SE1650019A1

SE1650019A1 - Method and device for determining a driving state of an external motor vehicle.

Info

Publication number: SE1650019A1
Application number: SE1650019A
Authority: SE
Inventors: Helge Zinner; Olivier Frament
Original assignee: Continental Automotive Gmbh
Priority date: 2013-06-18
Filing date: 2014-05-28
Publication date: 2016-01-07
Also published as: SE539170C2; DE102013211427B4; KR20160021840A; US10246092B2; DE102013211427A1; US20160121892A1; JP6169270B2; JP2016529588A; WO2014202365A1

Description

According to at least one emhodiment of the invention, the external motor vehicle is detected hy means of at least one sensor. The external motor vehicle ie moving in a longitudinel direction. A reference for a nmvement of the external motor vehicle tranevereely to the longituoinal direction is determined. A first distance between the external motor vehicle and the reference is oetermineo at a first point in time. A second distance between the external motor vehicle and the reference is determined. at a second. point in time. The second point in time ocours after the tirst point in time, A fifferenoe between the first and the second distance is determined. The driving state of the external motor vehicle is determined as assietance~supporteo if the difference is less than or equal to a predetermiheo value.

By means of the me.hod it can be determined whether the r current driving state of the external mot, vehicle is aseiatance~supported. or not. The external motor~ vehicle ie, for example, a preceoing motor lvehicle, a following motor vehicle and/or a motor vehicle driving alongside. The driving state has, for example, two oifferent values, “assietancew supported” or “noh~assistahce~supported”. The driving state “assistance-supported" means, in particular, that the motor vehicle has a quedraïure control support, During an aseistance~eupporteo driving state, it is particularly the quadrature control of the external motor vehicle which_ ie performed automatically, that is to say by a computer system and not by the driver of the external motor vehicle, In the case of a non~aesistance~supported driving state of the external motor vehicle, the driver of the external motor vehicle steers the external motor vehicle transversely to the longitudinal direction ae is normally the case.

Since assistance-eupported motor vehicles can perfonn a more preoiee qnadrature control than would he possible for the driver without support, the external motor vehicle maintains 3 the distance from the reference relatively constantly even over a relatively long period of time. in the case of a motor 'vehicle without quadrature control assistance, the distance varies more over the period of time. Although a person steering“ the external motor vehicle can stay on track, he drifts more to the left and to the right. lt is possible, therefore, hy comparing the first distance from the reference at the first point in time with the second distance from the reference at the second state, to determine the drivin state of the external motor velicl,.

According to further embodiments, e value of a speed of the external motor vehicle is determined. In particular, the driving speed. in 'the longitudinal direction. of the external motor vehicle is determined. The period of time between determining the first distance and determining the second distance is predetermined in dependence on the speed determined. ln particular, the period of time is shorter the greater the value of the speed is. By this means, the driving state can he determined precisely in dependence on the speed of the external motor vehicle.

According to further emhodiments, a number is predetermined for a respective determination of a further distance between the external motor vehicle an' th, reference in dependence on the value of the speed. For example, more than two distances are determined at different points in time located behind one another, for -sample three or more distances at points in time behind one another in each case.

According to further embodiments, a type of the external motor vehicle is determined. The period of time between the respective determinations of the distance between the external motor vehicle and the reference is predetermined, for example, in dependence on the type of motor vehicle determined, Alternatively or additionally, the number of determinations of the respective distance is predetermined in dependence on the type of external motor vehicle determined. Thus, it is possible 'that during the determining of the driving state, 4 special features and/or oharaoteristios of a respective type of the external motor vehicle will he considered. For example, the types of external motor vehicle and/or their hihavior in the respective driving state are stored ih a database and/or oan he requested from an information system.

According to embodiments, the state determined is output to a user or the systen of the motor vehicle "hich drivas in the environment of the external motor vehicle, Thus, it is possible that the user of the motor vehicle adapts his driving behavior to the driving state of the external motor vehicle. lf the external motor vehicle erhihits the driving state in assistanoe~supportedl manner, the user“ of the motor vehicle, for example, can both increase and reduce his distance from the preoeding external motor vehicle, According to further embodiments, the determined state is output alternatively or additionally to a control system of the motor vehicle so that, for example, parameters of assistance systems of the motor vehicle can he set in dependence on the driving state of the external motor vehicle. According to further emhodiments, the determined state is output alternatively or additionally to an external device, for example to a .mobile telephone, a so~ called Smartphone and/or a tahlet computer.

