WO2006122867A1 - Dispositif d'assistance au changement de voie pour vehicules automobiles - Google Patents

Dispositif d'assistance au changement de voie pour vehicules automobiles Download PDF

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Publication number
WO2006122867A1
WO2006122867A1 PCT/EP2006/061828 EP2006061828W WO2006122867A1 WO 2006122867 A1 WO2006122867 A1 WO 2006122867A1 EP 2006061828 W EP2006061828 W EP 2006061828W WO 2006122867 A1 WO2006122867 A1 WO 2006122867A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane change
vehicle
lane
recommendation
assistant according
Prior art date
Application number
PCT/EP2006/061828
Other languages
German (de)
English (en)
Inventor
Karsten Haug
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2006122867A1 publication Critical patent/WO2006122867A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the invention relates to a lane change assistant for motor vehicles, with a monitoring device for monitoring traffic upstream and in the back of the own vehicle and a decision device for deciding whether a safe lane change is possible.
  • the driver receives a decision support for a forward-looking, timely change to the fast lane. It is not waited until the driver indicates an overtaking intent or until the
  • the solution according to claim 3, which can be suitably combined with the solution according to claim 1, concerns the reverse case that the driver is already on the fast lane is located.
  • the driver is proposed to change to the slower lane, in right-hand drive countries, when the lane is clear, especially when approaching a faster vehicle in the fast lane from behind.
  • radar sensors can be used, as they are already in use in Adaptive Cruise Control (ACC) systems.
  • ACC Adaptive Cruise Control
  • angle-resolving radar sensors are used, which allow a correct assignment of the located vehicles to the various lanes of the road.
  • video systems which then also make possible various developments of the system, for example an automatic detection of lane boundaries and a lane departure warning or an automatic lane keeping function (LKS, Lane Keeping System) and, if appropriate, automatic recognition and evaluation of traffic signs.
  • LLS Lane Keeping System
  • the output of the lane change recommendation is preferably carried out with a
  • Signaling device which can assume different states, so that the conditions for the lane change can be specified in more detail. It is expedient to have a visual indication of the lane change recommendation, for example in the form of an arrow, which points to the left or to the right depending on the direction of the recommended lane change. By different colors of the arrow can be specified whether a safe
  • Lane change is possible or not.
  • a lane change recommendation could be symbolized by a green arrow, while a red arrow indicates that a lane change should be omitted because a subsequent vehicle is in the blind spot or approaching so quickly that a hazard or at least a significant hindrance would occur , If the driver still to one
  • Lane change makes, for example, by setting the turn signal or by engaging in the steering, an audible warning can be issued in addition.
  • Urgency of recommendation to be symbolized can be increased as the time window for the safe lane change is shortened.
  • a color change for example to yellow, can be symbolized that a safe lane change is only possible if at the same time the own vehicle is accelerated.
  • a combination of the lane change assistant with an ACC system is particularly useful. If the driver reacts to a lane change recommendation, for example by setting the turn signal, the ACC system then intervenes in the longitudinal guidance of the vehicle in such a way that the vehicle optimally threads itself into the traffic on the secondary lane. In combination with a LKS system can then in another
  • Completion stage also a fully automatic implementation of the lane change operation can be implemented, including setting the turn signal.
  • Figure 1 is a block diagram of a lane change assistant according to the invention.
  • Figures 2 to 8 sketches to explain the behavior of the lane change assistant in different traffic situations.
  • the lane change assistant shown in FIG. 1 comprises a monitoring device 10 for monitoring the traffic environment, a decision device 12 for deciding whether a safe lane change is possible, and a recommendation device 14 for outputting a lane change recommendation via a display 16.
  • a further output of the recommendation device 14 is provided with a automatic vehicle longitudinal guidance system 18 (ACC).
  • ACC automatic vehicle longitudinal guidance system 18
  • the monitoring device 10 monitors the traffic ahead of the vehicle with the aid of an angle-resolving radar sensor 20 installed in the front of the vehicle.
  • an angle-resolving radar sensor 20 installed in the front of the vehicle.
  • two further, preferably also angle-resolving, radar sensors 22 are provided. These are preferably installed in the vehicle, in particular, the traffic on the left and right
  • the locating ranges of the two radar sensors 22 should also jointly cover their own lane, so that even vehicles can be located that approach on their own lane.
  • the monitoring device 10 is determined based on the location data of the radar sensors 20, 22, the lane, the located vehicles are each, and the distances and relative speeds of these vehicles are measured periodically and tracked, so that one obtains a largely complete picture of the current traffic situation.
  • the decision device 12 is then decided in particular on the basis of the data of the radar sensors 22, whether a safe lane change to the right or left secondary lane is possible or not. For example, this is calculated for each located in the rear space on the secondary lane vehicle, how much this vehicle would have to delay, so that in the event of a lane change of the own vehicle, a collision is avoided or a reasonable safety margin can be met. If the calculated vehicle deceleration is above a certain amount Threshold, it is decided that a safe lane change is not possible, and this is displayed on the display 16.
  • the current sense of traffic can be set on the system or, if necessary, automatically determined with the aid of a navigation system.
  • the decision device 12 If the decision device 12 has determined that a change to the left secondary lane (fast lane) is possible, it is checked in the recommendation device 14 on the basis of the location data of the radar sensor 20 whether a lane change recommendation is to be output. This will be the case, for example, when a slower preceding vehicle is on its own lane while the fast lane is clear and, in addition, when it is foreseeable that the distance between the vehicle in front and the vehicle will continue at the same speed without changing lanes within a predetermined period of time x would decrease below the (speed-dependent) minimum distance required for safety reasons.
