WO2020020525A1 - Method for performing an overtaking maneuver including considering a safety distance, analyzing component, driver assistance system, as well as vehicle - Google Patents

Method for performing an overtaking maneuver including considering a safety distance, analyzing component, driver assistance system, as well as vehicle Download PDF

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Publication number
WO2020020525A1
WO2020020525A1 PCT/EP2019/064653 EP2019064653W WO2020020525A1 WO 2020020525 A1 WO2020020525 A1 WO 2020020525A1 EP 2019064653 W EP2019064653 W EP 2019064653W WO 2020020525 A1 WO2020020525 A1 WO 2020020525A1
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WIPO (PCT)
Prior art keywords
vehicle
distance
lane
describes
environmental data
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PCT/EP2019/064653
Other languages
French (fr)
Inventor
Zdenek VANA
Jan ZAHRADNIK
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Valeo Schalter Und Sensoren Gmbh
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Publication of WO2020020525A1 publication Critical patent/WO2020020525A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles

Definitions

  • Method for performing an overtaking maneuver including considering a safety distance, analyzing component, driver assistance system, as well as vehicle
  • the present invention relates to a method for performing an overtaking maneuver with a vehicle, which is located on a first lane and which overtakes a further vehicle located on a second lane. Moreover, the present invention relates to an analyzing component for a driver assistance system. Further, the present invention relates to a driver assistance system with a corresponding analyzing component as well as a vehicle with such a driver assistance system.
  • the safety distance In order to avoid accidents in road traffic, it is important to keep a certain distance, the so-called safety distance, to a preceding vehicle. However, it is not only required to maintain the safety distance to a preceding vehicle. Also immediately after an overtaking maneuver the distance between the overtaking vehicle and the vehicle to be overtaken should not become smaller than the required safety distance. In other words: An overtaking vehicle upon completion of the overtaking maneuver should ensure that the required safety distance is maintained. Hence, in the development of autonomously driving vehicles, it is to be ensured that these maintain the required safety distance not only during a normal driving situation, but also take it into consideration upon performing an overtaking maneuver.
  • the patent application DE 10 2006 059 915 A1 relates to a method for determining a vehicle guidance and a vehicle assistance system adjusted to a traffic situation.
  • the relative speed and/or the distance between the vehicle and a preceding vehicle is determined by means of sensors. This is also applicable to a following vehicle.
  • a vehicle guidance that is adapted to the traffic situation is
  • the European patent document EP 1 887 540 B1 describes a device with a sensor system, which determines the relative speed between an own motor vehicle and a following motor vehicle. The system determines an assignment of adjacent lanes, wherein from the assignment of the lanes a probability for an overtaking operation of the following motor vehicle is determined.
  • the object of the present invention is to present a solution as to how an overtaking maneuver can be performed more safely.
  • the present invention relates to a method for performing an overtaking maneuver with a vehicle, which is located on a first lane and which overtakes a further vehicle located on a second lane, wherein during the overtaking maneuver the following steps are
  • motion data is received, which describes a current speed of the vehicle.
  • the motion data can also describe the direction of the motion of the vehicle, i.e. the direction of travel.
  • environmental data is received, which is provided by an environmental sensor of the vehicle, wherein the environmental data describes a distance between the vehicle and the further vehicle as well as a current speed of the further vehicle.
  • the environmental data can describe both the current speed as well as the direction of travel of the further vehicle.
  • the environmental data can also describe the environment of the vehicle.
  • the environmental data can comprise the presence of further objects as well as the associated object type.
  • the environmental data can be provided by means of an environmental sensor or a surround sensor of the driver assistance system.
  • the environmental sensor can be configured as an ultrasonic sensor, as a Lidar sensor, as a laser scanner, and/or as a camera.
  • the environmental sensor can in particular be a radar sensor. Here, it is in particular intended to enable that by means of the environmental sensor, a sensor signal is emitted and the sensor signal, which is reflected by the further vehicle, is then received.
  • the distance between the vehicle and the further vehicle can be determined. Based on the difference between a frequency of the emitted sensor signal and a frequency of the received sensor signal, a relative speed between the vehicle and the further vehicle can be determined. Based on the current speed of the vehicle and the relative speed, the current speed of the further vehicle can be determined.
  • a distance value is determined, which describes a distance between the vehicle and the further vehicle in the direction of travel of the second lane, based on the environmental data.
