WO2011003658A1

WO2011003658A1 - Device for assisting a lane change maneuver of motor vehicles

Info

Publication number: WO2011003658A1
Application number: PCT/EP2010/056854
Authority: WO
Inventors: Joerg Moennich; Gunther Schaaf; Matthias Haug
Original assignee: Robert Bosch Gmbh
Priority date: 2009-07-08
Filing date: 2010-05-19
Publication date: 2011-01-13
Also published as: DE102009027535A1

Abstract

The invention relates to a device for assisting a maneuver of directing a motor vehicle into a gap, in particular when switching to a lane between two vehicles, wherein means are provided for determining a position of the vehicle in relation to the infrastructure surrounding the vehicle. According to the invention, a control unit is provided for receiving data from at least one other vehicle and/or from a transmitter located within the infrastructure surrounding the vehicle, the control unit being designed for calculating a lane change maneuver on the basis of the received data information on the gap.

Description

5 description

title

Device for supporting a Einschervorqanqs in vehicles

0

State of the art

The invention relates to a device for supporting a Einschervorgangs in vehicles in a gap according to the preamble of patent claim 1.

5

The shearing of vehicles, for example, in a lane change or overtaking process requires the driver's highest concentration in order to avoid a collision with an object, such as a foreign vehicle. Often it is perceived by the driver as difficult or uncomfortable, a slowly driving ahead

! 0 overtake the vehicle and retighten it in front of this vehicle. For example, the driver has to decide whether there is sufficient space for the vehicle to be scrapped after passing the overtaking operation in the preceding traffic. In addition, the driver is asked to scrape in the gap in as short a time as possible on multi-lane roads

15 not to hinder the subsequent traffic or on multi-lane roads the

Clear the counter lane quickly.

Devices are known, the driver of a vehicle in a lane change, for example, for threading, retracting or retracting from a> 0 highway or for overtaking a slow moving vehicle on a

Highway support. Such devices partially relieve a driver of the necessary monitoring and decision-making measures.

To detect the environment for a Einschervorgang a vehicle> 5 extensive sensors is required. Nevertheless, it can cause problems that

Environment and third-party vehicles to detect sufficient.

For this reason, the present invention has the task of a To provide device for assisting a Einschervorgangs on vehicles, in which the detection of particular third-party vehicles is improved.

The object is solved by the features of claim 1.

5

Advantageous extensions of the invention are described in the dependent claims.

0 Disclosure of the invention

The invention relates to a device for supporting a Einschervorgangs in vehicles in a gap, in particular when classifying between two vehicles, wherein means for determining the position of the vehicle with respect to the 5 surrounding the vehicle infrastructure are given.

The gist of the invention is that a control unit is provided for receiving data from at least one other vehicle and / or transmitter from the infrastructure surrounding the vehicle, and that the control unit is designed for this on the basis of the received data over a

Gap for a Einschervorgang to calculate.

The term "surrounding infrastructure" is preferably used in the

subsequent roads, buildings and technical facilities for a traffic control system, such as a traffic signal or video camera

Understood.

For example, a communication device for a known C2C (Car-to-Car) -> 0 communication can be used for receiving data for a vehicle from at least one other vehicle, by means of which, for example, vehicle-specific data,

Data from detected third-party vehicles and / or foreign data between two vehicles can be transmitted wirelessly.

In addition, for example, data from the infrastructure, for example,> 5 image data from a video camera or contact or induction loops using

Communication device to be sent directly to a vehicle.

This data transmission from the infrastructure is also known as C2I (Car-to-Infrastructure) communication. Advantage of the device according to the invention is that the reception of data from

Third party vehicles and / or infrastructure from the required information for determining the position of a gap for a Einschervorgang a vehicle

5 continuously updated and, if necessary, more exact

Derive values for a Einschervorgang than by EGO sensors, i.

Measured values provided by your own vehicle.

In the following, for a Einschervorgang to be supported vehicle as "EGO vehicle" and the other participating in traffic vehicles as

0 "other vehicles".

