KR102050526B1 - 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 - Google Patents

Abstract

The present invention includes a step (S1) of detecting whether there are vehicles approaching the preceding vehicle from the rear in a method of evaluating the risk of lane change while driving the preceding vehicle on a road having at least two neighboring lanes. A method, comprising: successively for a neighboring lane to determine a danger zone extending from the neighboring lane to the rear of the preceding vehicle to a specific range based on specifications associated with the range of the particular lane the preceding vehicle is driving. Determining a range of at least one neighboring lane based on the determined reference positions of the preceding vehicle, and as a basis for taking action during a lane change whether there are vehicles approaching the preceding vehicle from behind in the danger zone; It relates to a method comprising the step S3 of consideration. The present invention also relates to a system for evaluating the risk of lane change while driving a vehicle on a road with at least two neighboring lanes and a motor vehicle comprising such a system. The invention also relates to a computer program and a computer program product.

Description

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}

The present invention relates to a method for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes according to the introduction of claim 1. The invention also relates to a system for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes. The invention also relates to a motor vehicle. The invention also relates to a computer program and a computer program product.

When driving a vehicle on a road with at least two neighboring lanes, the lane change carries a risk when the vehicle behind is approaching the neighboring lane to be modified. Therefore, from the viewpoint of traffic safety, it is necessary to evaluate the risk of lane change in the presence of vehicles approaching the preceding vehicle from the rear.

What is known as a "blind spot warning system" is used for this purpose, according to one variant. Such a system warns or acts in other ways when the driver's own vehicle is in the process of entering a neighboring lane from which a vehicle approaching the driver's own vehicle is present or will be in the near future. This is usually achieved by a rearward directional radar that detects vehicles in neighboring lanes, where the preceding vehicle and the vehicle approaching the preceding vehicle from the rear are basically assumed to be traveling straight along the driving direction.

The presumption that the vehicle approaching the preceding vehicle from the preceding vehicle and the rear will drive straight may result in false warnings or missing warnings.

On roads with multiple lanes, the curvature of the road takes unnecessary action when the vehicle approaching from the rear is located close to the preceding vehicle in the shoulder direction, but at least one lane away. You can make it. 1A illustrates this problem. In the same way, a vehicle on a road with multiple lanes, approaching the preceding vehicle from the rear and located away from the preceding vehicle in the shoulder direction, may construct the hazard in the inner curve without the system registering the hazard. 1B illustrates this problem.

U.S. Patent Publication No. US2003025597 discloses a system for providing assistance during lane changes, in which the location of ling markings in a lane is stored and thereby the history of the lane location to determine the location of the vehicle. This is determined.

One object of the present invention is to prioritize a vehicle on a road with at least two neighboring lanes, which minimizes the risk of false warnings where there is no danger during lane change and the warning that is missed when there is danger during lane change. A method and system for evaluating the risk of lane change while driving.

The foregoing and other objects, as clarified by the following detailed description, further illustrate the distinguishing features specified in the features of the independent claims of the claims, methods, systems, motor vehicles, computer programs and computers of the type described in the opening paragraph. Is achieved by the program product. Preferred embodiments of the method and system are defined in the dependent claims.

According to the present invention, the above object is a method for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes, and detecting whether there are vehicles approaching the preceding vehicle from the rear. A method comprising: continuous to the neighboring lane to determine a danger zone extending from the neighboring lane to the rear of the preceding vehicle to a specific range based on specifications associated with the range of the particular lane on which the preceding vehicle is driving. Determining a range of at least one neighboring lane based on the reference positions of the preceding vehicle, which is determined by way of, and a basis for taking action during a lane change whether there are vehicles approaching the preceding vehicle from behind in the danger zone. Is achieved using a method comprising the step of considering. By determining the risk zones involved in this way, the false warning that there is no risk during lane change and the risk of missing a warning when there is a risk during lane change is minimized. According to one embodiment of the invention, the reference positions are determined successively at predetermined intervals. In this way, effective and predictable determination of risk zones is possible.

According to one embodiment of the invention, the intervals are intervals in the range along the direction of travel of the vehicle. In this way, an effective and predictable determination of the operating zone is possible regardless of the speed of the vehicle.

According to one embodiment of the invention, the intervals are time intervals. In this way, an effective and predictable determination of the operating zone can be achieved simply.

