WO2008080681A1 - Procédé et dispositif de commande d'un système d'assistance au conducteur - Google Patents

Procédé et dispositif de commande d'un système d'assistance au conducteur Download PDF

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Publication number
WO2008080681A1
WO2008080681A1 PCT/EP2007/062212 EP2007062212W WO2008080681A1 WO 2008080681 A1 WO2008080681 A1 WO 2008080681A1 EP 2007062212 W EP2007062212 W EP 2007062212W WO 2008080681 A1 WO2008080681 A1 WO 2008080681A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane
function module
lanes
traffic
lca
Prior art date
Application number
PCT/EP2007/062212
Other languages
German (de)
English (en)
Inventor
Thomas App
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 WO2008080681A1 publication Critical patent/WO2008080681A1/fr

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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
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values

Definitions

  • the invention relates to a method for controlling a driver assistance system according to the preamble of claim 1.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the function module LDW lane departure warning
  • the function module LCA lane change assistant
  • 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.
  • 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.
  • 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
  • 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
  • Figure 8 is a plan view of a traffic area, each with a single-lane
  • 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.
  • 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
  • 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.
  • the function modules LDW 3 and LCA 2 are connected to a function module coordination 4.
  • 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
  • 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.
  • 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
  • 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.
  • a function module LKS 5 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.
  • 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.
  • step 23 a transition to step 23 takes place via step 21.2.
  • the function module LDW 3 and the function module LKS 5 activated.
  • 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.
  • 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).
  • step 24.2 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 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.
  • 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
  • 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.
  • FIG. 4 and FIG. 5 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.
  • 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.
  • the vehicle 100 changes its direction of travel in the direction of the arrow 46, for example, in front of it
  • 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.
  • 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.
  • a vehicle 100 moves on the lane 72.
  • 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.
  • LLS lane departure warning

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de commande d'un système (1) d'assistance au conducteur comprenant un avertisseur (3) de sortie de voie, un assistant (6) de maintien sur la voie et un assistant (2) de changement de voie. Si un changement de sens de déplacement est détecté sans qu'il y ait eu un actionnement préalable de l'indicateur de sens de déplacement, la présence et le nombre de voies de circulation voisines dans un espace de circulation sont détectés et l'assistant de changement de voie est activé si la présence de plusieurs voies de circulation praticables est constatée.
PCT/EP2007/062212 2007-01-04 2007-11-12 Procédé et dispositif de commande d'un système d'assistance au conducteur WO2008080681A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007001117.4 2007-01-04
DE102007001117A DE102007001117A1 (de) 2007-01-04 2007-01-04 Verfahren für die Steuerung eines Fahrerassistenzsystems

Publications (1)

Publication Number Publication Date
WO2008080681A1 true WO2008080681A1 (fr) 2008-07-10

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Application Number Title Priority Date Filing Date
PCT/EP2007/062212 WO2008080681A1 (fr) 2007-01-04 2007-11-12 Procédé et dispositif de commande d'un système d'assistance au conducteur

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WO (1) WO2008080681A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007041727B4 (de) * 2007-09-04 2021-09-23 Adc Automotive Distance Control Systems Gmbh Verfahren zur Spurzahlbestimmung
DE102008051700A1 (de) 2008-10-15 2010-04-22 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenzsystem
JP5407952B2 (ja) * 2009-06-18 2014-02-05 日産自動車株式会社 車両運転支援装置及び車両運転支援方法
DE102010052128A1 (de) * 2010-11-22 2012-05-24 GM Global Technology Operations LLC Verfahren zum Betreiben eines Kraftfahrzeugs und Kraftfahrzeug
DE102012023563A1 (de) * 2012-12-01 2014-06-05 Man Truck & Bus Ag Fahrerassistenzsystem zur Unterstützung eines Fahrzeugführers beim Betrieb eines Fahrzeugs, insbesondere eines Kraft- und/oder Nutzfahrzeugs

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003080390A1 (fr) * 2002-03-22 2003-10-02 Audi Ag Véhicule équipé d'un système d'assistance pour changer de voie
DE10205225A1 (de) * 2002-02-08 2003-11-20 Bayerische Motoren Werke Ag ACC-Spurwechselmodus
DE102005004511A1 (de) * 2005-01-31 2006-08-10 Daimlerchrysler Ag Verfahren zur Spurverlasswarnung bei Überholvorgängen
EP1726513A1 (fr) * 2005-05-02 2006-11-29 Iveco S.p.A. Système d'assistance au conducteur pour aider à la tenue de route, pour l'assistance au changement de voie, et surveillance de l'état du conducteur dans un véhicule

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10205225A1 (de) * 2002-02-08 2003-11-20 Bayerische Motoren Werke Ag ACC-Spurwechselmodus
WO2003080390A1 (fr) * 2002-03-22 2003-10-02 Audi Ag Véhicule équipé d'un système d'assistance pour changer de voie
DE102005004511A1 (de) * 2005-01-31 2006-08-10 Daimlerchrysler Ag Verfahren zur Spurverlasswarnung bei Überholvorgängen
EP1726513A1 (fr) * 2005-05-02 2006-11-29 Iveco S.p.A. Système d'assistance au conducteur pour aider à la tenue de route, pour l'assistance au changement de voie, et surveillance de l'état du conducteur dans un véhicule

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