In a preferred embodiment of the invention, it is provided that the control unit is designed to receive data via a gap for a Einschervorgang in flowing traffic and evaluate. This can be a driver of a

5 EGO vehicle in a lane change in flowing traffic or at a

Overtaking be supported. This reduces the risk of collisions with foreign vehicles participating in flowing traffic. The evaluation of received data is preferably realized in such a way that the driver receives real-time information about the flowing traffic and / or a vacancy gap

! 0 can be communicated.

In a preferred embodiment of this invention is provided that the control unit is designed to determine the size of a gap between two vehicles. The size of a gap between two vehicles, for example in the

15 flowing traffic can be transmitted through the collection and evaluation of

Position data of the corresponding foreign vehicles are determined. The position data may be determined, for example, from satellite positioning systems such as GPS (Global Positioning System) of the foreign vehicles. Furthermore, the determination of the speed of foreign vehicles on the

> 0 direct data reception in C2C (Car-to-Car) communication or by

Evaluation of the transmitted position data possible. Even a direct data reception of necessary position and / or speed data from the infrastructure, for example from a video camera is feasible. Thus, the driver of the EGO vehicle can signal only sufficiently large gaps to Einscher

> 5 with a definable safety margin between the EGO

Vehicle and the foreign vehicles allow a collision-free shearing.

Preferably, the invention provides in a further embodiment that the Control unit is designed to determine a gap for the Einschervorgang on-board data. The EGO vehicle can by means of a sensor arranged on the vehicle, such as video, radar and / or Lidar sensors a distance measurement to other vehicles and / or a

5 Perform the speed measurement and transfer the acquired data to the control unit for

Forward size calculation of a gap. This has the advantage that additional data is available in addition to the C2C or C2I communications. This increases the security of the system. For example, the in-vehicle data may be used for an internal review of the gap identified by the controller

0 are used to avoid a dangerous vehicle situation in case of miscalculations.

Vehicles that do not have this communication technology (C2C / C2I) can also be determined.

5 Moreover, it is provided in a further embodiment of the invention that the

Control unit is designed to determine a gap for the Einschervorgang such a way to use on-board data in combination with received foreign data. The control unit does not only use data that is captured by the vehicle's own sensors - they are also included

! 0 additional foreign data, such as navigation data on a

Satellite positioning system, such as GPS (Global Positioning System) combined. This has the advantage that the control unit for calculating a gap is not limited exclusively to on-board data. The combination of data from different data sources can improve the accuracy of the result and

15 improve the security of the system.

In a further preferred embodiment of the invention it is provided that communication means are provided for receiving and / or transmitting data from at least one other vehicle and / or a transmitter from the infrastructure surrounding the vehicle. These means of communication allow receiving and sending data from and to other vehicles in order, for example, also to provide them with data for assisting a log-in process which, for example, foreign vehicles wish to carry out.

> 5 In a further advantageous embodiment, the invention provides that the

Control means are designed, in conjunction with Aktuatormitteln a semi-autonomous or fully autonomous Einschervorgang a vehicle

make. Such actuator means are, for example, longitudinal and / or

Transverse guide means for performing a lane change of the vehicle from a first lane to a second lane. A lane change may be generated by the control unit based on the received data for the EGO vehicle

5 will be. In a semiautonomous lane change, it is advantageous that

For example, the driver is signaled during the Einschervorgangs to be carried out by him a dangerous situation due to the calculated information. A fully autonomous Einschervorgang can be performed by the actuator means, wherein a manual intervention of the driver during the Einschervorgangs at any time

0 is possible.

In a further, preferred embodiment of the invention, it is provided that the control unit is designed to calculate distances between foreign vehicles and / or between foreign vehicles and the vehicle to be calibrated (EGO vehicle). This has the advantage that, for example, in a large

5 transverse offset of side by side moving vehicles this on the

Longitudinal component of the path to be covered of the EGO vehicle can be taken into account until a gap is safely reached.

Moreover, in a further embodiment of the invention, it is provided that the control unit is designed to measure vehicle dimensions of the foreign vehicles for the vehicle

Positioning a gap to consider. The calculation of

Vehicle dimensions of the foreign vehicles, for example, by

In-vehicle sensors and / or received data from the infrastructure or other vehicles. It is also conceivable that foreign vehicles communicate their 15 vehicle length directly.