According to one embodiment of the invention, the method comprises determining a range of the neighboring lane based on parameters for the progression of the preceding vehicle, wherein the parameters are determined by the rate of change of yaw angle of the preceding vehicle and Includes speed. In this way, it is possible to determine the risk zone precisely and accurately and in an effective way as the vehicle passes the curve, so that the range and curvature of neighboring lanes are effectively recreated in the risk zone.

According to one embodiment of the method, said determining said range of neighboring lanes comprises determining a distance for a preceding vehicle.

According to one embodiment of the method, the danger zones Z1a and Z2a extending from the neighboring lane L2 to the rear of the preceding vehicle 1 approach the preceding vehicle 1 from the rear. It is set to exceed the ranges A1a and A2a for the detection of the vehicle 2 being performed. In this way, an action may be taken such as a warning as soon as the vehicle is detected when the vehicle thus detected is in a danger zone.

Embodiments of the system exhibit advantages corresponding to corresponding embodiments of the methods described above.

The invention will be better understood by reading the following detailed description with reference to the accompanying drawings. Like reference symbols in the various drawings indicate like parts.
1A and 1B schematically illustrate driving a preceding vehicle on a road with at least two neighboring lanes, where a vehicle approaching the vehicle from behind is detected according to the prior art.
2 schematically illustrates a motor vehicle according to an embodiment of the present invention.
3 is a block diagram schematically illustrating a system for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes in accordance with the present invention.
4 schematically illustrates driving a preceding vehicle on a road with at least two neighboring lanes, where reference positions for the vehicle and neighboring lanes are determined.
5A and 5B schematically illustrate driving a preceding vehicle on a road with at least two neighboring lanes, where a vehicle approaching from the rear of the preceding vehicle is detected in accordance with one embodiment of the present invention.
6 is a block diagram schematically illustrating a method for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes according to the present invention.
7 schematically illustrates a computer according to an embodiment of the invention.

1a and 1b schematically show driving the preceding vehicle 1 on roads R1, R2 with at least two neighboring lanes L1, L2, L3, where the preceding from the rear according to the prior art. Vehicles 2 approaching the vehicle 1 are detected.

In FIG. 1A, the preceding vehicle 1 runs on a road R1 with three lanes L1, L2, L3, which is curved. The vehicle 2 approaching the preceding vehicle 1 from the rear is detected by the radar means having a specific range, which acquires a detection zone A1 which is directed from the left side of the preceding vehicle and basically just back to the direction of travel of the vehicle. do. What is known as a "blind spot warning system" is in this case detected as being in zone ZA1 which is detected at the detection zone and extends immediately back and corresponds to the distance from vehicle 1 to neighboring lane L2. It is assumed that the vehicle to be determined is a threat, thereby activating a warning during a lane change. In this case, the curvature of the road is approaching from the rear and the vehicle 2 located in the outermost lane L1 will be detected and the warning will be activated. The blind spot warning system takes this action unnecessarily in this case because the vehicle 2 approaching from the rear is located close to the shoulder of the preceding vehicle 1, but at least one lane apart.

In FIG. 1B, the preceding vehicle 1 runs on a road R1 with two lanes L1 and L2, the road R1 being curved. The vehicle 1 is running on the outermost lane L1. The vehicle 2 approaching the preceding vehicle 1 from the rear is detected by the radar means having a specific range, which acquires a detection zone A2 which is directed from the right side of the preceding vehicle and basically just behind the traveling direction of the vehicle. do. What is known as a "blind spot warning system" is in this case detected as being in the detection zone but not present in the zone ZA2 which extends just behind and is also a distance corresponding to the distance from the preceding vehicle to the neighboring lane L2. It is assumed that the vehicle detected as being at is not a threat, and thereby no warning is activated. In this case, the curvature of the road makes it not considered that the vehicle 2 approaching from the rear and located in the innermost lane L1 is approaching from the neighboring lane. In this case, the blind spot warning system does not take action when the vehicle 2 approaching from behind is located near the preceding vehicle 1 in neighboring lanes, which constitutes a risk of a traffic accident.

As used herein, the term "link" refers to a communication link, which may be a physical line, such as an optoelectronic communication line, or a non-physical line, such as a radio link or a radio link, for example.

As used herein, the term "neighbor lane" refers to neighboring lanes for vehicles traveling in the same direction, i.e. lanes in the form of neighboring lines in which the vehicle travels in the same direction, commonly found on large roads such as highways. And neighboring lanes for progressing in the opposite directions, ie, oncoming vehicles are neighboring lanes in which neighboring lanes exist and overtaking maneuvers may occur.

