WO2016087905A1

WO2016087905A1 - Method for assisting a driver of a vehicle, in particular a passenger vehicle

Info

Publication number: WO2016087905A1
Application number: PCT/IB2014/066624
Authority: WO
Inventors: Carsten KAUSCH
Original assignee: Audi Ag
Priority date: 2014-12-05
Filing date: 2014-12-05
Publication date: 2016-06-09
Also published as: CN107004358A

Abstract

The invention relates to a method for assisting a driver of a vehicle in driving the vehicle, in which method at least one driving recommendation is displayed in a display area (12) by means of at least one display unit, the driving recommendation relating to a driving direction in which the vehicle is to be moved so as to decrease a deviation of a current position of the vehicle from a setpoint position calculated by a navigation system of the vehicle, wherein the driving recommendation is configured as a low range driving recommendation illustrating the deviation accurate within one centimeter and one degree.

Description

Method for Assisting a Driver of a Vehicle, in particular a

Passenger Vehicle

Field of the Invention

The invention relates to a method for assisting a driver of a vehicle according to the preamble of patent claim 1.

Background Art

Such methods for assisting a driver of a vehicle in driving the vehicle is well-known from the general prior art. In said method at least one driving recommendation is displayed in a display area by means of at least one display unit. The driving recommendation relates to a driving direction in which the vehicle is to be moved so as to decrease a deviation of a current position of the vehicle from a setpoint position calculated by navigation system of the vehicle. This means when the driver follows the driving recommendation the vehicle will reach the setpoint position since the deviation of the current position of the vehicle from the setpoint position is decreased. Usually, such driving recommendations are gross, steady and shown in units or steps of several hundred meters. In other words, conventional driving recommendations are configured in such a way that they recommend a change of direction to be performed by the driver in several hundred meters.

DE 199 49 699 Al shows a system for supporting an on-board position determination device of a vehicle by means of a DSRC system (Dedicated Short Range Communication System). DE 10 2010 052 000 Al shows a method for an output of navigation hints in a vehicle. Furthermore, JP 201217988 A shows a driver assistance system which is based on a l relation between a host vehicle and other vehicles. Moreover, US 8050859 B2 shows a navigation apparatus comprising a map data acquiring unit for acquiring map data including data about roads for which whether or not a car pool lane is also provided as specified.

Summary of the Invention

Technical problem to be solved

It is an object of the present invention to provide a method of the aforementioned kind, by means of which the driver can be assisted particularly precisely in driving the vehicle.

Technical solution

This object is solved by a method having the features of patent claim 1. Advantageous embodiments with expedient developments of the invention are indicated in the other patent claims.

The invention relates to a method for assisting a driver of a vehicle, in particular a passenger, vehicle in driving the vehicle, in which method at least one driving recommendation is displayed in a display area by means of at least one display unit. The driving recommendation relates to a driving direction in which the vehicle is to be moved so as to decrease a deviation of a current position of the vehicle from a setpoint position calculated by a navigation system of the vehicle.

In order to assist the driver particularly precisely, according to the present invention the driving recommendation is configured as a low range driving recommendation illustrating the deviation accurate within one centimeter and one degree. Thereby, the driver can be assisted particularly precisely in heavy traffic jams so that, for example, gaps between the vehicle and other traffic participants such as other vehicles can be kept particularly low. Simultaneously, unnecessary lane changes can be avoided. Thus, the available space can be used particularly efficiently so that an available infrastructure for the vehicles can be operated at least substantially at its full capacity. For example, clusters of vehicles can be formed in which clusters the respective vehicles can be rowed up particularly precisely so that high densities of the respective clusters can be realized. Simulations of cluster logics have shown that by clustering the vehicles and realizing high densities of the clusters the fuel consumption and C02 emissions can be dramatically reduced.

By means of the method according to the present invention the driver and, thus, the vehicle can be guided through heavy traffic by the driving recommendation in such a way that the risk of collisions with other traffic participants can be kept particularly low. Since the driving recommendation is accurate within one centimeter and within one degree the driving recommendation can react to sudden traffic situation changes particularly rapidly thereby keeping the risk of collisions particularly low, especially when the driver follows the driving recommendation. Simultaneously, respective gaps between the vehicle and other traffic participants can be kept particularly low so that the vehicle and the other traffic participants can be rowed up particularly efficiently.

