WO2008080681A1

WO2008080681A1 - Method and device for controlling a driver assistance system

Info

Publication number: WO2008080681A1
Application number: PCT/EP2007/062212
Authority: WO
Inventors: Thomas App
Original assignee: Robert Bosch Gmbh
Priority date: 2007-01-04
Filing date: 2007-11-12
Publication date: 2008-07-10
Also published as: DE102007001117A1

Abstract

The invention relates to a method for controlling a driver assistance system 1 having a lane departure warning device (3), a lane keeping assistant (6) and a lane changing assistant (2). When a change in the direction of travel is sensed without previous activation of the direction of travel indicator, the presence and the number of adjacent lanes in a traffic space are sensed, and when a plurality of lanes which can be travelled are detected the lane changing assistant is actuated.

Description

description

title

METHOD AND DEVICE FOR CONTROLLING A DRIVER ASSISTANCE SYSTEM

State of the art

The invention relates to a method for controlling a driver assistance system according to the preamble of claim 1. There are already known driver assistance systems with the ACC (Adaptive Cruise Control) assistance function, which assist the driver of a vehicle in maintaining the distance to vehicles in front. For this purpose, the driver assistance system comprises surroundings-encompassing sensors, such as in particular radar and / or lidar sensors, which are capable of detecting the distance and / or the speed of an object in the surroundings of the vehicle. Furthermore, driver assistance systems are known which assist the driver support the maintenance of a selected traffic lane. The driver assistance system includes assistance functions such as LDW (Lane Departure Warning) and LKS (Lane Keeping Support). The assistance function LDW warns the driver against leaving the lane by generating optical and / or acoustic and / or haptic signals. The assistance function LKS actively intervenes in on-board systems of the vehicle, such as the steering system, and / or the braking system or an ESP system in order to keep a vehicle deviating from the lane in the lane. For this purpose, the driver assistance system comprises a sensor system, in particular comprising at least one video sensor, for detecting lane markings or the like. A driver assistance system with the assistance function LCA (Lane Change Aid), which supports the driver when changing lanes, is also under development. In this case, the rearward area of the vehicle surroundings, in particular the destination lane, to which the driver would like to change during a lane change, is monitored by a rearwardly-looking sensor, in particular a radar sensor. As a result, a lane change should only be possible with a free adjacent lane. The lane change intent of the Driver should usually be recognized by an operation of the turn signal. Should the driver initiate a lane change without actuating the turn signal, however, a lane change intention can not be readily recognized in conventional driver assistance systems.

Disclosure of the invention

Technical task

The invention has for its object to improve a driver assistance system of the generic type such that a lane change can be carried out safely even if the driver does not explicitly announce the lane change by pressing the turn signal.

Technical solution

This object is achieved by a method for controlling a driver assistance system with a lane departure warning, a lane departure warning and a lane change assistant by detecting the presence and the number of adjacent lanes in a traffic space (30, 40, 60) upon detection of a direction change without prior actuation of the direction indicator. be detected, and that on detection of several passable lanes of the lane change assistant is activated. Data about the type of road from a navigation system are particularly advantageously taken into account when detecting the traffic lanes, since this can improve the probability of detection of passable traffic lanes. Advantageously, the lane change assistant is deactivated in the event of non-detection of passable adjacent lanes, and the lane departure warning system and, if applicable, the lane departure warning system are activated so as to prevent as far as possible an unintentional or impermissible change of the traffic lane. Advantageously, the trafficability of adjacent lanes is detected on the basis of lane markings and / or traffic signs and / or the direction of travel of objects in the traffic area.

Advantageous effects The invention enables a further improvement of the ride comfort in a vehicle equipped with a driver assistance system, since the fault tolerance against operating errors of the vehicle is increased, without having to compromise on safety considerations. Thus, a traffic-safe lane change is made possible by the invention, even if the driver fails to initiate an intended lane change by pressing the turn signal. Without the solution according to the invention, the function module LDW (lane departure warning) would constantly provide a warning signal if the driver initiates a lane change without setting the turn signal since the driver's request is not completely detected. In addition, a function module LCA (lane change assistant) could not completely and reliably detect an intended lane change and malfunctioning could occur. By taking into account the output signals of the video sensor of a function module LDW can be determined whether, apart from the own lane, even more principally passable lanes, especially lying left and right of their own lane

Lanes, are present. In this case, a lane change could in principle come into question, so that a lane change assistance function can be activated in order to allow the driver a safe change of the lane. If there are no adjacent lanes, the lane change assistant remains deactivated and the lane departure warning system warns the driver when they are about to leave their own lane. Further advantages will become apparent from the description, the drawings and the dependent claims. Increasing ride comfort results in greater driver benefit. This also increases the acceptance of the driver assistance system. Further advantages emerge from the subclaims and the description.