Thus, the term "roadway with at least two lanes neighboring" herein refers to any suitable roadway with neighboring lanes in accordance with the foregoing provisions. Thus, the term "road with at least two neighboring lanes" consequently means a large road, that is, a highway with two or more neighboring lanes for traveling in the same direction and two neighboring roads for traveling in opposite directions. Two lanes, ie oncoming vehicles may be present in neighboring lanes and may include roads with neighboring lanes where overtaking maneuvers may occur.

2 schematically shows a motor vehicle 1 according to an embodiment of the invention. The example vehicle 1 consists of a large vehicle in the form of a lorry. Alternatively, the vehicle may be a bus or a car. The vehicle comprises a system I for assessing the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes according to the invention.

FIG. 3 is a schematic block diagram of a system I for assessing the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes in accordance with one embodiment of the present invention.

System I comprises an electronic control unit 100.

System I comprises means 110 for detecting if there are vehicles approaching the preceding vehicle from the rear. The means 110 for detecting whether there are vehicles approaching the preceding vehicle from the rear may comprise any suitable sensor means.

The means 110 for detecting whether there are vehicles approaching the preceding vehicle from the rear, according to a variant, comprises radar means. The means 110 for detecting whether there are vehicles approaching the preceding vehicle from the rear, according to a variant, comprises camera means. The means 110 for detecting whether there are vehicles approaching the preceding vehicle from the rear comprises, according to a variant, ray radar means. The means 110 for detecting whether there are vehicles approaching the preceding vehicle from the rear, according to a variant, comprises laser scanning means.

The means 110 for detecting whether there are vehicles approaching the preceding vehicle from the rear detects whether there are vehicles approaching the preceding vehicle from the rear in the lanes on the right side of the vehicle or in the lanes on the left side of the vehicle. In order to make this possible, it comprises sensor means for detecting on both sides of the vehicle. The preceding vehicle comprises means 110 for detecting if there are vehicles approaching the preceding vehicle from behind.

The means 110 for detecting whether there are vehicles approaching the preceding vehicle from the rear includes means for determining whether the detected vehicle is approaching the preceding vehicle, ie, the detected vehicle has a higher relative speed than the preceding vehicle.

The system I is configured to determine a risk zone that extends from the neighboring lane to the rear of the preceding vehicle to a specific range based on specifications related to the range of the particular lane on which the preceding vehicle is driving. Means 200a for determining a range of at least one neighboring lane based on reference positions of the preceding vehicle that are subsequently determined for the lane.

As a result, the system I comprises means 200 for determining a danger zone extending from the neighboring lanes to the rear of the preceding vehicle to a certain extent. The means 200 for determining a risk zone includes means 200a for determining the range of neighboring lanes.

The means 200a for determining the range of neighboring lanes comprises means 210 for successively determining reference positions of the preceding vehicle relative to the lane of the preceding vehicle and the neighboring lane.

System I comprises in this case means 210 for successively determining the reference positions of the preceding vehicle relative to the lane of the preceding vehicle and the neighboring lane.

The means 210 for continuously determining reference positions of the preceding vehicle with respect to the neighboring lanes comprises means 212 for continuously determining reference positions at predetermined intervals.

According to one embodiment, the predetermined intervals consist of range intervals. The means 210 for continuously determining the reference positions of the preceding vehicle with respect to the neighboring lanes in turn comprises means 212a for continuously determining the reference positions at predetermined range intervals, according to the present embodiment. The range intervals are, according to one variant, made up of predetermined distances / ranges that the preceding vehicle has traveled through and the associated distances / ranges are identical. The means for determining the reference position 210 is in this case arranged to continuously determine the reference position after each such distance / each such range.

According to one embodiment, the predetermined intervals consist of time intervals. The means 210 for continuously determining the reference positions of the preceding vehicle with respect to the neighboring lanes in turn comprises means 212b for continuously determining the reference positions at predetermined time intervals, according to the present embodiment. The time intervals consist of predetermined time intervals that the preceding vehicle has progressed in the meantime, each time interval being the same. The means 210 for determining the reference position is in this case arranged to continuously determine the reference position after each such time interval.

The means 210 for successively determining reference positions of the preceding vehicle with respect to the neighboring lanes comprises means 214 for determining parameters for the progression of the preceding vehicle. Parameters for the progression of the preceding vehicle include the rate and rate of change of yaw angle of the preceding vehicle.