For example, the respective cluster of vehicles comprises vehicles travelling towards the same target from the same traffic flow area. Such vehicles travelling towards the same target from the same traffic flow area are identified by, for example, navigation systems and/or online data and/or a traffic management system of a city. Within the cluster a so-called alpha vehicle is set. The alpha vehicle is the vehicle of the cluster with the shortest distance to the common target. The vehicles different from the alpha vehicle and belonging to the cluster are so-called cluster vehicles. All cluster vehicles are rowed up behind the alpha vehicle thereby forming a platoon wherein the vehicles are rowed up on the basis of a general strategy. For example, said strategy comprises that the vehicles of the same cluster will not cross their respective lanes. By means of the low range driving recommendation which is also referred to as a near field driving recommendation, especially in traffic jams, the road capacity used by the vehicles of the cluster can be minimized and a certain and at least substantially constant flow of the cluster can be realized by, for example, blocking other traffic participants or clusters. Preferably, such a cluster comprises 2 to 20 vehicles.

For example, the driving recommendation relates to a gap between the vehicle and at least one other traffic participant in the surroundings of the vehicle and driving through said gap without colliding with the other traffic participants bounding the gap. In other words, for example, the driving recommendation illustrates a track for the vehicle, on which track the vehicle can be driven in such a way that the gap can be minimized without colliding with the other traffic participants.

For example, said deviation of the current position from the setpoint position is calculated by a near field detection unit comprising at least one near field sensor. The near field detection unit is also referred to as a near field sensor system by means of which a particularly advantageous near field driver assistance system can be realized. For example, the near field sensor is a radar sensor, ultrasonic sensor, lidar sensor, laser sensor or the like. In an advantageous embodiment of the invention the driving recommendation comprises at least one speed recommendation which is displayed in the unit millimeters per second (mm/s). Thus, the speed recommendation can be communicated to the driver particularly precisely so that the risk of collisions with other traffic participants can be kept particularly low.

In a further advantageous embodiment of the invention the driving recommendation comprises at least one directional arrow, wherein the shape of the directional arrow and/or the position of the directional arrow in relation to the display area is dynamically changed in accordance with a recommended speed of the vehicle and on the basis of the deviation. For example, the recommended speed is determined by a recommendation unit on the basis of objects in the surroundings of the vehicle. When there is a plurality of detected objects in the surroundings the recommended speed is set to be low in order to keep the risk of collisions between the vehicle and the detected objects low.

When there are no detected objects in the surroundings the risk of colliding with other objects is deemed to be low so that the recommended speed can be set high. The shape of the directional arrow is changed or adjusted on the basis of the recommended speed, i.e. the determined recommended speed is considered in the shape of the directional arrow so that the recommended speed is visually communicated to the driver of the vehicle via the directional arrow. Thus, the driver and, thus, the vehicle can be guided through heavy traffic at a speed as high as possible and as low as necessary in order to keep the risk of collisions particularly low. Thereby, the driver and the vehicle can arrive their predetermined target in a particularly short time and very efficiently. Dynamically changing the shape of the directional arrow shall be deemed to denote that the directional arrow is animated so that the change of the shape of the directional arrow is at least substantially continuous or the driver visually perceives an at least substantially continuous alteration of the directional arrow from one shape to another. Thereby, the driver and, thus, the vehicle can be guided through heavy traffic by the directional arrow in such a way that the risk of collisions with other traffic participants can be kept particularly low. Since the directional arrow is animated and changes its shape at least substantially continuously depending on the recommended speed and the deviation, i.e. the orientation of the vehicle, the directional arrow and, thus, the driving recommendation can react to sudden traffic situation changes particularly rapidly thereby keeping the risk of collisions particularly low, especially when the driver follows the driving recommendation.

For example, the shape of the directional arrow is dynamically changed on the basis of the movement of a steering wheel of the vehicle. Commonly, the driver uses the steering wheel to change the direction of travel and, thus, the orientation of the vehicle so that, by considering the movement of the steering wheel in changing the shape of the directional arrow, the shape of the directional arrow can be adapted to changes of the direction of travel and the orientation of the vehicle particularly rapidly thereby assisting the driver in driving particularly advantageously.

