collision risk or dangerous situation. In fact, in this case, in addition to limiting the own vehicle speed, the control device 2 can further reduce the speed of the own vehicle 1, up to emergency braking, thereby shortening the overtaking process of the vehicle 20. Therefore, in the case of a collision between the vehicle 20 and the vehicle 21 or when the vehicle 20 cuts in early, the collision between the host vehicle 1 and the vehicle 20 is prevented.

FIG. 4 shows a traffic situation in which the host vehicle 1 is following (ACC mode) and the control device 2 adjusts the distance to the preceding vehicle 22 according to the speed of the preceding vehicle 22 and a preset distance value. show. Furthermore, in this traffic situation, as soon as the overtaking process of the rear vehicle 21 is detected, the speed of the host vehicle 1 can be limited and/or decelerated via the control device 2. In this case, the parameters of the ACC mode may be overridden for a short period of time and the distance to the preceding vehicle 22 is increased due to the speed limit. As soon as the overtaking process of the vehicle 20 is completed, the distance follow-up adjustment is performed again according to the set ACC parameters, so that the distance to the preceding vehicle 22 can be reduced again according to the settings of the ACC system.

FIG. 4 shows a traffic situation in which the host vehicle 1 is following (ACC mode) and the control device 2 adjusts the distance to the preceding vehicle 22 according to the speed of the preceding vehicle 22 and a preset distance value. show. Furthermore, in this traffic situation, as soon as the overtaking process of the rear vehicle 21 is detected, the speed of the host vehicle 1 can be limited and/or decelerated via the control device 2. In this case, the parameters of the ACC mode may be overridden for a short period of time and the distance to the preceding vehicle 22 is increased due to the speed limit. As soon as the overtaking process of the vehicle 20 is completed, the distance follow-up adjustment is performed again according to the set ACC parameters, so that the distance to the preceding vehicle 22 can be reduced again according to the settings of the ACC system.
Note that this application relates to the invention described in the claims, but also includes the following as other aspects.
1.
A support system for own vehicle (1), which is capable of controlling longitudinal adjustment of said own vehicle (1),
a control device (2) that controls actuators and/or sensors of the host vehicle (1);
At least one environment detection sensor device capable of detecting a rear object,
The control device (2) calculates the speed of the rear object and/or the distance of the rear object with respect to the own vehicle (1) based on sensor data,
Based on the speed of the rear object and/or the distance of the rear object with respect to the own vehicle (1), whether an overtaking process of the rear object to overtake the own vehicle (1) exists or is imminent; is judged,
An assistance system, wherein said assistance system is configured to limit the speed of said own vehicle (1) as long as an overtaking process exists or is imminent.
2.
Assistance system according to claim 1, characterized in that the assistance system further reduces the speed and/or acceleration of the host vehicle (1) as long as an overtaking process exists or is imminent.
3.
The assistance system is configured to limit the speed of the own vehicle (1) to the speed value of the own vehicle (1) at the time when it is determined that an overtaking process exists or is imminent. The support system according to item 1 or 2 above.
4.
The control device (2) is capable of accessing various overtaking maneuvers, and a corresponding speed value for limiting the host vehicle (1) is set for each overtaking maneuver. 3. The support system according to any one of 3.
5.
The support system is configured such that the speed of the own vehicle (1) is limited only from a settable own vehicle speed of the own vehicle (1), particularly from a own vehicle speed of 50 km/h. 5. The support system according to any one of 1 to 4 above, characterized in that:
6.
In order to determine the overtaking process, reference is also made to at least one additional information, in particular the following information:
- object detection and environmental information and/or
- lane information and/or
- situational interpretation and/or
- navigation information and/or
- Driver attention information and/or
- Information on said rear object and/or
- Own vehicle information and/or
-Infrastructure information
6. The support system according to any one of 1 to 5 above, wherein the support system takes into account.
7.
7. The support system according to any one of 1 to 6 above, characterized in that at least one radar sensor and/or lidar sensor and/or camera sensor and/or ultrasonic sensor is provided as the environmental detection sensor device. .
8.
A braking device or a motor control device is provided as the actuator, and the speed of the host vehicle (1) is limited and/or decelerated by controlling the braking device and/or the motor control device. The support system described in any one of 1 to 7 above.
9.
As soon as the overtaking process of the rear vehicle to overtake the host vehicle (1) has been determined and/or the assistance system limits the speed of the host vehicle (1), an optical, acoustic and/or tactile 9. The support system according to any one of the above items 1 to 8, wherein a warning is output to the driver.
10.
characterized in that, as long as the overtaking process is present or is imminent, the trajectory of the approaching object is determined, and further steering movements of the approaching object in the direction of the trajectory are prevented, The support system according to any one of 1 to 9 above.
11.
A method for an own vehicle (1) in which the longitudinal adjustment of the own vehicle (1) can be controlled based on an assistance system, in particular an assistance system as described in 1 to 10 above, comprising:
The support system includes a control device (2) that controls actuators and sensor devices of the host vehicle (1);
At least one environment detection sensor device capable of detecting a rear object,
Calculating the speed of the rear object and/or the distance of the rear object with respect to the host vehicle (1) by the control device (2) based on sensor data;
Based on the speed of the rear object and/or the distance of the rear object with respect to the own vehicle (1), whether an overtaking process of the rear object to overtake the own vehicle (1) exists or is imminent; is judged,
A method, wherein said assistance system limits the speed of said own vehicle (1) as long as an overtaking process exists or is imminent.