  • This distance value describes a distance between the two vehicles in the direction of travel relative to each other with respect to the direction of travel of the second lane.
  • the distance value can describe the so-called longitudinal distance between the vehicle and the further vehicle.
  • This longitudinal distance can be determined on the basis of the environmental data, which are provided by means of at least one environmental sensor. It is in particular intended to enable that the environmental data describes the relative position between the at least one environmental sensor and the further vehicle.
  • the longitudinal distance can be determined.
  • the environmental sensor can for instance be configured to determine both the distance to the object as well as an angle relative to the object. From the distance and the angle, the longitudinal distance can be determined. It may also be intended to enable that at least two environmental sensors, which are located in different mounting positions, each determine the distance to the further vehicle.
  • the relative position can be determined by means of triangulation or trilateration. Based on the motion data and the environmental data, a threshold value for the distance value is determined. In case the distance value is larger than the threshold value, a first signal is provided or emitted.
  • an overtaking maneuver is performed.
  • the method can serve for reliably assisting a driver of the vehicle in performing the overtaking maneuver.
  • the method can also be used in the autonomous operation of the vehicle.
  • the overtaking maneuver it is constantly checked whether the overtaking maneuver by merging of the vehicle from the first lane into the second lane is possible and whether at the same time a demanded safety distance is maintained. This is made possible by continuously comparing the distance value with the threshold value.
  • the probability that the vehicle changes too early to the second lane is clearly reduced. This can help to avoid rear-end collisions after completion of the overtaking maneuver.
  • the term overtaking maneuver refers to the same meaning as the term overtaking operation.
  • the vehicle In the overtaking maneuver, the vehicle is moved at a higher speed than the further vehicle. Moreover, by this method, a driver of the further vehicle is not urged by the vehicle merging in too early. This reduces in particular the danger that the further vehicle needs to brake hard or steps aside to another lane. Thus, a danger of possible further subsequent accidents can be clearly reduced.
  • a first signal is emitted, in case the distance value is larger than the threshold value.
  • the first signal describes that a completion of the overtaking maneuver by merging of the vehicle into the second lane is possible.
  • This first signal can be transmitted to an output device of the driver assistance system.
  • an output can be provided to the driver of the motor vehicle.
  • Such a signal can provide the driver with the information that the overtaking maneuver can be safely completed.
  • This first signal can help the driver to avoid misjudgment.
  • the first signal can also be used when
  • a lane change from the first lane to the second lane can be performed.
  • a signal in case the distance value is smaller than the threshold value, wherein the second signal describes that the completion of the overtaking maneuver by the merging of the vehicle into the second lane is not possible.
  • a signal here the second signal, is emitted also for the case in which the overtaking maneuver cannot be completed yet.
  • the second signal can for instance be emitted optically as display by means of an output device. With this second signal, a driver of the vehicle should be halted not to complete an overtaking maneuver too early. If the vehicle is maneuvered autonomously, no change of lane can be performed as long as the second signal is received.
  • a vehicle type of the further vehicle is determined and the stopping distance is determined in dependence on the vehicle type of the further vehicle.
  • the vehicle type can be a motor vehicle, a bus, a truck, a motorcycle, or the like.
  • the stopping distance of the further vehicle depends amongst other things on whether the further vehicle for instance is a motor vehicle, a motor cycle, a bus, or a truck. In particular the stopping distance is dependent on a mass or a weight of the further vehicle. A fully loaded truck for instance will have a different stopping distance than a small car without load.
  • the vehicle type describes the mass of the further vehicle. It is very advantageous to take the vehicle type of the further vehicle into consideration in determining the stopping distance and in calculating the threshold value.
  • the method according to the invention can be designed to be more flexible.
  • a further embodiment of the present invention intends to enable that the environmental data further describes a roadway condition of the first and/or the second lane and the braking distance and/or that the stopping distance are determined dependent on the roadway condition.
  • a different friction between the lane and the wheels of the vehicle or the further vehicle is given. This results in different braking distances or stopping distances. For instance in the case of a wet lane or glaze, it is to be reckoned with clearly longer stopping distances.
  • a minimum value for the safety distance on the basis of a period of time is assumed. For determining the minimum value for the safety distance, a period of time of 3 to 4 seconds is assumed.
  • the distance covered by a vehicle in 3 to 4 seconds corresponds to the suggested minimum distance. Since the roadway condition massively affects the braking distance or the stopping distance, it is preferably intended to consider the roadway condition when determining the stopping distance or the braking distance. Thus, the method according to the invention can be employed in nearly any kind of weather and in any season of the year.