Brief description of the drawings

Embodiments of the invention are explained below with reference to the drawing. Showing:

FIG. 1 shows a block diagram of a driver assistance system;

Figure 2 is a flowchart; Figure 3 is a plan view of a traffic area with a multi-lane

Carriageway;

FIG. 4 is a plan view of a traffic area with a single-lane directional lane;

Figure 5 is a plan view of a traffic area with a single-lane directional roadway;

Figure 6 is a plan view of a traffic area with a multi-lane

Carriageway;

Figur7 a plan view of a traffic area with a multi-lane

Carriageway;

Figure 8 is a plan view of a traffic area, each with a single-lane

Carriageway.

Embodiments of the invention

Embodiments of the invention are explained in more detail below with reference to the drawing. FIG. 1 shows a block diagram of a driver assistance system 1. FIG. 2 shows a flow chart. FIG. 3, FIG. 4, FIG. 5, FIG. 6, FIG. 7 and FIG. 8 each show a plan view of a traffic area to illustrate different traffic situations that can be mastered with the invention. Thus, FIG. 3 shows the travel of a vehicle 100 on a two-lane directional lane, that is to say on a freeway or motorway. Figure 4, Figure 5 and Figure 8 show the journey of a vehicle 100 on a federal or country road, each with a directional roadway. FIG. 6 illustrates a lane change of a vehicle 100 to that of another vehicle

101 driven destination lane. FIG. 7 shows the travel of a vehicle 100 on a lane comprising 3 direction lanes.

The driver assistance system 1 shown in FIG. 1 comprises a function module LDW 3 (Lane Departure Warning), a function module LCA 2 (Lane Change Aid). and a functional module LKS 5. The functional module LDW 3 is connected to at least one video sensor 3.1. The functional module LCA 2 is connected to at least one radar sensor 2.1. By way of example only at least one video sensor and at least one radar sensor are mentioned here. Alternatively and / or additionally, other sensor types, such as lidar sensors and ultrasonic sensors, may also be provided. On the output side, the function modules LDW 3 and LCA 2 are connected to a function module coordination 4. With the aid of the at least one video sensor 3.1, the functional module LDW 3 of the driver assistance system 1 detects lane markings of the lane or lanes in front of the vehicle, in particular the vehicle

Course of own lane to detect. With the aid of the at least one radar sensor 2.1, the function module LCA 2 preferably monitors the areas behind the own vehicle or laterally behind the own vehicle areas of the traffic area, in this way to detect objects in the traffic area, especially other vehicles approaching their own vehicle. The function module coordination 4 couples the function modules LCA 2 and LDW 3 and controls them as a function of functional sequences, which are explained below with reference to the flowchart shown in FIG. In step 20, it is checked whether the driver of the vehicle has operated the turn signal or not. In addition, by means of a steering angle sensor, not shown, the respective steering angle can be detected. In this way, the switching position of the turn signal can be made plausible. If the driver has set the turn signal, this is judged by the driver assistance system 1 as the driver's decision to be respected. Via step 20.1, a branch is made to step 25, in which the function module LCA 2 is activated in order to alert the driver to the upcoming one

