WO2016102102A1

WO2016102102A1 - Method and device for outputting a warning by means of a lane keeping assist system

Info

Publication number: WO2016102102A1
Application number: PCT/EP2015/074724
Authority: WO
Inventors: Chengxuan Fu
Original assignee: Robert Bosch Gmbh
Priority date: 2014-12-22
Filing date: 2015-10-26
Publication date: 2016-06-30
Also published as: DE102014226744A1

Abstract

The invention relates to a method for outputting a warning by means of a lane keeping assist system for a vehicle (100). In said method, a hazard level associated with a driving situation of the vehicle (100) is read in. In a further step, an intensity of a warning signal (130) for warning a driver of the vehicle (100) is set in accordance with the hazard level. The warning signal (130) is then generated with the intensity set in the step of setting.

Description

Description title

Method and device for issuing a warning about a

Lane departure warning system for a vehicle

State of the art

The present invention relates to a method for issuing a warning about a lane departure warning device for a vehicle, on a

corresponding device and to a corresponding computer program.

Amongst other things, lane departure warning systems serve to warn a driver of an unintentional lane change, for example by means of a vibrating steering wheel or a vibrating seat, by displaying a warning or by an acoustic signal, such as a warning chime.

Disclosure of the invention

Against this background, with the approach presented here, a method for issuing a warning about a lane departure warning system for a vehicle, furthermore a device which uses this method, and finally a corresponding computer program according to the main claims are presented. Advantageous embodiments emerge from the respective subclaims and the following description.

The approach presented here provides a method for issuing a warning about a lane departure warning system for a vehicle, the method comprising the steps of: Reading in a driving situation of the vehicle assigned

Hazard level;

Setting an intensity of a warning signal to warn a driver of the vehicle as a function of the hazard level; and

Generate the warning signal with an intensity set in the setting step.

A lane departure warning system can be understood to mean a driver assistance system which serves to assist a driver in guiding his vehicle in a traffic lane, in particular by issuing a warning to the driver when the vehicle threatens to leave the traffic lane. One

Vehicle may be a motor vehicle such as a passenger or truck. The driving situation can be influenced, inter alia, by a position of the vehicle relative to a lane boundary of the roadway, i. H. For example, to a lane marking or other vehicles on an adjacent lane, by possible collision objects in a vicinity of the vehicle, by a speed of the vehicle or by other suitable parameters that relate to the driving situation, be characterized. The driving situation can be dangerous for the driver as well as for others

Mean road users. Under a hazard level, too

Hazard level, or "danger level", can be understood as a parameter representing a degree of hazard

Warning signal can be an optical, acoustic or haptic signal.

For example, in the setting step, the intensity of the warning signal can be selected the more intensively the higher the risk level. An intensity can be understood as meaning a parameter or a variable that can be measured in a scale and that by its value allows a statement about an importance or danger of the driver and / or the vehicle in the driving situation. In this case, the intensity can be a physical quantity that the

Has warning signal.

The approach proposed here is based on the knowledge that a

Warning intensity of a lane departure warning system of a vehicle as a function of a current risk level of the vehicle can be controlled. This allows the driver depending on the situation by a suitable

Be warned warning intensity, so that it is not unnecessarily disturbed in harmless situations on the one hand, and on the other hand urgently alarmed in dangerous situations in order to respond in good time.

According to one embodiment, the method may be provided with a step of receiving a distance information about a distance between the vehicle and a lane boundary of a lane traveled by the vehicle. Additionally or alternatively, in the step of receiving, a marker information about a lane marker, an object information about an object located in the lane area, a tiredness information about a tiredness of the driver, a

Speed information about a speed of the vehicle, a lane change information about a lane change intention of the driver or a touch information about a touch of a steering wheel by the driver are received. Depending on the embodiment, in one step of the

Determine the hazard level using the distance information, the marker information, the object information, the tiredness information, the speed information, the lane change information, or the

Touch information to be determined. This allows a reliable and accurate assessment of the hazard level.

It is also advantageous if, in the setting step, an amplitude of the warning signal is set. Additionally or alternatively, a frequency of the warning signal can be set in the setting step. As a result, the intensity of the warning signal can be flexibly varied. Thus, an unambiguous assignment of the warning signal to a respective hazard level can be ensured.

It is particularly favorable if, in the setting step, an intensity of at least one further warning signal is set as a function of the risk level. In this case, in the step of generating depending on the hazard level, the further warning signal with a in the step of

Adjusting set intensity can be generated. With the two Warning signals can be various signals such as a haptic and an acoustic signal. Likewise, the respective intensities of the warning signals may differ depending on the hazard level. With this embodiment, it is possible to combine several warning signals with variable intensity depending on the risk level with each other, such as to increase the warning intensity in dangerous driving situations.