In a further advantageous embodiment of the invention a length of the directional arrow is dynamically changed in accordance with the recommended speed, the length extending from a tip of an arrowhead on one end to the opposite other end of the directional arrow. Thereby, the recommended speed can be communicated to the driver particularly clearly.

In order to communicate the recommended speed particularly precisely and clearly to the driver, in a further advantageous embodiment of the invention the length of the directional arrow is changed in steps of one centimeter at the most.

Alternatively or additionally the position of the directional arrow is changed by pivoting the directional arrow in steps of one degree at the most. Thus, the driver can be assisted particularly precisely.

In a further embodiment of the invention the color of the directional arrow is changed in accordance with the recommended speed. Thereby, the visual driving recommendation provided by the directional arrow, i.e. by the shape of the directional arrow can be supported by the color of the directional arrow, wherein the color of the directional arrow can be adapted to changes of the traffic situation as well.

In order to assist the driver particularly effectively, in a further advantageous embodiment of the invention a curvature of directional arrow is dynamically changed on the basis of the deviation. Thereby, a difference between a recommended direction of travel and a current orientation of the vehicle and, especially, a degree of such a difference can be communicated particularly clearly to the driver so that a driver can react rapidly on such a difference. For example, when the directional arrow is straight, i.e. has no curvature the orientation of the vehicle corresponds to the recommended direction of travel so that the driver does not need to change the direction of travel to follow, for example, a recommended path or track in heavy traffic.

In a further advantageous embodiment of the invention the directional arrow comprises at least one display sub-area in which a first symbol illustrating the vehicle and at least one second symbol illustrating one object in the surroundings of the vehicle are displayed, the object being detected by an object detection unit of the vehicle. Thus, by means of the display unit both the driving recommendation and the orientation of the vehicle in relation to other objects in the surroundings of the vehicle can be visually communicated to the driver in a particularly effective and efficient way so that the risk of collisions between the vehicle and other traffic participants can be kept particularly low. In other words, the directional arrow is used not only to illustrate driving recommendations but also to illustrate or represent the orientation of the vehicle in relation to other objects in the surroundings of the vehicle.

For example, the display unit is configured as a head-up display, wherein the display area corresponds at least partially to the field of view of the driver. Thus, the driving recommendation can be communicated to the driver, wherein the driver does not need to take his eyes off a lane in which the driver is currently travelling.

Alternatively, the display device can be configured as a holographic unit configured to display the directional arrow as a hologram. For example, the holographic unit comprises at least one laser by means of which the directional arrow as a hologram is protected on reflecting surfaces. Thus, the driver can visually perceive the directional arrow particularly efficiently.

The invention further relates to a display unit of a vehicle, the display unit being configured to perform the method according to the present invention. Advantageous embodiments and advantages of the method according to the present invention are to be regarded as advantageous embodiments and advantages of the display unit according to the present invention and vice versa.

Further advantages, features, and details of the invention derive from the following description of a preferred embodiment as well as from the drawing. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figures and/or shown in the figures alone can be employed not only in respective indicated combination but also in any other combination are taken alone without leaving the scope of the invention.

Brief Description of the Drawings

Fig. 1 a schematic perspective view of a display device for a vehicle, the display device comprising at least one display unit configured to display at least one driving recommendation relating to a driving direction in which the vehicle is to be moved so as to decrease a deviation of a current position of the vehicle from a setpoint position calculated by a navigation system of the vehicle, wherein the driving recommendation is configured as a low range driving recommendation illustrating the deviation accurate within one centimeter and one degree; and

Fig. 2a-d respective diagrams illustrating strategies for rowing up vehicles of a cluster.

Detailed Description of Embodiments

Fig. 1 shows a part of a display device for a vehicle which is configured as, for example, a passenger vehicle. The display device comprises at least one display unit which is not shown in Fig. 1, the display unit being configured to display at least one driving recommendation comprising at least one directional arrow 10 in a display area 12. For example, the display unit is a conventional display having a screen providing the display area 12 in the form of a screen area. This means, for example, the directional arrow 10 is displayed on the screen. Alternatively, the display device can be configured as a head-up display, wherein the display unit is a projecting unit configured to project the directional arrow 10 in the display area 12 which corresponds at least partially to the field of view of the driver of the vehicle.