To support lane change. The lane change into the target lane aimed at by the driver is permitted if the driver assistance system determines with the aid of the function module LCA 2 that the target lane desired by the driver is free of objects or obstacles, in particular an approaching vehicle. If an obstacle is detected, at least one warning signal can be output via the function module LDW 3. In this case, an optical and / or acoustic and / or haptic warning signal or any combinations of these warning signals are possible. Furthermore, it is possible, via a function module LKS 5, to intervene in onboard systems of the vehicle, such as, for example, the steering system, the brake system or an ESP system, in order to at least temporarily to prevent a lane change, as long as there is a risk. If the driver has not operated the turn signal, is transferred via step 20.2 to step 21. In step 21, by evaluating the data of the video sensor 3.1, checks whether in the traffic area, apart from the own lane, even more passable lanes are available. Trafficable within the meaning of the present invention relates not only to the presence of adjacent lanes, but also to the admissibility or possibility to reach and drive an adjacent lane by means of a lane change. An adjacent traffic lane, however, which is separated from its own traffic lane by an uninterrupted lane marking, would therefore not be passable in the present sense, since a lane change on this traffic lane is inadmissible. Advantageously, further, for example, based on the data of a navigation system 6 or by observation and analysis of the traffic flow, to determine what type of road (highway, highway) it is and whether with oncoming traffic on an adjacent lane, especially on the desired destination track, can be expected got to. If no passable neighboring lanes are present, for example when driving on a federal or country road, as shown in FIG. 4 and FIG. 5, a transition to step 23 takes place via step 21.2. In step 23, the function module LDW 3 and the function module LKS 5 activated. Via step 23.1, a transition is made to step 24. In step 24, it is checked whether the vehicle threatens to leave its own lane in the direction of a non-existent lane or in the direction of a non-permissible lane. If this is not the case, can be transferred via step 24.2 to step 25. If it is threatening to leave its own lane, step 24.1 leads to this

Step 26 in which the functional module LDW 3 provides at least one warning signal in order to warn the driver before leaving his own lane. If necessary, it is possible to proceed to step 27 in order to prevent at least temporarily leaving the driver's own lane by means of the function module LKS 5. In the following, the description will continue with an illustration of the alternative, not yet described, of step 21. If it is determined in step 21 that there are a plurality of lanes, a branch is made to step 21.1. In step 21.1, the number of lanes present in the traffic space is detected. If at least two navigable neighboring lanes are detected, which, for example, are left and right of one's own Lane lie (Figure 7), then the function module LCA 2 is activated (via step 22.1 to step 25) and the function module LDW 3 is deactivated. If, on the other hand, only a single drivable adjacent lane is present (FIG. 3), then first the function module LDW 3 is activated (via step 22.2 to step 23) and it is checked whether the vehicle 100 leaves the traffic lane in the direction of a non-existent traffic lane. If this is the case, as shown in FIG. 3, at least one warning signal is again generated (steps 23.1, 24, 26 in FIG. 2). However, if, alternatively, a lane change in the direction of an existing lane is indicated (ie a change from the lane 32 in the direction of the lane 31 in FIG. 3), then branching is made via step 24.2 to step 25 and the lane change assisting function module LCA activated. Data from a navigation system 6 (FIG. 1) can also be used to particular advantage when detecting adjacent and trafficable lanes, if such a system is present in the vehicle. In this way, by plausibility, even greater security in the detection of the road type and the number of existing lanes can be achieved. The traffic signs detected by sensors of the driver assistance system 1 and / or lane markings and / or the direction of movement of objects in the traffic area are advantageously used for the trafficability of detected lanes.

In the following, the exemplary embodiments illustrated in FIG. 3, FIG. 4, FIG. 5, FIG. 6, FIG. 7 and FIG. 8 will be explained in more detail. FIG. 3 shows a traffic space 30 with two lanes 31 and 32 bordered by lane markings 30A, 30B, 30C. On the lanes 31, 32 is a parallel one

Traffic in the directions 33, 34 possible. On the lane 32, a vehicle 100 moves in the direction of travel 34. If the vehicle 100 makes a change of direction in the direction of the arrow 36 without prior operation of the direction indicator, the lane change assistant (function module LCA 2) is deactivated because the driver assistance system 1 the non-passable lane marking 3OC in the form of an unbroken line. If the direction change, however, in the direction of arrow 35, the function module LCA 2 can support a permissible lane change in the adjacent lane 31. The permissibility of a lane change from the lane 32 to the destination lane 31 is determined by the driver assistance system 1 at the interrupted driving lane. track mark 3OB detected. Of course, vehicles still need to be considered by the driver assistance system 1, which move on the lane 31 in the direction of travel 33.

The scenes shown in FIG. 4 and FIG. 5 in a traffic area 40 are typical for a traffic situation on a federal highway or highway with one lane 41, 42 for each direction of travel 43, 44. Lanes 41, 42 are of lane markings 4OA, 4OB, 4OC limited. In FIG. 4 and FIG. 5, a vehicle 100 moves in the direction of travel 43 and a vehicle 102 in the direction of travel 44. When the vehicle 100 changes direction in the direction of the vehicle

Arrow 45 (Figure 4) of the lane change assistant (function module LCA 2) is disabled because a lane change in this direction is inadmissible or impossible. This recognizes the driver assistance system 1 at the uninterrupted lane marking 4OA. On the other hand, as shown in FIG. 5, the vehicle 100 changes its direction of travel in the direction of the arrow 46, for example, in front of it

To overtake vehicle 104, then at least a temporary lane change is possible in principle, since in the lane 42 a passable target lane is present. It is permissible to drive over the interrupted lane marking 4OB. The driver assistance system 1 only has to consider the oncoming traffic, here represented by the vehicle 102.