  • a braking distance for the vehicle and a stopping distance for the further vehicle are determined and the threshold value is determined in dependence on the braking distance or the stopping distance.
  • the stopping distance is the distance covered by the further vehicle on the second lane from the point of time, when an obstacle, for example the vehicle, occurs or can be seen, until standstill.
  • the braking distance is the distance covered by the vehicle from the start of the braking to the end of the braking. If the vehicle has to suddenly brake hard after the overtaking maneuver, the braking with the further vehicle does not start at the same time, but slightly delayed. For this reason for a vehicle the stopping distance is in general longer than the braking distance. It is preferably intended to consider this difference when determining the threshold value.
  • a further variant of the present invention intends to enable that the stopping distance is determined in dependence on a predetermined reaction time of a driver of the further vehicle and/or a predetermined response time of the brakes of the further vehicle. If for instance the vehicle after the overtaking maneuver has to brake suddenly, the braking process in the further vehicle is not immediately initiated. It is in the nature of the matter that the driver of the further vehicle initiates a braking process only after a certain response time. Frequently, for this reaction time a period of about 1 ,5 second is assumed. Also a braking system of the further vehicle requires a certain response time until the braking takes effect. As a general rule, the response time is clearly shorter than the reaction time. It can for instance be estimated to be about 50 milliseconds. In this variant of the present invention, however, it is also possible to subdivide the response time or the reaction time into further additional periods of time. Hence, a more detailed analysis of the complete braking process can be taken into consideration.
  • the motion data further describes a current direction of travel of the vehicle and the environmental data further describes a current direction of travel of the further vehicle, wherein the threshold value is determined in dependence on the current speed of the vehicle and/or the current speed of the further vehicle.
  • the threshold value is determined in dependence on the current speed of the vehicle and/or the current speed of the further vehicle.
  • the further vehicle changes for instance from the second lane to the first lane, i.e. behind the overtaking vehicle on the first lane, the traffic situation changes. In this case under favorable conditions the vehicle can change from the first lane to the second lane, without violating the determined safety distance.
  • a new threshold value can abruptly occur. Due to this new threshold value, correspondingly now a change of lane can be possible and this can be signaled accordingly by providing the first signal for the output device to the driver. Thus, it is possible to consider possible lane changes of vehicles to be overtaken during the overtaking maneuver when determining the threshold value.
  • the threshold value is determined in consideration of physical equations of motion of the vehicle and/or the further vehicle and/or due to a predetermined statistical model.
  • the physical equations of motion can describe the motion of the vehicle and/or the further vehicle.
  • the physical equations of motion can describe the speed, the mass, and/or a friction between the wheel of the vehicles and the lane.
  • the equations of motion can describe a gradient of the roadway and/or course of the roadway.
  • the stopping distance or the braking distance can be determined.
  • the threshold value for the distance value can also be determined based on physical equations of motion.
  • the threshold value for the distance value can also be determined based on physical equations of motion.
  • the threshold value for the distance value can also be determined based on physical equations of motion.
  • trajectories of both vehicles can be calculated on the basis of physical equations of motion.
  • this threshold value can be determined based on a statistical model.
  • This statistical model can describe the reaction times of the drivers, typical delay times in operating the brake, typical time periods, which the driver requires for recognizing a dangerous situation, or the like.
  • the statistical model can also describe an approximation formula for a braking path. In such estimated approximation formulae in this connection, further coefficients can also be included, which for instance, consider the vehicle type or the roadway condition. If for the determination of the threshold value, a statistical model is used, it is not absolutely necessary to simulate the trajectories of the vehicles.
  • the present invention is intended to enable that based on the environmental data an oncoming vehicle or a preceding vehicle on the first lane is recognized and the threshold value determined in dependence on the oncoming vehicle or the preceding vehicle. An overtaking maneuver should not be effected whilst violating the demanded safety distance to the preceding vehicle on the first lane. Therefore, it makes sense to consider a preceding vehicle, when determining the threshold value. This can preferably be done by using a further threshold value.
  • the threshold will clearly differ from the case of a preceding vehicle. This case occurs for instance, if on a two-lane country road with opposite directions of travel an overtaking maneuver is performed on the lane of the oncoming traffic. In this example, it is extremely advantageous, if between the vehicle and the oncoming vehicle, a sufficiently large distance is given during the overtaking maneuver, so that no dangerous traffic situation occurs during the overtaking maneuver.