Claims (11)

A support system for own vehicle (1), which is capable of controlling longitudinal adjustment of said own vehicle (1),
a control device (2) that controls actuators and/or sensors of the host vehicle (1);
At least one environment detection sensor device capable of detecting a rear object,
The control device (2) calculates the speed of the rear object and/or the distance of the rear object with respect to the own vehicle (1) based on sensor data,
Based on the speed of the rear object and/or the distance of the rear object with respect to the own vehicle (1), whether an overtaking process of the rear object to overtake the own vehicle (1) exists or is imminent; is judged,
An assistance system, wherein said assistance system is configured to limit the speed of said own vehicle (1) as long as an overtaking process exists or is imminent. Assistance system according to claim 1, characterized in that the assistance system further reduces the speed and/or acceleration of the host vehicle (1) as long as an overtaking process exists or is imminent. The assistance system is configured to limit the speed of the own vehicle (1) to the speed value of the own vehicle (1) at the time when it is determined that an overtaking process exists or is imminent. The support system according to claim 1 or 2, characterized in that: 1 . The control device ( 2 ) is characterized in that the control device ( 2 ) is accessible to various overtaking maneuvers, and a corresponding speed value for limiting the own vehicle ( 1 ) is set for each overtaking maneuver. The support system described in any one of items 3 to 3. The support system is configured such that the speed of the own vehicle (1) is limited only from a settable own vehicle speed of the own vehicle (1), particularly from a own vehicle speed of 50 km/h. The support system according to any one of claims 1 to 4, characterized in that: In order to determine the overtaking process, reference is also made to at least one additional information, in particular the following information:
- object detection and environmental information and/or - lane information and/or - situation interpretation and/or - navigation information and/or - driver attention information and/or - information of said rear object and/or - own vehicle information and/ or - assistance system according to one of claims 1 to 5, characterized in that infrastructure information is taken into account. Support according to one of claims 1 to 6, characterized in that at least one radar sensor and/or lidar sensor and/or camera sensor and/or ultrasonic sensor is provided as the sensor device for detecting the environment. system. A braking device or a motor control device is provided as the actuator, and the speed of the host vehicle (1) is limited and/or decelerated by controlling the braking device and/or the motor control device. The support system according to any one of claims 1 to 7. As soon as the overtaking process of the rear vehicle to overtake the host vehicle (1) has been determined and/or the assistance system limits the speed of the host vehicle (1), an optical, acoustic and/or tactile The support system according to claim 1, wherein a warning is output to the driver. characterized in that, as long as the overtaking process is present or is imminent, the trajectory of the approaching object is determined, and further steering movements of the approaching object in the direction of the trajectory are prevented, The support system according to any one of claims 1 to 9. A method for an own vehicle (1), in which the longitudinal adjustment of the own vehicle (1) can be controlled on the basis of an assistance system, in particular an assistance system according to claims 1 to 10, comprising:
The support system includes a control device (2) that controls actuators and sensor devices of the host vehicle (1);
At least one environment detection sensor device capable of detecting a rear object,
Calculating the speed of the rear object and/or the distance of the rear object with respect to the own vehicle (1) by the control device (2) based on sensor data;
Based on the speed of the rear object and/or the distance of the rear object with respect to the own vehicle (1), whether an overtaking process of the rear object to overtake the own vehicle (1) exists or is imminent; is judged,
A method, wherein said assistance system limits the speed of said own vehicle (1) as long as an overtaking process exists or is imminent.

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