Other advantages, features and further developmehts are obtained from the examples explained in oonjunotion with the figures in the text which follows, ldentical, similar and identically acting elements can be provided with the same reference symhols in this contest.

Figure l shows a diagrammatie representation of motor vehicles, Figures 2A and 28 show a oiaqrammatic representation of the difference of the driving state of motor vehicles, Figure 3 shows a diagrammatic representation of two motor vehicles driving behind one another, Fignres 4A to 40 show a diagrammatic representation of a motor vehicle at different points in time, and Figure 5 shows a diagranmatic representation of næthod steps according to embodiments.

Figure l shows a diagrammatie repreeentation of motor vehicles l00, 101, l02 and Q03 which are jointly driving on a road. The motor vehicle l00 in this case exhibits a device 121 which is configured to determine the driving state of the external motor vehicles 101, 102 and/or l0“. The external motor vehicle l0l is driving ahead of motor vehicle 100, the external motor vehicle 02 is driving' next to .motor vehicle l00 ano the external motor vehicle l03 is driving hehino motor vehicle 100. Motor vehicles 100 to l03 are in each case moving in a longitudinal direction 105 along the road.

Figure 2A shows a oiagrammatic representation of the driving behavior of the external motor vehicle l0l when the driving state is not assistance supported. The external motor vehicle 101 is eteereï by the driver of the external motor vehicle 101. The driver of the external motor vehicle l0l determines the Hmvements of the external motor vehicle l0l transversely to the longitudinal direction 105. In the non~aseistance~ supported driving state, undulating shapes are produced for a driving track ll8 of the external motor vehicl. l0l along the longitndinal direction l05. The user of the external motor vehicle l0l steers the external motor vehicle l0l in such a manner that the distance of the motor vehicle lül from a reference 106 changes even when the driver of the externa motor vehicle l0l viehes to drive straight ahead in the direction of the longitudinal direction l05. The reference 106 is, for example, the side strip of the roadway, Figure ZB shows oiagrammatically the shape of the driving track ll8 of the external motor vehicle l0l in the driving state as assistance~supportedl Due to 'the compnter~supported 5 qnadrature control of the external motor vehicle lO1, the driving track 118 essentially extends ill a straight line in the same direction as the longitudinal direction 105. In the assistance~supported driving state, the comouter' is able to keep the track much more precisely in ccntrast to a person.

The wave shape of the driving track 113, that is to say the flcotuation with respect to reference 106, is distinctly less in, the assistance~supported. driving state then in the non~ assistance~supported driving state, Figure 21 diagrammatically shows the determinstion of distancee of the external motor vehicle 101 from referencee according to embodiments. The motor vehicle lOÜ has a sensor 10ê which is designed for detecting the external motor vehicle 131. The sensor 1Üê comprises a camera or more than one camera according to enæodiments. According to further embodiments, the sensor 104 comerises a lider. According to further embodiments, the sensor 104 comprises a radar. According to further embodiments, the sensor 104 comprises a combination of devices for detecting the external motor “vehicle 1G1. In addition, sensor 194 is confignred to detect the reference 106. ln particular, the sensor 194 ie configored to deteot a plcrality of referenees 107, 108, 119 and 120. The references 106, 107, 138, 119 and 120 are roadway markings of the road, in particular, and particularly the edges of the roadway marking at which a contrast between the bright roadway martin, and the darker roadway covering is sufficiently well recognizahie.

The device 121 of the motor vehicle 1OO ie designed to determine a distance 109 between the motor vehicle 101 and the reference lG8 with the aid of the data of sensor 104.

Alternatively or additicnally, the device 121 is designed to determine a distance 11G from the reference 106. Alternetively or' additionally, the device 121 is designed to determine a distance 111 from the reference 167. Alternatively or additionally, the device 121 is designed to determine a distance 112 from a reference 119. Alterhatively or a ditionallv the device 121 is desi ned to determine a _. P _ 0 distance 113 from. the reference 12 . According' to further ? embodiments, other distances from other references are additionally determined. According again to other emhodiments, fewer than th. distences represented in figure 3 are determined.

According to further emhodiments, the detection shown in figure 3 for the preceding external motor vehicle lül is possible alternetively or edditionally for the motor vehicle treveling elongside lÜ2 and/or the following motor vehicle lüš. Neturally, according to emhodiments, the detection is possible for motor vehicles driving elongside hoth on the left end on the right, According to emhodiments, the determination is possible simultaneously for the plurelity of motor vehicles 101, lÜ2 and lO3.