Moreover, it is provided in a further embodiment of the invention that the control unit is designed to calculate a speed of other vehicles.

> 0 The position data of the other vehicles at a time T1 and a

Time T2 are sent to calculate the speed of the control unit in the vehicle 5. This improves the accuracy of speed data over in-vehicle speedometer data.

Preferably, the control unit comprises in a further embodiment of the invention

> 5 a signaling unit that visually, acoustically and / or haptically signals a Einscherraum a vehicle occupant. The optical signaling is

for example, with a display arranged in the EGO vehicle, for example a HUD display (head-up display). A haptic signaling can be made for example by a vibration signaling.

An optical, acoustic and / or haptic signaling can be provided for all driving situations during a Einschervorgangs or overtaking 5.

Further features of the invention will become apparent from the following description of the figures.

0 showing:

Figure 1: a schematic representation of a

Einschervorgangs a vehicle between two

Other vehicles;

5

Figure 2: a gap between two foreign vehicles

a two-lane carriageway;

Figure 3: a schematic representation of the receiving

! 0 and sending data for a device to

Support of a Einschervorgangs at

Vehicles in top view.

1 shows a schematic representation of a Einschervorgangs a vehicle 15 5 (EGO vehicle) is shown, wherein the EGO vehicle 5, starting from a

Lane 2, a Einschervorgang plans in a gap 6 on a lane 1. The vehicle 5 has a device according to the invention comprising a control unit 20 to assist a driver of the vehicle 5 in the complex task of a Einschervorgangs. In the present embodiment, a> 0 Einschervorgang between two vehicles in flowing traffic is described.

The shearing operation of the vehicle 5 is subdivided, for example, into four individual sub-processes, which include "detecting a gap 6", "measuring a gap 6", "securing a blind spot" and the actual "shearing-in process". For example, the> 5 control unit 20 supports the driver in the sub-processes "Detect gap 6", "Measure gap 6" and "Protect blind spot". The "Einschervorgang" can be performed manually, semiautonomically by the control unit 20 in combination with the driver or fully autonomously by the control unit 20. For a Size calculation and position determination of an existing gap 6 by the control unit 20 may receive this data from at least one other vehicle 3, 4. For receiving data, the control unit 20

Communication means 21 on.

5

It is conceivable that the communication means 21 in the vehicle 5 are additionally designed for sending data, whereby data communication between the vehicle 5 and the foreign vehicles 3, 4 is made possible. As a result, the vehicle 5 can transmit data to the other vehicle 3, 4, which of a in the

0 other vehicle 3, 4 arranged control unit 20 can be used.

In addition, the control unit 20 can take into account vehicle dimensions of the foreign vehicles 3, 4 as well as their speed on the basis of the data received from a foreign vehicle 3, 4. From the received data, the control unit 20 can calculate the position and size of a gap 6 and assist the driver in the event of a vehicle being shunted by a corresponding signaling.

FIG. 2 shows a schematic representation of a roadway with two lanes 1, 2 arranged next to each other, wherein one on the lane 1 is in question

upcoming gap 6 between two foreign vehicles 3, 4 is shown. The vehicle 5 (EGO vehicle) travels on the lane 2 at a distance behind the lane

Foreign Vehicle 4 on the Lane 1. The control unit 20 arranged in the vehicle 5 receives, for example, data from the foreign vehicle 4, wherein the data includes information about, for example, the speed, the vehicle length, and the position of the foreign vehicle 4.

The required information, such as distance or speed of the other vehicle 3 to the EGO vehicle 5 are determined in the embodiment by> 0 an on-board sensor system of the EGO vehicle 5, which is described in more detail in Figure 3. It is conceivable to receive the required data directly from the other vehicle 3 and / or by receiving data from the infrastructure.

The control unit 20 calculates from the received or detected data of the> 5 other vehicles 3, 4, the position and size of a gap 6 between the

Foreign vehicles 3, 4, this information preferably being signaled to the driver of the vehicle 5. A vehicle driver of the vehicle 5 can perform a manual Einschervorgang in a sufficiently large gap 6 due to the signalized information. The vehicle 5 changes from the lane 2 in the gap 6, which has a sufficient safety distance to the foreign vehicles 3, 4.