  • the period of time x can be set by the driver and / or varied automatically depending on the number of lanes and / or the traffic density.
  • the monitoring device 10 is based exclusively on radar sensors and not additionally on video sensors, it can be determined by statistical evaluation of the location data of the radar sensors (as can also take place for Kursoniadiktion), how many lanes are present and on which lane your own vehicle is located. Of course, a recommendation for a change to the left side lane will only be issued if the vehicle is not already on the leftmost lane.
  • the recommendation device 14 checks on the basis of the location data of the radar sensor 20, if the right secondary lane is free and a long-term driving at target speed allowed (or at least with a speed not less than the current lane), and they are then via the display 16 a recommendation for a lane change to the right.
  • the monitoring device 10, the decision device 12 and the recommendation device 14 as well as the longitudinal guidance system 18 are formed in practice by an electronic data processing system with one or more microcomputers and suitable software.
  • the longitudinal guide system 18 can also directly in the context of the distance control on the data of
  • FIGS. 2 to 8 illustrate examples of the system behavior of the lane change assistant described above.
  • a sketch of a traffic situation is shown in the left-hand part of the figure, and the corresponding display image on the display 16 is shown in the right-hand part.
  • a vehicle 26 equipped with the lane change assistant travels on the far right lane 28 of a three lane roadway 30. Further ahead, on the lane 28, a slower vehicle 32 just leaves a vehicle 34 is overtaken on the middle lane 36 (fast lane). From behind, a faster vehicle 38 is approaching in the fast lane. The speed vectors of the vehicles are shown as arrows.
  • Vehicle distances are shown shortened in relation to the real situation.
  • the recommendation device 14 calculates how long it would take at unchanged speeds to reach the desired distance.
  • the recommendation device 14 checks on the basis of the data of the decision device 12 whether a lane change to the left secondary lane, that is the middle lane 36, is possible.
  • the distance between the vehicles 26 and 38 is so large and the speed difference between these vehicles is so small that the driver of the vehicle 38 needed only slightly delay to maintain the safety distance to the own vehicle 26. Thus, a safe lane change is possible. Accordingly, by the recommendation device 14 a
  • the recommendation device 14 Before issuing this lane change recommendation, the recommendation device 14 also checks the distance and the relative speed of the vehicle 34. If this vehicle 34 were slower than the vehicle 32, or if the distance to the vehicle 34 were already very small, the lane change recommendation would be omitted.
  • Time window for the lane change shortened. This is indicated on the display 16 indicated that the arrow 40 is flashing. The smaller the time window, the higher the
  • the time period x should preferably be selected such that the first output of the lane change request takes place before the distance control has begun.
  • Figure 5 shows another situation in which the vehicle 38 has a much higher speed. A lane change of the vehicle 26 would therefore lead to a significant obstruction or even a risk to the driver of the vehicle 38. This is symbolized on the display 16 by a crossed-out red arrow 42. The same symbol would also appear if the vehicle 38 was slower but was already approximately level with the vehicle 26. Conveniently, the movement of the vehicle 38 through the
  • Range radar or video system are used.
  • the decision device 12 checks on the basis of the location data for the vehicle 44, whether a lane change to the right secondary lane 28 'is safely possible. This condition is fulfilled here. If the right lane were free, the recommendation device 14 would immediately output a lane change recommendation to the right, symbolized on the display 16 by a green arrow 46 pointing to the right.
  • the recommendation device 14 additionally checks whether the spatial or temporal distance between the vehicles 26 and 32 is large enough. For example, it checks if the
  • Time gap between these vehicles is above a certain threshold.
  • the recommender 14 sets up the following calculations: First, it is calculated how much the vehicle 38 would have to decelerate if the own vehicle 26 remained in the fast lane. Furthermore, it is calculated on the basis of the distance and the relative speed of the vehicle 38, how long the overtaking of the vehicle 38 would take, if the own vehicle 26 would allow by a lane change to the right this overtaking. On the basis of the duration thus calculated, it is then calculated how much the own vehicle 26 would have to be decelerated so as not to drive too close to the vehicle 32.
  • the lane change recommendation is output only when there is a predetermined relationship between the thus calculated delays for the vehicles 38 and 26, for example, when the vehicle 38 should be decelerated more than the vehicle 26.
  • a signal for example in the form of a yellow flashing light, may also be displayed on the display 16, prompting the driver to temporarily increase the speed.
  • Lane change recommendation to the right is then issued as soon as the vehicle 32 has been overhauled.
  • FIG. 7 illustrates the situation in which the own vehicle 26 is just overtaking the vehicle 32 but has not yet completed the passing operation while the driver of the vehicle 38 is "urging". On the display 16 is then indicated by a crossed out, pointing to the right red arrow 48 that a lane change to the right is not yet possible.
  • FIG. 8 illustrates one possible embodiment in view of the frequently encountered situation that the traffic jams in the fast lane, so that the speed of the own vehicle 26 and a preceding vehicle 50 in the fast lane is barely greater than the speed of the vehicle 32 on the vehicle right lane.
  • the driver of the vehicle 38 is approaching at high speed in the right lane and is apparently about to overtake on the right and then push into the safety distance between the vehicles 26 and 50.
  • a lane change recommendation can be issued to the right, as long as that
  • Time window is still big enough.
  • a further criterion can be checked in this context, whether in the fast lane behind the own vehicle 26 still a another vehicle is located (not shown). If the distance of such a vehicle is small and / or the relative speed is high, the lane change request should be omitted.