The means 200a for determining the range in the neighboring lanes in turn comprises means 214 for determining parameters for the progression of the preceding vehicle, the parameters including the rate and rate of change of the yaw angle of the preceding vehicle.

The system I thus comprises means 200a for determining a range in the neighboring lanes based on the parameters for the progression of the preceding vehicle, the parameters comprising the rate and rate of change of the yaw angle of the preceding vehicle.

The rate of change of the yaw angle is in this case used as a basis for determining whether the lane on which the preceding vehicle is driving is a curve and the range on which the lane on which the preceding vehicle is driving is a curve, whereby the estimation that neighboring lanes have corresponding curvatures Is done.

Means 214 for determining parameters for the progression of the preceding vehicle include means 214a for determining the rate of change of the yaw angle of the preceding vehicle. The means 214a for determining the rate of change of the yaw angle comprises at least one gyroscope.

Means 214 for determining parameters for the progression of the preceding vehicle include means 214b for determining the speed of the preceding vehicle. Means 214b for determining the vehicle speed include a speedometer of the vehicle.

Means 210 for continuously determining reference positions of the preceding vehicle with respect to the neighboring lanes, according to a variant, comprises map data comprising position data relating to the current position of the vehicle and information on the curvature of the associated route. Navigation means 214c. The means 214 for determining parameters for the progression of the preceding vehicle comprises the navigation means 214c.

The navigation means 214c may be used as a supplement to the means 214a for determining the rate of change of the yaw angle to achieve redundancy. The determination of the rate of change of the yaw angle to determine whether the lane is curved is influenced by the lurching of the preceding vehicle, in which the information from the navigation means 214c regarding the curvature of the lane prevents false evaluations based on the latching. Can be used. The navigation means 214c may also be used as an alternative to the means 214a for determining the rate of change of the yaw angle.

The means 200a for determining the extent of the neighboring lanes, in turn, according to a variant, navigation means 214c comprising position data relating to the current position of the vehicle and map data comprising information on the curvature of the associated route. ).

System I comprises means 214a for determining the rate of change of the yaw angle of the preceding vehicle.

System I comprises means 214b for determining the speed of the preceding vehicle.

System I comprises navigation means 214c.

The means 210 for continuously determining reference positions of the preceding vehicle with respect to the neighboring lanes includes means for determining the distance to the preceding vehicle.

The means 216 for determining the distance to the preceding vehicle includes means 216a for determining lane markers of neighboring lanes. Means 216a for determining lane markers of neighboring lanes include sensor means such as camera means. The means 216 for determining the distance to the preceding vehicle, according to one variant, comprises sensor means. The sensor means, according to one variant, comprises a camera means.

The means for determining the distance to the preceding vehicle, according to one variant, comprises means 216b for determining virtual lane markers of neighboring lanes.

Means 216b for determining virtual lane markings of neighboring lanes include means for determining the width of the lanes and / or neighboring lanes in which the preceding vehicle is going.

The means for determining the width of the lanes comprises, according to a variant, navigation means comprising map data having the width of the lanes in the relevant route, information on the type of route and information on the current location of the vehicle. The navigation means may consist of the navigation means 214c.

The means for determining the width of the lanes comprises, according to one variant, sensor means for determining the width of the lanes in which the preceding vehicle is proceeding, wherein according to one variant the width of the neighboring lanes is the lane in which the preceding vehicle proceeds. It is assumed to be equal to the width of. The means for determining the width of the lanes includes, according to one variant, predetermined stored information relating to the width of the lanes, which information can be stored in the electronic control unit 100.

System I comprises means 100 and 120 that use the presence of a vehicle approaching a preceding vehicle from behind in the danger zone as a basis for taking action during a lane change.

System I comprises means 120 for performing an action when the presence of a vehicle approaching a preceding vehicle from behind in the danger zone is detected.

The means for taking action 120, according to one embodiment, comprises means 122 for warning of lane changes when such an presence is detected. The means 122 for warning about lane changes may be comprised of any suitable warning means, such as visual warning means, audio warning means and / or tactile warning means. The visual warning means, according to one variant, comprises a display unit and / or a flashing unit or the equivalent. Acoustic warning means include warning in the form of a voice message and / or warning in the form of an acoustic alert. Tactile warning means include acting on the steering wheel of the vehicle in the form of vibrations / movements and / or acting on the seat of the vehicle in the form of vibrations and / or acting on the pedals, such as accelerator pedals or brake pedals.