Figure 4A shows the distance 109 between external motor vehicle lOl and reference lüâ et ai first point in time. As well, the first distance llÜ from reference l?š at the first point in time is shown. Additionelly, the speed in the longitudinal direction lO5 of the external motor vehicle lOl is determined by the device lâl of the motor vehicle lüü according to emhodimehts.

Figure 48 shows the second distance llê from the reference 108 at e later point in time at which the external motor vehicle lül has moved in the iongituJinal direction lO5. ln addition, the second distance ll5 from the reference 196 ie shown. The time interval between the determination of the first distences lÛ9 and ll? and the determination of the second distences ll4 and ll5 is predetermined in the device l2l in dependence on r the external motor vehicle lül the speed determined according to embodiments. According to further embodiments, e type of sensor lßä for detecting the external motor vehicle lOl in dependence en speed is predetermined. For example, either the camera, the lider or the rader is used in dependence on the sçeed determined for the external motor vehicle lül. In addition, according to embodiments it is predeterminedi in dependence on 'the speed determined. for the external. motor vehicle lOl whether? e third distance llê or 3 117, respectiveiy, and possihly further distances at the second point in time are additicnally determined, ln figure 4G, a third distance 116 from the reference 108 and a third distance 117 from the reference 106 at a third point in time is shown. For determininq the driving state of the external motor vehicle 101, the distance 109 is compared with the distance 114, According to emhodiments, the distance 109 and/or th. distance 11% are also compared with the distance 116. The distance 110 is ccmparedt with the distance 115.

According to further embodiments, the distance 110 and/cr the distance 115 are also compared with the distance 117. If the distance 109 is equal to the distance 114 or if the distances 109 and 11% deviate from one another hy a predetermined value at a maximum, the external motor vehicle 101 is driving assistancemsnpported. lf the distances 109 and 114 deviate from one another* hy* more than_ the predetermined. value, the external motor vehicle 101 is not driving assistaneem supported, For determining the driving state, the further comparisons of the corresponding dietances are taken into considefationt according' to further* embodiments. According 'to emhodimente, the type of external motor vehicle 101 is also taken into consideration. It is thus possible to take into consideration. type?dependent changes ÅJ1 the distances during the determinatich of the driving state.

According to emhodiments, the driving state determined for the external motor vehicle 101 is output to the user of the motor vehicle 100, that is to say to a person or to a system. For example, a corresçonding notice is output to the driver of the motor vehicle 100 on his on~hoard computer. According to further embcdiments, the driving state determined ie transferred alternatively or additionally to 'the control of the motor vehicle 100 so that automatic assistance systems of the motor vehicle 100 eperate in dependence on the driving state determined. 1n particular, it is possible that a distance from. the external preceding motor vehicle 101 is increased automatically when the driving state is determined 9 as being assistance-supported. By this means, accidents can be avoided. It is also possible “to find out about itailgaters.

Furthermore, it is possible to distinquish_ between a human driver and a computer as driver. ln addition, accidents san be anticipstef early and corresponding assistance systems eotivated in time, Furthermore, it is possible to reoognize a probably correct driving vehevior if the driving state is determined as being assistanoe~supported. lt is also possible to obtain proqnoses whether the behavior and the actions of the external motor vehicle lül ere predietable. Enrthermore, it is possible to 'provide warning' notices for the external motor vehicles 102 and lO3 in order to avoid an acoident or dangerous situations, respeotively. According to embodiments, the motor vehicle l0Ü itself has an assistent for qnadrature control. recording to further embodiments, the motor vehicle lOO itself does not have an assistent for quadrature control.

Figure 5 hows diagrammetically the steps of the næthod for determining th, driving state of the external motor vehicle lßl according to embodiments. ln step 2ül, the external motor* vehicle lOl is visible or selected, respectively, for observation. ln step 202, the speed of the external motor vehicle L?l is determined.

In step 203, the number of measuring periods is determined in dependence on the speed determined. ln step ZG4, the period of time between the individual measurements is determined in dependence on the speed determined.

In step 205, the appropriate sensor system for sensor 164 is determined in dependence on the speed determined, 16 In step 206, object detection is performed and the external meter vehicle 101 is detected by means of sensor 104.

In step 207, reference lüv and/er further references are determined frem which the distance of the external meter vehicle 101 can he messuree herizentallv. ln. step 208, the first distance 199 from reference 108 is determined. The first distance 109 is stored.

In step ZÜ9, it is cheeked whether the preeedihg vehicle is the same external meter vehicle 1Û1 as in step ÉO1.