FIG. 6 is similar to the traffic situation already shown in FIG. The traffic space 60 shown in FIG. 6 in turn comprises two lanes 61, 62 limited by lane markings 6OA, 6OB, 6OC, which permit vehicle traffic in the same directions of travel 64, 65. On the lane 61, a vehicle 100 moves; on the lane 62, a vehicle 101. The change in direction of the vehicle 100 in the direction of arrow 63 and a lane change to the adjacent lane 62 is, in principle lent possible, taking into account the traffic present on the adjacent lane, here in particular of the vehicle 101. The function module LCA 2 is therefore active and can support a lane change of the vehicle 100 from the lane 61 into the destination lane 62 initiated without actuation of the direction indicator.

In the situation illustrated in FIG. 7, the traffic space 70 comprises a traffic lane with a total of three lanes 71, 72, 73, which constitute a vehicle lane. turn in the direction of travel 78. The lanes 71, 72, 73 are bounded by lane markers 74A, 74B, 74C, 74D. On the lane 72, a vehicle 100 moves. Based on the traffic sign 75 recognizes the driver assistance system 1 that the traffic space 70 comprises a total of three lanes, namely intended mainly to accommodate the vehicle traffic

Lanes 72, 73, as well as a passable edge lane 75. Due to the detected by the driver assistance system 1, formed as a broken line lane markers 74B.74C, the driver assistance system 1 can deduce that a lane change between the lanes 72 and 71 on the one hand or between see the lanes 72 and 73 on the other hand in principle is possible because of the

Lane 72 adjacent lanes 71 and 73 are considered passable lanes within the meaning of the invention. Therefore, if the direction of travel of the vehicle 100 changes in the direction of the arrows 76 or 77 without prior operation of the direction indicator, the function module LCA 2 is active and can assist the driver of the vehicle in a lane change.

FIG. 8 shows a traffic space 80 with two lanes 81, 82 delimited by lane markings 8OA, 8OB, 8OC. A lane change of the vehicle 103 moving on the lane 81 in the direction of the arrow 85 is not permissible, since there is no lane 81 except the own lane 81 passable lane is available. The lanes 81, 82 are separated from each other by an uninterrupted lane marking 8OB, which must not be run over by the vehicle 103.

The described method is also used in a system without lane departure warning (LKS) application.

Claims

claims

1. A method for controlling a driver assistance system (1) with a lane departure warning (function module LDW 3) and a lane change assistant (function module LCA 2), characterized in that when detecting a change of direction without prior actuation of the direction indicator, the presence and the number of adjacent lanes in a traffic space (30, 40, 60, 70, 80) are detected and that upon detection of several passable lanes of the lane change assistant (function module LCA 2) is activated.

2. The method according to claim 1, characterized in that in the detection of the lanes data about the type of road or lanes from a navigation system (6) are taken into account.

3. The method according to any one of the preceding claims, characterized in that when not detecting drivable adjacent lanes of the lane change assistant (function module LCA 2) is disabled, and the lane departure warning (function module LDW 3) and possibly the lane departure warning (function module LKS 5) are activated.

4. The method according to any one of the preceding claims, characterized in that the trafficability of adjacent lanes on the basis of lane markings, and / or traffic signs and / or the direction of travel of objects in the traffic area is detected.

5. The method according to any one of the preceding claims, characterized in that when changing the direction of the vehicle in the direction of a non-traversable lane marking of the lane change assistant (function module LCA 2) is deactivated.

6. The method according to any one of the preceding claims, characterized in that in oncoming traffic on an adjacent passable lane of the lane change assistant (function module LCA 2) is at least temporarily deactivated.

7. A device for controlling a driver assistance system, with a lane departure warning (function module LDW 3) and a lane change assistant (function module LCA 2), characterized in that when detecting a change in direction without prior actuation of the direction indicator the presence and the number of adjacent lanes in a traffic space (30, 40, 60, 70, 80) are detected and that upon detection of several passable lanes of the lane change assistant (function module LCA 2) is activated.