The means for taking action 120 comprises means 124, according to one embodiment, to prevent the preceding vehicle from changing lanes when such a presence is detected or to make it more difficult for the preceding vehicle to change lanes. . Means 124 to prevent or make it more difficult to change lanes include acting on the control of the preceding vehicle, such as changing the steering wheel position in the direction of the neighboring lane where the danger exists. The means for taking action 120, according to one variant, comprises an electronic control unit 100.

The electronic control unit 100 is connected to exchange signals via a link 11 and means 110 for detecting whether there is a vehicle approaching the rear of the preceding vehicle. The electronic control unit 100 is arranged to receive from the means 110 via the link 11 a signal indicating vehicle data as to whether there are vehicles approaching the vehicle from the rear.

The electronic control unit 100 is connected to exchange signals via a link 20 and means 200 for determining a danger zone extending from the neighboring lanes to the rear of the vehicle to a specific range. The electronic control unit 100 is arranged to receive from the means 200 via the link 20 a signal indicative of danger zone data for the determined danger zone, which extends from the neighboring lanes to the rear of the preceding vehicle.

The electronic control unit 100 is connected to exchange signals via link 20a and means 200a for determining the range of neighboring lanes. The electronic control unit 100 is arranged to receive a signal from the means 200a via the link 20a indicating the range data for the range of neighboring lanes for the detection of an operating zone from the vehicle to the rear.

The electronic control unit 100 is connected to exchange signals via a link 21 and means 210 for continuously determining the reference positions of the preceding vehicle for the lanes of the vehicle and neighboring lanes. The electronic control unit 100 is arranged to receive from the means 210 via the link 21 a signal indicating reference position data for reference positions for determining a range of neighboring lanes for the detection of a danger zone from the preceding vehicle to the rear. It is.

The electronic control unit 100 is connected to exchange signals via a link 22 and means 212 for continuously determining reference positions at predetermined intervals. The electronic control unit 100 is arranged to receive from the means 212 via the link 22 a signal representing reference position data for successively determining reference positions at predetermined intervals, the interval being means ( It may be a range interval determined by 212a) or a time interval determined by means 212b. In this case, reference position data for range intervals or time intervals is received via link 22. According to a variant not shown here, the electronic control unit 100 is configured to retrieve reference position data for the range intervals from the means 212a through one link and reference position data for the time intervals from the means 212b. It will be possible to receive over two links.

The electronic control unit 100 is connected to exchange signals via a link 24a and means 214a for determining the rate of change of the yaw angle of the preceding vehicle. The electronic control unit 100 is arranged to receive from the means 214a via the link 24a a signal indicative of the rate of change of the yaw angle for determining any curvature that the preceding vehicle may have. .

The electronic control unit 100 is connected to exchange signals via a link 24b and means 214b for determining the speed of the preceding vehicle. The electronic control unit 100 is arranged to receive from the means 214b via the link 24b a signal indicative of speed data for the speed of the preceding vehicle.

The electronic control unit 100 is connected to exchange signals via the navigation means 214c and the link 24c. The electronic control unit 100 is arranged to receive from the navigation means 214c via the link 24c a signal representing the map data for the width of the lane on which the preceding vehicle comprises an arbitrary curvature of the lane that may exist. It is.

The electronic control unit 100 is connected to exchange signals via link 26a and means 216a for determining lane markers of neighboring lanes. The electronic control unit 100 is arranged to receive from the means 216a via the link 26a a signal indicative of the distance data for the distance to the lane markers of the neighboring lanes.

The electronic control unit 100 is connected to exchange signals via link 26b and means 216b for determining virtual lane markers of neighboring lanes. The electronic control unit 100 is arranged to receive from the means 216b via the link 26b a signal indicative of the distance data for the distance to the virtual lane markings of the neighboring lanes.

The electronic control unit 100 is connected to exchange signals via a link 12 and means 120 for performing an action when the presence of a vehicle approaching a preceding vehicle from the rear in the danger zone is detected. The electronic control unit 100 sends a signal to the means 120 indicative of operational data comprising warning data for a lane change warning for the preceding vehicle and / or disturbance data for preventing or making the lane change of the preceding vehicle more difficult. Arranged to transmit over the link 12.