The approach presented here also provides a device which is designed to implement the steps of a variant of a method presented here

to implement, control or implement appropriate facilities. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

Also of advantage is a computer program product or computer program with program code which is stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical disk

Memory may be stored and for carrying out, implementing and / or controlling the steps of the method according to one of the above

described embodiments, in particular when the program product or program is executed on a computer or a device. The approach presented here will be described below with reference to the attached

Illustrated drawings by way of example. Show it:

1 is a schematic representation of a driving situation of a vehicle with a device according to an embodiment of the present invention;

Fig. 2 is a block diagram of a device according to an embodiment of the present invention; and

3 is a flowchart of a method according to a

Embodiment of the present invention;

In the following description of favorable embodiments of the present invention are for the in the various figures

represented and similar elements acting the same or similar

Reference numeral used, wherein a repeated description of these elements is omitted.

1 shows a schematic illustration of a driving situation of a vehicle 100 with a device 102 according to an exemplary embodiment of the present disclosure

present invention. The vehicle 100 travels on a right lane 104 of a two-lane road 106. The device 102 for outputting a warning via a lane departure warning system of the vehicle 100 is realized, for example, as a component of the lane departure warning system and coupled to an environment sensor system 108 of the vehicle 100. The Lane Departure Assistant may be a lane departure warning system, for example.

According to this exemplary embodiment, the surroundings sensor system 108 is configured to include a distance x between the vehicle 100 and a lane boundary 110, here for example a right lane boundary of the right lane 104, a marking 112 on the lane 106, here a dashed center strip of the lane 106, as well as potential Collision objects in the area of the right-hand lane 104, such as a wall 114 running along the right-hand lane boundary 110 or a vehicle 100 on a left lane 116 responsive vehicle 120 and a distance x representing distance information 122, a track boundary 110 representing lane boundary information 124, a marker 112 representing marker information 126 as well as an object information 128 representing the collision objects 114, 120 to the device 102 to transmit.

The device 102 is designed to use the information 122, 124, 126, 128 to determine a risk level corresponding to the driving situation of the vehicle 100. Furthermore, the device 102 is designed to set a warning intensity in dependence on the hazard level, with which a driver of the vehicle 100 before the driving situation, d. H. is to be warned against the danger emanating from the driving situation, such as a threatening collision with the wall 114 or the oncoming vehicle 120. In this embodiment, the device 102 serves to generate a haptic alert 130, an audible alert 132, and an optical alert 134 having the predetermined intensity. In this way, the driver is warned with a dependent on the driving situation intensity. By means of the haptic warning signal 130, for example, a steering wheel 136 of the vehicle 100 can be set in vibrations whose strength and frequency can vary depending on the hazard level, as described in more detail below.

Instead of determining the hazard level itself, the device 102 may alternatively receive the hazard level from an external unit.

Depending on the embodiment, the device 102 may also receive and process further driving-situation-dependent parameters for determining the risk level.

According to one embodiment, the device 102 is used for the adaptive control of the warning signals 130, 132, 134, in which the warning intensity in dependence on an estimated current hazard level, also called hazard level, is controlled in stages. For example, the device 102 is designed to regulate the warning intensity of the two warning signals 130, 132 in such a way that at a low risk level a slight vibration on the steering wheel 136, at a medium risk level normal vibration on the steering wheel 136, at a high risk level next to the normal Vibrate a normal gong and at a very high risk level in addition to a strong vibration on the steering wheel 136 a loud gong is generated. The gong may also warn a sleeping passenger. In this case, the device 102 controls a strength of the steering wheel vibration via a

Amplitude of a vibration moment (in Nm). For example, the

Steering wheel vibration at a vibration moment of about 1 Nm normal strength. An amplitude of 2.5 Nm, however, is usually perceived as strong. In addition, depending on the embodiment, a frequency of the vibration may be increased to make the vibrations stronger. Typically

Vibrations with frequencies between 10 Hz and 15 Hz as pleasant

felt.

The hazard level can be determined by various indicators

Device 102 and the external unit can be calculated. For example, the hazard level is small compared to a given reference level if the distance x, also called distance to lane crossing or DLC for short, is positive, d. h. when the vehicle has not yet left the ego lane 104. If, on the other hand, the vehicle leaves the ego lane 104, so that the distance x becomes negative, for example because the driver does not react, the

Increased risk level accordingly.

Likewise, the hazard level can be increased at a constant distance x, if:

- A stationary object in the field of a lane boundary, for example, behind or on the lane boundary, is detected, such as a concrete wall, shown schematically in Fig. 1 as a wall 114;

- Detecting moving objects, which pose a risk of collision due to a low TTLC value (TTLC = time to line crossing), like the vehicle 120 or other moving objects, e.g. B. pedestrians, on the adjacent lane 116;

a tiredness condition of the driver is detected;

so-called hands-off driving, d. H. hands-free driving without

Steering wheel contact by the driver, is detected;

- A solid line instead of a dashed line is detected; or

- An increase in the vehicle speed is detected.