  • the further threshold value can be determined, which relates to the required safety distance of the vehicle to the oncoming vehicle.
  • an oncoming traffic can be considered for the overtaking maneuver.
  • the present invention moreover relates to an analyzing component for a driver assistance system for performing an overtaking maneuver with a vehicle, which is located on a first lane and which overtakes a further vehicle located on a second lane.
  • the analyzing component can be an electronic control device of a vehicle.
  • An interface of the analyzing component serves for continuously receiving motion data, which describes a current speed of the vehicle, and of environmental data, which are provided by an environmental sensor of the vehicle, wherein the environmental data describes a distance between the vehicle and the further vehicle as well as a current speed of the further vehicle.
  • the current speed as has been mentioned above, besides the speed value can also describe the direction of travel of the vehicle.
  • the analyzing component is also
  • the analyzing component is configured to determine a distance value, which describes a distance between the vehicle and the further vehicle in the direction of travel of the second lane, on the basis of the environmental data.
  • the analyzing component moreover is configured to determine a threshold value for the distance value in dependence on the motion data and environmental data. Further, the analyzing component is configured to provide a first signal in case the distance value is larger than the threshold value. Therein, the first signal can describe that a completion of the overtaking maneuver by a merging of the vehicle into the second lane is possible.
  • the present invention in a further embodiment provides a driver assistance system for a vehicle with an analyzing component.
  • the analyzing component is incorporated in the driver assistance system of the vehicle.
  • the driver assistance system can further comprise a motion sensor, by means of which the current speed of the vehicle can be determined.
  • the driver assistance system moreover can comprise at least one environmental sensor, by means of which the environmental data can be provided.
  • the environmental sensor can preferably be configured as a radar sensor. By means of the radar sensor, the distance between the vehicle and the further vehicle can be determined. Hence, the distance value, which describes the longitudinal distance between the vehicle and the further vehicle with respect to the direction of travel of the second lane, can be
  • the relative speed between the vehicle and the further vehicle can be determined.
  • the speed of the further vehicle can be determined.
  • a vehicle is designed with such driver assistance system. If the driver assistance system with the inventive analyzing component is mounted in the vehicle, the analyzing component according to the invention can employ the method according to the invention in an appropriate manner.
  • Fig. 1 a vehicle with a driver assistance system, which comprises an analyzing component
  • Fig. 2 a schematic representation of the vehicle, which is just overtaking a further vehicle
  • Fig. 3 a schematic representation of an overtaking maneuver, wherein the vehicle on the first lane is located in front of the further vehicle on the second lane, however has too small a distance to the further vehicle in the direction of travel to be able to complete the overtaking maneuver;
  • Fig. 4 a schematic representation of an overtaking maneuver, wherein an additional vehicle is located on the first lane in the direction of travel of the vehicle;
  • Fig. 5 a diagram, which shows the distances and speeds of the two vehicles in a braking operation without a collision
  • Fig. 6 a diagram, which shows the distances and speeds of the two vehicles in a braking operation with a collision.
  • Fig. 1 in an exemplary manner shows a vehicle 300, which in the present case is configured as passenger car.
  • the vehicle 300 comprises a driver assistance system 45, which serves for supporting the driver of the vehicle 300 in an overtaking maneuver.
  • the driver assistance system 45 comprises an analyzing component 50, which can be formed by an electronic control device.
  • the driver assistance system 45 further comprises an output device 99, by means of which signals can be emitted to the driver of the vehicle 300.
  • the driver assistance system 45 comprises a motion sensor 95, by means of which motion data are provided.
  • the motion data describes the current speed of the vehicle 300.
  • the driver assistance system 45 comprises at least one environmental sensor 10, by means of which environmental data can be provided. These environmental data can describe an environment of the vehicle 300.
  • the environmental data can describe further vehicles 400.
  • the environmental data describes a distance between the vehicle 300 and a further vehicle 400.
  • the environmental data can also describe a relative speed between the vehicle 300 and the further vehicle 400.
  • a current speed of the further vehicle 400 can be determined.
  • the environmental data can describe a roadway condition.
  • the driver assistance system 45 comprises four environmental sensors 10, which are configured as radar sensors. These radar sensors serve for determining the environmental data.