Alternatively, the display device can be configured as a holographic unit, wherein, for example, the display unit is a holographic display so that the directional arrow 10 is represented in the display area 12 in a holographic manner.

For example, more than one directional arrow can be displayed by the display device. In the present embodiment, the directional arrow 10 illustrates the at least one driving recommendation to the driver of the vehicle, moreover, the directional arrow 10 is represented in a three-dimensional manner so that the directional arrow 10 comprises a top surface 14 and a bottom surface 16 which are arranged in respective planes being arranged at a distance from each other. Between said planes and, thus, between the top surface 14 and the bottom surface 16 the directional arrow 10 comprises side surfaces 18, 20 and 22 extending between the surfaces 14 and 16.

In order to particularly advantageously and precisely assist the driver in driving the vehicle, in particular in heavy traffic, the driving recommendation relates to a driving direction in which the vehicle is to be moved so as to decrease a deviation of a current position of the vehicle from a setpoint position calculated by a navigation system of the vehicle, wherein the driving recommendation, i.e. the directional arrow 10 is configured as a low range driving recommendation, i.e. a near field driving recommendation illustrating the deviation accurate within one centimeter and one degree. Moreover, the display device is configured to dynamically change at least a shape of the directional arrow 10 in accordance with a recommended speed and on the basis of the deviation, i.e. an orientation of the vehicle in relation to a direction of travel recommended by the driving recommendation.

In other words, the display device is used in a method for assisting the driver in driving the vehicle, in which method the shape of the directional arrow 10 is dynamically changed in accordance with the recommended speed and on the basis of the deviation. The directional arrow 10 is animated and changes its shape in an at least substantially continuous manner which can be visually perceived by the driver, wherein the shape of the directional arrow 10 is changed in accordance with the recommended speed of the vehicle and on the basis of the deviation. This means the shape of the directional arrow 10 is changed when the recommended speed and/or the deviation changes.

For example, the recommended speed is a speed at which the vehicle should travel and which is recommended by a driver assistance system in such a way that, for example, the vehicle travels particularly fast and safely whilst respective gaps between the vehicle and other traffic participants can be kept particularly low and lane changes are avoided so that road capacity required by the vehicle and the other traffic participants can be kept particularly low. The speed is recommended so as to allow for a rapid movement of the vehicle while keeping the risk of collisions of the vehicle with other traffic participants as low as possible.

Moreover, preferably, the display device is configured to dynamically change at least the shape of the arrow 10 on the basis of at least one situation determined to be hazardous by a hazard situation identification system of the vehicle. In Fig. 1 a directional arrow 24 illustrates that the display device is configured to dynamically change a length of the directional arrow 10, the length extending from a tip 26 of an arrowhead 28 on one end 30 of the directional arrow 10 to the opposite other end 32 of the directional arrow 10. When the recommended speed increases, said length is increased as well. When the recommended speed decreases, the length of the directional arrow 10 is decreased as well. For example, when the recommended speed is zero the directional arrow 10 is not shown anymore, but only the two-dimensional side surface 22 is shown. When the recommended speed increases the three-dimensional directional arrow 10 successively emerges from the two-dimensional surface 22.

For example, the directional arrow 10 recommends or illustrates a track or path to be followed by the vehicle so that the driver can move the vehicle in heavy traffic without colliding with objects in the surroundings of the vehicle when the driver and, thus, the vehicle follow the track recommended or illustrated by the directional arrow 10. Thereby, for example, vehicles of a cluster can be rowed up particularly effectively and efficiently so that the space required by the cluster as a hole can be kept to a minimum. Thereby, for example, a near field driver assistance system can be provided which helps avoid collisions with other objects which are, for example, within a radius of the length of the vehicle or the length of the vehicle multiplied by 1.5.