The electronic control unit 100 is configured to determine the hazard zone data for the hazard zones extending rearward from the preceding vehicle in neighboring lanes, the reference position data, yaw angle change rate data and, if relevant, map data, lane markers or virtual. The vehicle data about the presence of vehicles approaching the preceding vehicle from the rear in order to process distance data for lane markers and to determine whether there is a vehicle approaching the vehicle from the rear of the vehicle in the hazard zone; It is arranged to compare with. If there is a vehicle approaching the preceding vehicle from behind in the danger zone, the control unit includes warning data for a lane change warning for the preceding vehicle and / or obstruction data to prevent or make it more difficult to change the lane of the preceding vehicle. To transmit the operational data to the means 120.

The reference positions are determined by means 210 for successively determining the reference positions. The means 210 for continuously determining the reference positions is determined by the following equation, according to one embodiment.

D _x (t) = D _x (tt _s ) -cos (t _s * ω) * t _s * v (1)

D _y (t) = D _y (tt _s ) -sin (t _s * ω) * t _s * v (2)

Here, the x-axis relates to positive values forward in the direction of the preceding vehicle and the y-axis relates to values positive to the right in the direction of the preceding vehicle.

The following definitions apply to equations (1) and (2) described above. D denotes the distance m from the reference position in the preceding vehicle 1 to the lane marker, the reference position in this preceding vehicle being for example the midpoint of the rear axle, the midpoint of the front axle, the midpoint of the front of the vehicle, and May be equivalent, v denotes the speed of the preceding vehicle (m / s), ω denotes the rate of change of the yaw angle of the preceding vehicle (rad / s), and t _s denotes the sampling time for updating the reference positions Indicates.

During successive determination of reference positions at predetermined range intervals, new reference positions are created periodically after the predetermined range.

During successive determination of reference positions at predetermined time intervals, new reference positions are generated regularly after a predetermined time.

4 schematically shows driving a preceding vehicle 1 on a road R1 with three neighboring lanes L1, L2, L3, where reference positions for the vehicle and neighboring lanes are It is decided.

4 shows in this case a list of reference positions D _LA1 , D _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 determined by equations (1) and (2) described above. It is shown. The reference positions D _LA1 , D _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 according to FIG. 4 are determined by the system I according to the invention.

In this case, an appropriate number N of reference positions D _LA1 , D _LB1 in the form of reference points D _LA1 , D _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 ) are determined. Here, the distances to the lane markers M1 and M2 are determined by the lane marker M2 immediately to the left of the preceding vehicle 1 and the next lane marker M1 to the left, that is, the preceding vehicle 1. It is determined for the lane markers M1 and M2 defining the lane L3 which is present and the lane L2 which is adjacent. This occurs in succession, whereby the oldest reference positions are overwritten when the desired number N of reference positions has been determined. The reference positions D _LA1 , D _LA2 , D _LA3 , D _LA4 represent the distances to the lane markers M2 immediately to the left of the preceding vehicle 1, which are determined successively, and the reference positions D _LB1 , D _LB2 , D _LB3 , D _LB4 represent the distances to the lane markers M1 to the left of the markers M2. The risk zone is in this case determined successively by reference positions D _LA1 , D _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 , as clearly shown in FIG. 5A. do.

FIG. 5A shows the driving of the preceding vehicle 1 in the direction of an arrow P1 according to FIG. 4 on a road R1 with three neighboring lanes L1, L2, L3 based on successively determined reference positions. It is shown schematically. The road R1 and the scenario correspond to those shown in FIG. 1A with the corresponding detection zone A1. Here, the danger zone Z1 is determined based on the reference positions determined in succession. By means of the system I according to the invention it is determined that the preceding vehicle is approaching from the rear in the direction of the arrow P2 and that the detected vehicle 2 is not located in the determined danger zone Z1, whereby Unlike the prior art in which unnecessary warnings are issued during the change, no action is taken during the lane change.

FIG. 5B schematically illustrates driving the preceding vehicle 1 in the arrow direction P1 on a road R1 having two neighboring lanes L1 and L2, in accordance with an embodiment of the present invention. The vehicle 2 approaching the preceding vehicle 1 from the rear and traveling in the arrow direction P2 is detected. Road R2 and the scenario correspond to those shown in FIG. 1B with the corresponding detection zone A2. Here, the danger zone Z2 is determined based on the reference positions determined in succession. By the system I according to the invention, it is determined that the vehicle 2 is approaching the preceding vehicle from the rear in the arrow direction P2 and the detected vehicle 2 is located in the determined danger zone Z2, thereby changing to the vehicle. Unlike the prior art in which no warning is issued during the course, measures are taken during the lane change.