5

A semi-autonomous Einschervorgang can by the driver with

Support the control unit 20 are executed. The control unit 20 signals the vehicle driver a possible collision with a

Foreign vehicle 3, 4 during the Einschervorgangs.

0

In a fully autonomous Einschervorgang the vehicle driver can be supported by arranged in the vehicle 5 actuator means. There is always the possibility of manual intervention by the driver during the autonomous or semiautonomous Einschervorgangs.

5

FIG. 3 shows a schematic representation of a data flow in plan view, wherein FIG

the arrows symbolize a respective data flow.

Between the vehicles 3, 4, 5 is due to the C2C (Car-To-Car) - communication

! 0 a data flow of data (arrow 14, 15, 16) from and to each vehicle possible. The

Data (arrow 14, 15, 16) contain information for determining the position and size of a gap 6, for example vehicle positions, speeds of the vehicles, distances between the vehicles, and vehicle sizes.

15 In addition, a data flow of data (arrow 17, 18, 19), starting from

For example, in the infrastructure arranged cameras 9a, 9b to the vehicles 3, 4, 5 possible. The data (arrow 17, 18, 19) contain, for example, information about speeds of passing> 0 vehicles 3, 4, distances between the vehicles 3, 4 and / or information about the size of a gap 6, possibly also only image data are transmitted.

In addition, a data flow from a foreign data transmitter 10, which may be representative of several satellites, to the vehicles 3, 4, 5 possible.

(5

The data (arrow 11 to 19) can be used to calculate the position and size of a gap 6, the number of received data from

different data sources for the accuracy of a position calculation of a Gap 6 can improve.

The control unit 20 arranged in the vehicle 5, for example, receives data about its position from the foreign vehicles 3, 4. Additionally, for example, the data may also receive information about vehicle dimensions and speed from the control unit and for position calculation of a gap 6

be taken into account.

With the data received, the position and size of a gap 6 for 0 can determine a collision-free shunting operation of the vehicle 5.

For an exemplary position determination and calculation of a gap 6 is based as the starting situation that the vehicle 5 and the other vehicles 3, 4 drive on the lane 1 a speed of 80 km / h. That demand

5 Foreign vehicle 3 on the lane 1 moves at a distance of 50 m the vehicle. 5

ahead. The rear other vehicle 4 moves at the height of the vehicle 5. An available distance to the shearing of the vehicle 5 is 200 m. From this information, it is calculated by the control unit 20 that the center of the gap 6 in question is at a distance of 25 m from the vehicle 5. It

! 0 a constant speed of the foreign vehicles 3, 4 is assumed, whereby the size of the gap 6 does not change. Based on a

Vehicle length of 5 m includes the size of the gap 6 after deduction of each two half car lengths 45 m. It follows that after deducting the vehicle length of the vehicle 5, a safety distance to the preceding foreign vehicle 3 and

15 to the subsequent foreign vehicle 4 of 20 m each is present. The signaling means 23 arranged in the vehicle 5 signal the driver of the vehicle 5 the position of the gap 6. In order to carry out a collision-free shearing operation within the travel distance of 200 m, the EGO vehicle 5 is accelerated with an average of 2 m / s. After five seconds and about 136 m traveled distance is

> 0 reaches the center of the gap 6 from the vehicle 5 and the Einschervorgang, for example, manually by the vehicle driver or semiautonom by vehicle drivers and arranged in the vehicle 5 actuator means 23 or fully automatically executed by the actuator 23.

In addition, the vehicle 5 has an on-board sensor 8, the

> 5 may include, for example, video, radar and / or lidar sensors to a

Distance measurement to the foreign vehicles 3, 4 execute.

Another possibility for determining the position and size of a gap 6 between two foreign vehicles 3, 4 is the reception of data from the

Foreign vehicles 3, 4 in combination with the receipt of data from the infrastructure. The combination of these data can increase the security and accuracy of the system.

5

In addition, the vehicle driver of the vehicle 5 can be supported in the gap 6 by the vehicle 5, that the cameras 9a, 9b of the infrastructure data (arrow 17 to 18) via a visually determined gap 6 between two foreign vehicles 3, 4 directly to the Control unit 20 in the vehicle 5 sends.