  • An analyzing component 50 is configured to receive the environmental data from the environmental sensors 10 and analyze the received environmental data. Further, the motion data of the motion sensor 95 are transmitted to the analyzing component 50. Besides the environmental sensors 10, further sensors of the driver assistance system 45 can deliver data to the analyzing component 50.
  • Fig. 2 shows an overtaking maneuver of the vehicle 300, which intends to overtake a further vehicle 400.
  • the vehicle 300 in this situation is located on a first lane 100 and is driving in the direction of travel 150 of the first lane 100.
  • the further vehicle 400 is located on the second lane 200.
  • the direction of travel 250 of the second lane 200 in this example is identical with the direction of travel 150 of the first lane 100.
  • the driver of the vehicle 300 would like to complete the overtaking maneuver by a lane change from the first lane 100 to the second lane 200.
  • the driver of the vehicle 300 must consider that sufficient and safe distance to the further vehicle 400 is maintained by the merging of his vehicle 300 into the second lane 200.
  • a possible position of the vehicle 300 after the overtaking operation is marked by the reference sign 310.
  • a safe path for the change of lanes is shown by an arrow 700.
  • the method according to the invention or the analyzing component 50 should serve for safely conducting this overtaking maneuver.
  • a first signal or a second signal is emitted to the driver of the vehicle 300.
  • the first signal describes that the overtaking maneuver can be safely completed.
  • the first signal is only emitted, if a distance between the vehicle 300 and the further vehicle 400 is sufficiently large.
  • the second signal by contrast describes that the completion of the overtaking maneuver is not yet possible. In this case this is nearly not possible, because the distance is not large enough.
  • a dangerous path is represented in an exemplary way in Fig. 2 by a dashed arrow 750.
  • Such overtaking maneuver along a dangerous path can lead to a collision between the vehicle 300 and the further vehicle 400, because thereby the demanded security distance cannot be maintained. If in this case the vehicle 300 had to brake suddenly and abruptly, for instance because suddenly an obstacle occurs in the further course of the second lane 200, the risk increases that in the case of a full braking, the further vehicle 400 cannot brake early enough. Thus, the danger increases that a further vehicle 400 crashes into the vehicle 300 driving in front of it and persons suffer damage.
  • the method according to the invention can help the driver of the vehicle 300 in completing the overtaking maneuver not via the dangerous path 750, but via the safe path 700.
  • Fig. 2 the vehicle 300 is in the middle of an overtaking maneuver. Directly next to the vehicle 300 the further vehicle 400 is located. Thus, a completion of the overtaking maneuver in the situation shown in Fig. 2 cannot be performed as yet.
  • the example of Fig. 3 shows the overtaking operation at a later point of time.
  • the vehicle 300 has overtaken the further vehicle 400, however, a distance value 500 is not sufficient.
  • the distance value 500 describes the longitudinal distance between the vehicle 300 and the further vehicle 400 in the direction of travel 250 of the second lane 200. In the present case, the distance value 500 between a front side of the further vehicle 400 and a rear side of the vehicle 300 in the direction of travel 250 is determined.
  • the distance value 500 can be determined on the basis of environmental data, which are provided by the environmental sensors 10 or the radar sensors.
  • This environmental data describes the relative position between the vehicle 300 and the further vehicle 400.
  • the environmental data describes a distance to the further vehicle 400 and an angle relative to the further vehicle 400.
  • the distance value 500 can be determined.
  • This distance value 500 can be compared with a threshold value 600, in order to be able to decide whether the vehicle 300 can change to the second lane 200.
  • the threshold value 600 describes the safety distance.
  • the distance value 500 in the direction of the second lane 200 in this example is clearly smaller than the required safety distance or the threshold value 600.
  • the vehicle 300 has just overtaken the further vehicle 400. It is located in the direction of travel 150 just in front of the further vehicle 400. In this case, the distance value 500 is clearly smaller than the threshold value 600 describing the demanded safety distance.
  • the present invention in this case intends to enable that in the vehicle 300 a second signal is provided, which signals that the overtaking maneuver cannot be completed as yet. This can be effected with the aid of the output device 99 for instance by means of a corresponding indication, a warning tone, or a corresponding vibration.
  • the driver of the vehicle 300 receives the information that in this situation he cannot yet complete the overtaking maneuver safely.
  • the overtaking maneuver of the distance value 500 as well as the threshold value 600 is continuously determined. Similarly, continuous comparison of these two values takes place.