As is clear from FIGS. 5A and 5B, the ranges Z1a and Z2a are arranged such that the danger zones Z1 and Z2 extend from the neighboring lane L2 to the rear of the preceding vehicle 1. Is set to exceed the ranges A1a and A2a for detection of the vehicle 2 approaching the preceding vehicle 1 from.

FIG. 6 is a block diagram schematically illustrating a method for evaluating a risk of a lane change while driving a preceding vehicle on a road having at least two neighboring lanes according to an embodiment of the present invention.

According to one embodiment, the method for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes comprises a first step S1. In this step, it is detected whether there is a vehicle approaching the preceding vehicle from the rear.

According to one embodiment, the method for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes comprises a second step S2. In this step, a preceding determination is made successively for the neighboring lanes to determine a danger zone extending rearward from the preceding vehicle to a specific range based on specifications associated with the range of the particular lane the preceding vehicle is driving. The range of at least one neighboring lane based on the reference positions of the vehicles is determined.

According to one embodiment, the method for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes comprises a third step (S2). In this step, whether there are vehicles approaching the preceding vehicle from the rear in the danger zone is used as a basis for warning about the lane change.

Referring to FIG. 7, the configuration of the apparatus 500 is shown. The control unit 100 described with reference to FIG. 3 may include an apparatus 500 in one embodiment. Apparatus 500 includes non-transient memory, data processing unit 510 and read / write memory 550. Persistent memory 520 has a first area 530 of memory in which computer programs, such as an operating system, for controlling the functionality of device 500 are stored. The apparatus also includes a bus controller, serial communication port, I / O means, A / D converter, units for input and transmission of time and date, event counters and interrupt controllers (not shown). Include. Persistent memory 520 also includes a second region 240 of memory.

A computer program P is provided that includes routines for evaluating the risk of lane change while driving a preceding vehicle on a road with at least two neighboring lanes according to an innovative method. The program P includes routines for detecting whether there is a vehicle approaching the preceding vehicle from the rear. The program P is configured for the neighboring lanes to determine a danger zone extending from the preceding vehicle to the specific range rearward from the preceding vehicle based on the specifications related to the range of the specific lane on which the preceding vehicle is driving. Routines for determining a range of at least one neighboring lane based on reference positions of the preceding vehicle that are subsequently determined. The program P includes routines that consider as a basis for a warning about a lane change whether there is a vehicle approaching the preceding vehicle from behind in the danger zone. Program P may be stored in memory 560 and / or read / write memory 550 in an executable form or in compressed form.

If the data processing unit 510 is described as performing a specific function, the data processing unit 510 may specify a specific portion of the program stored in the memory 560 or the specification of a program stored in the read / write memory 550. It should be understood as performing the part.

The data processing device 510 may communicate with the data port 599 through the data bus 515. Persistent memory 520 is configured to communicate with data processing unit 510 via data bus 512. The separate memory 560 is configured to communicate with the data processing unit 510 via the data bus 511. Read / write memory 550 is configured to communicate with data processing unit 510 via data bus 514. Links associated with control units 200, 300 may be connected via data port 599, for example.

When data is received at the data port 599, the data is temporarily stored in the second area 540 of the memory. Once the received data is temporarily stored, the data processing unit 510 is ready to execute the code in the manner described above. The signals received at the data port 599 can be used by the apparatus 500 to detect if there are vehicles approaching the preceding vehicle from the rear. The signals received at data port 599 are based on specifications related to the range of the particular lane on which the preceding vehicle is driving to determine a hazard zone that extends rearward from the preceding vehicle in the neighboring lane to a particular range. It may be used by the apparatus 500 to determine a range of at least one neighboring lane based on reference positions of the preceding vehicle that are subsequently determined relative to the neighboring lane. The signals received at the data port 599 can be used by the apparatus 500 to consider whether there is a vehicle approaching the preceding vehicle from behind in the danger zone as a basis for warning of a lane change.

Some of the methods described herein may be performed by the apparatus 500 with the aid of the data processing unit 510 executing a program stored in the memory 560 or in the read / write memory 550. When the device 500 executes the program, the method described herein is executed.

The foregoing description of the preferred embodiments of the present invention is for illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the variants described. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments have been chosen and described in order to best explain the principles of the invention and its practical application to enable those skilled in the art to understand the invention with various modifications suitable for use with the various embodiments.