Abstract

La présente invention concerne un dispositif d'assistance au changement de voie destiné à des véhicules automobiles, comprenant un dispositif de surveillance qui sert à surveiller le trafic à l'avant et à l'arrière du véhicule (26) auquel il appartient, et un dispositif de prise de décision qui sert à décider si un changement de voie peut s'effectuer sans danger. Le dispositif de l'invention se caractérise par un dispositif de recommandation (16) qui est conçu pour calculer à l'avance l'évolution dans le temps des espacements entre les véhicules, et produire une recommandation (40) concernant un changement de voie lorsque ce changement de voie peut se faire sans danger et lorsque la distance par rapport à un véhicule qui circule en amont (32) sur la même voie (28) va devenir inférieur à une espacement minimal prédéterminé pendant un intervalle de temps prédéterminé.
PCT/EP2006/061828 2005-05-19 2006-04-26 Dispositif d'assistance au changement de voie pour vehicules automobiles WO2006122867A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005023185A DE102005023185A1 (de) 2005-05-19 2005-05-19 Spurwechselassistent für Kraftfahrzeuge
DE102005023185.3 2005-05-19

Publications (1)

Publication Number Publication Date
WO2006122867A1 true WO2006122867A1 (fr) 2006-11-23

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WO (1) WO2006122867A1 (fr)

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