If the preceding vehicle is still the same external meter vehicle 101, the second distance 114 frem the same reference 108 as in the case ef the first distance 109 ie determined in step 210 and the value is stored. ln step 211, it is determined whether the preceding vehicle is still the same external meter vehicle 101 and. whether the reference is still the same. ln ediitien, it is ehecked according to emhediments whether the object is still relevant to the observation.

In step 212, the third distance 116 frem the same reference 108 is determined and the value determined is stored. ln step 213 it ie cheeked, cemparably to step 21 , whether the preceding vehicle is still the same external meter vehicle 101, the reference ie still the same and whether the ebjeet is still relevant te the observation.

In step 214, e further distance measurement fromr the same reference 108 is then performed aceordin_ to emhodiments. ln step 215, it is checked whether the preeeding vehicle is still the same external meter vehicle 101, whether the 11 reference IÛS is still the same and. whether the object is still relevant to the observation.

In step 216, the distances determined in step ZÜS, 2'Ü, 212 and 214 are compared with ene anether. ln particular, a difference between the distancee determined is determined.

In step 217, the difference determined is compared. with a predetermined value. lf the difference is less than the predetermined value or equal to the predetermined value, the driving state ie determinea to be aeeietance~suppo:ted.

Otherwise, the driving state is determined as not being assietance~supportedJ lt can thus be established. whether a person handles the quadrature control ef the external 'meter vehicle lül 0: a cemputer system.

Claims

1.

2 Patent elaims 1. A method for determining a driving state of an external motor vehicle (101, 102, 103) comprising: 'ÉJJ detecting the external meter vehicle (101, which is moving in a iongitudinei direction (105), bi means of at ieaet ene eeneer (10ê), 1106, 108) for a mnvement ef the (101, 102, 103) the lengitndinai directi n (105), determining a reference external meter vehicle traneversely te 1 9, 110) between tn. 03) and the reference distance (1 (10 , 102, (106, 107, 108) at a first point in time, distance (114, 115) (101, 102, 103) and the reference at a second point in time which ie after determining a first external motor vehicle determining e second. between the external meter vehicle (106, 107, 108) the first point in time, determining e difference between the first (109, 110) and the second (114, 115) distance, determining the driving state ae assietance~supperted if the difference is less than or eruai te a predetermined value. The methed ae claimed in claim 1, comprising: value of a external motor vehicle (101, 102, 103), predetermining a periød ef time between determininq the (109, 110) 115) in determining a speed. of the distance second (114, first and determining the distance dependence en the speed determined. The methed as claimed in eiaim 1 or 2, cemprising: determining a value of a eçeed of the external motor vehicle (101, 102, 103), 15 ~- predeterminihg a number før e respective determinetieh of e further distance (116, 117) between the external meter vehicle (LÜ1, 102, 103) and the teterehee (106, 167, 108), the number being predetermined in dependence en the speed áetermined. Q, The methed ae cleimed in e1aim 2 er 3, eemprieing: ~ determining a type of the exterhe1_ motor vehicle (101, 192, 103), ~ predetermihing the period ef time andfer number in dependence en the tjpe determined.

5. The method es cleimed in one ef claims 1 to 4, in which determiníngt the reference (lüš, 107, 108) for the movement cemprises: ~ determining e roedway marking es reference ílüš, 1Û7, 1681.

6. The method es claimed in ene ef claims 1 to 5, in which determining the driving state es assistance-supporteá comprisee: - determining ah eetive quedrature control of the external mete: vehicle (101, 162, 103), 7, The method es claimed in one of c1aims 1 to 6, comprising: ~ eutputting the state determined to a user of a motor vehicle (160).

8. The method ae claimed in one of cleims 1 to 7, comprising: ~- deteeting the externe1 meter vehicle (101, 192, 103) by means of et least ene camera, ene lider andfer ene rader. 9, A. devie? for a motor vehicle (190) er determining a driving state of en external motor vehic1e (101, 102, 163) which ie designed for: 11% deteeting' the external meter vehicle (101, which is meving' in a longitudinal direction (105), by means ef at least ene sense: íl? }, determining a reference (106, 198) før a movement ef the external meter vehicle (lül, lG2, 103) tranevereely to the lonqitudinal direction (105), t determining a first dis anse (199, 110) between the external meter vehicle (lül, 102, 193) and the reference (IÜ6, lO7, l?ßë at a first point in time, (114, 115) external meter vehicle ( Gl, lO2, 103) and the reference determining a second distance between the (196, 107, lÛ8} et a eecend point in time which ie efter the first eoint in time, deterïining a difference between the first (l0§, ll0} and the second (114, 115) distance, determininq the driving state as assistance~supported if the difference is less than or equal to a predetermined value.