Claims (17)

Approaching the preceding vehicle 1 from the rear by a method of evaluating the risk of lane change while the preceding vehicle 1 is driving on the roads R1, R2 with at least two neighboring lanes L1, L2, L3. In a method comprising the step (S1) of detecting whether there are vehicles being,
Based on the specifications associated with the range of the particular lane on which the preceding vehicle 1 is driving, the neighboring lanes are determined in order to determine the danger zones Z1 and Z2 extending from the neighboring lane to the rear of the preceding vehicle to a specific range. Determining a range of at least one neighboring lane based on the reference positions D _LA1 , D _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 , which are determined successively for S2),
Considering whether there are vehicles (2) approaching the preceding vehicle (1) from behind in the danger zones (Z1, Z2) as a basis for taking action during the lane change (S3); And
If it is detected that there are vehicles 2 approaching the preceding vehicle 1 from the rear in the danger zones Z1 and Z2, preventing the preceding vehicle from changing lanes or preventing the preceding vehicle from changing lanes. And making it more difficult. The method of claim 1,
The reference positions (D _LA1 , D _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 ) are successively determined at predetermined intervals. The method of claim 2,
And the intervals are intervals in a range along a traveling direction of the vehicle. The method of claim 2,
The intervals are time intervals. The method according to any one of claims 1 to 4,
Determining a range of the neighboring lane based on parameters for the progression of the preceding vehicle 1, wherein the parameters include a rate of change and a speed of a yaw angle of the preceding vehicle. Way. The method of claim 5,
Determining the range of neighboring lanes includes determining a distance to a preceding vehicle. The method of claim 1,
The danger ranges Z1a and Z2a in which the danger zone Z2 extends from the neighboring lane L2 to the rear of the preceding vehicle 1 are approaching the preceding vehicle 1 from the rear. Characterized in that it is set to exceed the ranges (A1a, A2a) for detection. A system for evaluating the risk of lane change while the preceding vehicle 1 is driving on roads R1 and R2 with at least two neighboring lanes L1, L2 and L3, approaching the preceding vehicle 1 from the rear. In a system comprising means (110) for detecting whether vehicles are present,
Means (200) for determining a danger zone (Z1, Z2) that extends rearwardly from the preceding vehicle to a specific range in the neighboring lane, based on specifications related to the range of the specific lane in which the preceding vehicle (1) is traveling Thus, the reference positions D _LA1 , D _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 of the preceding vehicle are determined with respect to the neighboring lane to determine the danger zone Z2. Means 200 comprising means 200a for determining a range of at least one neighboring lane, including means for determining by means of 210, and
Means (120) for considering whether there are vehicles (2) approaching the preceding vehicle (1) from the rear in the danger zones (Z1, Z2) as a basis for taking action during a lane change,
If the means 120 detects the presence of vehicles 2 approaching the preceding vehicle 1 from behind in the danger zones Z1 and Z2, the preceding vehicle is prevented from changing lanes or the preceding vehicle A system configured to make this lane more difficult to change. The method of claim 8,
The means for determining the reference positions D _LA1 , D _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 210 determines the reference positions D _LA1 , D at predetermined intervals. _LB1 ; D _LA2 , D _LB2 ; D _LA3 , D _LB3 ; D _LA4 , D _LB4 ). The method of claim 9,
And the intervals are intervals in a range along the direction of travel of the vehicle. The method of claim 9,
The intervals are time intervals. The method according to any one of claims 8 to 11,
Means (200a, 214) for determining the range of said neighboring lanes based on parameters for the progression of the preceding vehicle (1), wherein said parameters include a rate of change and a velocity of the yaw angle of the preceding vehicle (1). System. The method of claim 12,
And means (216) for determining a range of neighboring lanes (216) for determining a distance to a preceding vehicle. The method of claim 8,
The vehicle 2 in which the danger zones Z1 and Z2 extend rearward from the preceding vehicle 1 in the neighboring lane L2 are approaching the preceding vehicle 1 from the rear. And the range (A1a, A2a) for the detection of. A motor vehicle comprising the system (I) according to claim 8. A computer program (P) stored in a storage medium for evaluating the risk of a lane change while driving a vehicle on a road with at least two neighboring lanes, the computer program (P) being operated by the electronic control unit (100) or A computer program stored in a storage medium, comprising program code for causing the electronic control unit to perform the steps according to claim 1 when executed by another computer (500) connected to the electronic control unit (100). A computer comprising a digital storage medium having stored therein the computer program according to claim 16.

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