In Fig. 1 a directional arrow 34 illustrates that the display device is configured to dynamically change a curvature of the directional arrow 10 in particular on the basis of the deviation. For example, when the longitudinal direction of the vehicle corresponds to a recommended direction of travel, the directional arrow 10 is straight, i.e. the directional arrow 10 has no curvature. When the longitudinal direction of the vehicle deviates from the recommended direction of travel, for example, to the left with respect to the direction of forward movement, the shape of the directional arrow 10 becomes curved with a curvature to the right with respect to the direction of forward movement. Thereby, the driver shall be brought to move the vehicle to the right to follow the recommended direction of travel so as to row up the vehicles of the cluster particular effectively.

The surface 22 of the directional arrow 10 is configured as a display sub-area, wherein the display device is configured to display, in the display sub-are (surface 22), a first symbol 36 illustrating the vehicle and second symbols illustrating objects 38 and 40 in the surroundings of the vehicle respectively, the objects 38 and 40 being detected by an object detection unit of the vehicle. In the present case, the objects 38 and 40 are other traffic participants in the surroundings of the vehicle. Moreover, in the bottom right corner 42 of the surface 22 a scale 44 is represented. In a top left corner 46 a "+"-symbol 48 and in a bottom left corner 50 a "-"-symbol 52 is represented. The symbols 48 and 52 are used to illustrate that the driver can change the scale of the image shown in display sub-area in a need-based manner. For example, the driver moves at least one of their fingers in the area of the symbol 48 in order to increase the scale. In order to decrease the scale the driver moves their finger in the area of the symbol 52.

Preferably, the objects 38 and 40 are represented in different colors. For example, the objects 40 are shown in red since the objects 40 are possible collision objects the vehicle can possibly collide with since the objects 40 are in the way of the vehicle and/or moving in relation to the vehicle and/or travel at a speed which is different from the speed of the vehicle. The objects 38 are shown in grey since the risk of a collision between the vehicle and the objects 38 is estimated to be zero or particularly low. In other words, for example, the objects 40 are shown in red since the hazard situation and identification system determines or estimates that a probability of a hazardous traffic situation in which the vehicle and the objects 40 are involved exceeds a predeterminable threshold value. Moreover, the hazard situation and identification system determines or estimates that a probability of a hazardous situation in which the vehicle and the objects 38 are involved is below the predeterminable threshold value.

Preferably, an ultrasonic feedback device is provided by means of which a haptic feedback to the driver can be provided when the driver moves their finger in the area of one of the symbols 48 and 52. Thus, a haptic feedback indicating the change of the scale can be provided without the driver touching a surface since, by means of the ultrasonic feedback device, a haptic feedback to the finger can be provided by the fingers in the air.

The top surface 14 is used to represent the current speed 54 of the vehicle, the speed being represented in the unit millimeters per second (mm/s). Alternatively or additionally, said driving recommendation can comprise at least one speed recommendation which is displayed in the unit millimeters per second.

Furthermore, the display device is configured to dynamically change the color of the directional arrow 10 in accordance with the recommended speed. For example, the color of the directional arrow is dark green thereby illustrating that the driver can speed up freely. Preferably, the directional arrow 10, i.e. its color is pulsing forward and a sound is played to provide an acoustical recommendation. Moreover, the color of the directional arrow 10 can be bright green thereby illustrating that the driver can speed up cautiously. For example, the directional arrow 10 is pulsing backwards and a sound is played. Moreover, the color of the directional arrow 10 can be beige thereby illustrating that the driver can speed up very cautiously wherein the directional arrow 10 is pulsing backwards and a sound is played. Moreover, the color of the directional arrow 10 can be yellow which means that the driver shall not speed up, wherein the directional arrow 10, in particular its color blinks and a sound is played. The color of the directional arrow 10 can be orange thereby illustrating that the driver shall brake, wherein the directional arrow 10 glooms and a sound is played. Furthermore, the color of the directional arrow 10 can be red thereby illustrating that automatic braking is performed, wherein the directional arrow 10 blinks and a sound is played.

In order to assist the driver particularly precisely said length of the directional arrow 10 is changed in steps of one centimeter at the most. Moreover, the position of the directional arrow 10 is changed by pivoting the directional arrow 10 in steps of one degree at the most and/or the curvature of the directional arrow 10 is changed by changing the curvature in steps of one degree at the most.