0

Furthermore, third-party data (arrow 11, 12) sent to the foreign vehicles 3, 4, such as GPS data, can be forwarded to the vehicle 5 and with the detected data (arrow 14, 15) of the vehicle's own sensor system 8 for determining the position and size of a gap 6 are taken into account by the control unit 20.

5

Due to the inventive control unit 20 for receiving data (arrow 14 to 16) from a foreign vehicle 3, 4, data (arrow 1 1 to 13) of a

Foreign data transmitter 10 or data (arrow 17, 18, 19) from a transmitter from the infrastructure, for example a camera system 9a, 9b, can be found in particular in FIG

! 0 combination a position and size calculation of the gap 6 are performed comparatively accurate.

The abovementioned sub-process for determining a "blind spot" can likewise be implemented by receiving or sending corresponding data information of the data sources described here 15. For example, the vehicle can

5, the position of a vehicle approaching from behind is transmitted by the car-to-car communication (C2C) in order to avoid a collision.

In addition, the risk of collision during an overtaking maneuver of the> 0 vehicle 5 with a car approaching from behind can be explained by a car towing vehicle.

Infrastructure - to reduce communication (C2I), for example, by the arranged on the roadside cameras 9a, 9b speed information of the approaching vehicle to the vehicle 5.

In addition, the vehicle's own sensor system 8 of the vehicle 5 can detect a vehicle approaching from behind on the vehicle 5 and notify the driver of the vehicle that the safety distance is too short.

Claims

claims

1. A device for assisting a Einschervorgangs in vehicles (3, 4, 5) in a gap (6), in particular when arranging between two vehicles (3, 4), wherein means for determining the position of the vehicle (3, 4, 5) with respect on which the vehicle (3, 4, 5) surrounding infrastructure are provided, characterized

0 characterized in that a control unit (20) is provided in order to at least one other vehicle (3, 4) and / or a transmitter (9a, 9b) from the infrastructure (11, 19) surrounding the vehicle (3, 4, 5) ), and that the control unit (20) is adapted to obtain information about a gap (6) based on the received data (11 to 19).

5 to calculate for a Einschervorgang.

2. Apparatus according to claim 1, characterized in that the control unit (20) is adapted to calculate data (1 1 to 19) via a gap (6) for a Einschervorgang in flowing traffic.

»0

3. Device according to one of the preceding claims, characterized in that the control unit (20) is adapted to determine the size of a gap (6) between two vehicles (3, 4).

15. Device according to one of the preceding claims, characterized in that the control unit (20) is designed for determining a gap (6) for the Einschervorgang to use on-board data.

5. Device according to one of the preceding claims, characterized characterized> 0, the control unit (20) for determining a gap (6) for the Einschervorgang is configured such, in-vehicle data in combination with received foreign data (11 to 13) to use.

6. Device according to one of the preceding claims, characterized> 5 characterized in that communication means (21) for a reception and / or a

Transmission of data (1 1 to 19) from at least one other vehicle (3, 4) and / or a transmitter (9 a, 9 b) from the vehicle (3, 4, 5) surrounding infrastructure are provided.

7. Device according to one of the preceding claims, characterized in that the control means (20) are adapted, in conjunction with actuator means (24) a semi-autonomous or fully autonomous

5 Einschervorgang a vehicle (3, 4, 5) make.

8. Device according to one of the preceding claims, characterized in that the control unit (20) for calculating distances between foreign vehicles (3, 4) and / or between foreign vehicles (3, 4) and

0 the einscherenden vehicle (5) is formed.

9. Device according to one of the preceding claims, characterized in that the control unit (20) is adapted to vehicle dimensions of the foreign vehicles (3, 4) for the positioning of a

5 gap (6) to consider.

10. Device according to one of the preceding claims, characterized in that the control unit (20) is adapted to calculate a speed of foreign vehicles (3, 4).

»0

1 1. Device according to one of the preceding claims, characterized in that the control unit (20) comprises a signaling unit (23) which signals a vehicle occupant a Einscherraum optically, acoustically and / or haptically.

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