On the other hand, if the likelihood of an intended lane change is high, such as due to a slow movement of the steering wheel 136 or activation of a turn signal, the hazard level is lowered. If the intention to change the lane is established with approximately one hundred percent certainty, the warning is completely suppressed. The reduction of the hazard level may be gradual or continuous depending on the likelihood of lane change intent.

It is also conceivable that the driver sets the normal warning intensity itself.

Fig. 2 shows a block diagram of a device 102 according to a

Embodiment of the present invention. The device 102 for outputting a warning about a lane departure warning for a vehicle is, for example, that described with reference to FIG. 1

Contraption.

According to this embodiment, the device 102 comprises a

Receiving unit 200, which is configured to receive the distance information 122, the lane boundary information 124, the marker information 126 and the object information 128 from the environment sensor and forwarding it to a determination unit 202, which serves the risk level of the current driving situation of the vehicle using the information 122, 124, 126, 128 and in the form of a corresponding one

Hazard signal 204 to a read-in unit 206 to send. About the

Read-in unit 206 passes the hazard signal 204 to a

Setting unit 208, which uses the hazard signal 204, a respective intensity of the warning signals 130, 132, 134 in dependence on the Hazard level and intensity representing one

Generating signal 209 to a generating unit 210 of the device 102 transmits. The generation unit 210 is configured to generate and indicate the warning signals 130, 132, 134 using the generation signal 209 with the intensity set by the setting unit 208

to issue corresponding warning devices of the vehicle for warning the driver, such as a vibration-capable steering wheel, a display device or a speaker. FIG. 3 shows a flowchart of a method 300 according to FIG

Embodiment of the present invention. The method 300 for

Issuing a warning about a lane departure warning system for a vehicle can for example be performed by a device as described above with reference to Figures 1 and 2, driven or implemented.

In a step 306, a hazard level associated with a driving situation of the vehicle is first read in. In a further step 308, an intensity of a warning signal for warning a driver is set as a function of the danger level read in step 306. Finally, in a step 310, the warning signal is generated with the intensity set in step 308.

The embodiments described and shown in the figures are chosen only by way of example. Different embodiments may be combined together or in relation to individual features. Also, an embodiment can be supplemented by features of another embodiment.

Furthermore, the method steps presented here can be repeated as well as executed in a sequence other than that described.

If an exemplary embodiment comprises an "and / or" link between a first feature and a second feature, then this is to be read in such a way that the exemplary embodiment according to one embodiment contains both the first feature as well as the second feature and according to another embodiment, either only the first feature or only the second feature.

Claims

claims

A method (300) for issuing a warning about

Lane departure warning system for a vehicle (100), the method (300) comprising the steps of:

Reading (306) a hazard level (204) associated with a driving situation of the vehicle (100);

Setting (308) an intensity (209) of a warning signal (130) to alert a driver of the vehicle (100) in response to the hazard level (204); and

Generating (310) the warning signal (130) with an intensity (209) set in the setting (308) step.

2. Method (300) according to one of the preceding claims,

characterized by a step of receiving a

Distance information (122) about a distance (x) between the vehicle (100) and a lane boundary (110) of one of

Vehicle (100) traveled lane (104) and / or one

Marker information (126) about a lane marker (112) and / or object information (128) about an object (114, 120) located in the area of the traffic lane (104) and / or fatigue information about driver fatigue and / or fatigue

Speed information about a speed of the vehicle (100) and / or a lane change information about a

Lane change intent of the driver and / or a touch information on a contact of a steering wheel (136) by the driver, wherein in a step of determining the hazard level (204) using the distance information (122) and / or the

Marking information (126) and / or the object information (128) and / or the tiredness information and / or the

Speed information and / or the lane change information and / or the touch information is determined.

3. Method (300) according to one of the preceding claims,

characterized in that an amplitude and / or a frequency of the warning signal (130) is set in the setting step (308).

4. Method (300) according to one of the preceding claims,

characterized in that in the step of setting (308) an intensity (209) of at least one further warning signal (132, 134) is set as a function of the hazard level (204), wherein in the step of generating (310) depending on the hazard level ( 204), the further warning signal (132, 134) is further generated with an intensity (209) set in the step of setting (308).

5. Device (102), which is designed to implement, implement and / or control all steps of a method (300) according to one of the preceding claims.

6. Computer program that is set up to take all the steps of a

Execute method (300) according to one of the preceding claims to implement and / or to control.

7. A machine-readable storage medium with a computer program stored thereon according to claim 6.