By means of the method illustrated by Fig. 1 vehicles travelling towards the same target from the same traffic flow area can be clustered or grouped into a cluster, wherein the vehicles of the cluster can be rowed up particularly efficiently in such a way that respective gaps between the vehicles of the cluster can be kept particularly low while the risk of collisions of the vehicles of the cluster can be kept to a minimum.

Figs. 2a-d show respective strategies for rowing up the vehicles of the cluster thereby forming a platoon. For example, the vehicles forming a cluster are identified by at least one navigation system, online data transfer by, for example, car-to-car communication and/or a traffic management system of a city. Within the cluster one of the vehicles is set to be a so-called alpha car which is indicated by A in Fig. 2a-d. The other vehicles of the cluster are so-called cluster cars which are indicated by 1 to 7, m and n. Among the all the vehicles of the cluster the alpha car A has the shortest distance to the common target. For example, the vehicles of the cluster are rowed up in such a way that the cluster cars 1 to n are rowed up behind the alpha car A on the basis of a strategy in which the respective lanes of the vehicles belong to the same cluster are not crossed. By means of the method illustrated in Fig. 1, i.e. by near field driving recommendations especially in traffic jams the road capacity required by the cluster can be kept to a minimum and the cluster can be kept moving since, for example, other traffic participants can be blocked. Preferably, the cluster comprises 2 to 20 vehicles. According to Fig. 2a the vehicles are rowed up thereby forming a line. According to Fig. 2b the vehicles of the cluster are rowed up thereby forming two lines side by side, i.e. a double line. According to Fig. 2c the vehicles of the cluster are grouped in an X-formation. According to Fig. 2c the vehicles are grouped in a Y-formation. Fig. 2d illustrates a first cluster comprising first vehicles A, Al, A2 and A3 in a Y-formation crossing a second cluster comprising second vehicles B, B l, B2 and B3 in a Y-formation. In the second cluster the vehicle B is the alpha car of the second cluster. As can be seen from Fig. 2d the clusters can cross whilst moving constantly and without colliding.

Claims

What is claimed is:

1. A method for assisting a driver of a vehicle in driving the vehicle, in which method at least one driving recommendation is displayed in a display area (12) by means of at least one display unit, the driving recommendation relating to a driving direction in which the vehicle is to be moved so as to decrease a deviation of a current position of the vehicle from a setpoint position calculated by a navigation system of the vehicle,

characterized in that

the driving recommendation is configured as a low range driving recommendation illustrating the deviation accurate within one centimeter and one degree.

2. The method according to claim 1,

characterized in that

the driving recommendation comprises at least one speed recommendation which is displayed in the unit millimeters per second

3. The method according to any one of claims 1 or 2,

characterized in that

the driving recommendation comprises at least one directional arrow (10), wherein the shape of the directional arrow (10) and/or the position of the directional arrow (10) in relation to the display area (12) is dynamically changed in accordance with a recommended speed of the vehicle and on the basis of the deviation.

4. The method according to claim 3,

characterized in that

a length of the directional arrow (10) is dynamically changed in accordance with the recommended speed, the length extending from a tip (26) of an arrowhead (28) on one end (30) to the opposite other end (32) of the directional arrow (10).

5. The method according to claim 4,

characterized in that

the length is chan ged in steps of one centimeter at the most.

6. The method according to any one of claims 3 to 5,

characterized in that

the position of the directional arrow (10) is changed by pivoting the directional arrow (10) in steps of one degree at the most.

7. The method according to any one of claims 3 to 6,

characterized in that

the color of the directional arrow (10) is changed in accordance with the recommended speed.

8. The method according to any one of claims 3 to 7,

characterized in that

a curvature of the directional arrow (10) is dynamically changed on the basis of the deviation.

9. The method according to any one of claims 3 to 8,

characterized in that

the directional arrow (10) comprises at least one display sub-area (22) in which a first symbol (36) illustrating the vehicle and at least one second symbol (38, 40) illustrating at least one object in the surroundings of the vehicle are displayed, the object being detected by an object detection unit of the vehicle.

10. A display unit of a vehicle, the display unit being configured to perform a method according to any one of the preceding claims.