  • the threshold value 600 can be determined on the basis of physical equations of motion. In this case in a calculation, the trajectories of the vehicles 300, 400 involved can be determined in advance. For this purpose information regarding the roadway conditions, the speeds, etc. are required. Radar sensors 10 can for instance capture the speed values. The data captured in this way can be used for the calculation. Instead of a simulation, the threshold value 600 can also be determined by means of statistical estimations and/or approximation formulae. Thus, for instance the calculation of the required safety distance can be realized with a simple approximation formula. The approximation value for the safety distance in meters can amount to half of the speed in kilometers per hour. This approximation formula can be equipped with corresponding coefficients, which capture certain influencing parameters. For instance a reaction coefficient could be envisaged, which can adopt various values. If for example vision is very poor, an adapted reaction coefficient can generate a higher threshold value 600.
  • influencing parameters include for instance, the roadway condition, speeds of the vehicle 300 and the vehicle 400 as well as their directions, the vehicle type of the vehicle 400, the adhesive properties of the vehicles 300, 400 with regard to the lane or possible particular weather conditions, such as for instance strong wind or a blinding low sun. Besides the continuous determining of these two values, it is also intended that these values are continuously compared with each other.
  • the speed of the further vehicle 400 changes, this is taken into account in the calculation of the threshold value 600.
  • the distance value 500 in the case of constant speed of the vehicle 300 would not increase, but rather decrease.
  • the driver of the vehicle 300 would receive the second signal from the analyzing component 50 according to the invention, which provides him a signal him that the overtaking maneuver cannot be completed by a change of lane. This derives due to the fact that the distance value 500 is smaller than the threshold value 600.
  • the first signal would be provided to the effect that it provides a signal to the driver of the vehicle 300 that by a change of lane he can safely complete the overtaking maneuver.
  • the present invention assists the driver of the vehicle 300 in completing the overtaking maneuver via the safe path 700.
  • Fig. 4 a more complex traffic situation is shown.
  • an additional third vehicle 800 is present on the first lane 100.
  • this third vehicle 800 moves in the same direction of travel as the two other vehicles 300, 400.
  • the third vehicle 800 with respect to the vehicle 300 is a preceding vehicle.
  • the analyzing component 50 would not only continuously determine a threshold value 600 for the demanded safety distance, but also a further threshold value 900 for a distance to the preceding vehicle 800 is determined.
  • a further distance value 900 for the distance to the preceding vehicle 800 can be taken into consideration.
  • a further threshold value 650 for a security distance to the preceding vehicle 800 can be determined. This means that in the example of Fig. 4 not only the distance value 500 is compared with the threshold value 600, but moreover in addition the distance value 900 is compared with a further threshold value 650. In this example it is preferably intended that only if both distance values 500, 900 exceed their respective threshold values 600, 650, a hint as to a possible lane change is issued. This, however, is not the case in the example of Fig. 4, since the vehicle 300 is not located in front of the further vehicle 400 and thus the distance value 500 does not exceed the threshold value 600.
  • the threshold value 650 for the safety distance to the third vehicle 800 decisively depends on its direction of travel. If the vehicle 300 is located on a common country road, the additional vehicle 800 could travel in a direction of travel 890 that is contrary to the direction of travel of the vehicle 300. Thus, the vehicle 300 would be situated on the lane of the oncoming traffic. This has a decisive influence upon the threshold value 900 for the safety distance 650 to the now oncoming vehicle 800, which approaches the vehicle 300 in the direction of travel 890. In this case for the distance value 900 a considerably larger threshold value 650 is envisaged.
  • the present invention can intend to enable that the driver of the vehicle 300 is urged by a corresponding warning signal to immediately discontinue the overtaking maneuver.
  • it may be intended that by corresponding optical, haptic and/or acoustic signals of the driver of the vehicle 300 is warned against a possible collision with the oncoming vehicle 800.
  • the data of the radar sensors 10 captured by the analyzing component 50 and the driver assistance system 45 can be used for a prediction of the traffic situation.
  • the prediction was based on the corresponding physical equations of motion.
  • different values for the required parameters such as for instance delay, mass of the vehicles 300, 400 etc. can be used.
  • Fig. 5 comprises a time axis t and a left y axis for the speed and a right y axis d for the distance of both vehicles (300, 400) relative to each other.
  • the continuous linear descending curve 65 represents the speed of the vehicle 300
  • the temporally offset descending dashed curve 85 is the speed of the further vehicle 400, which was overtaken.
  • the distances and the speeds of the two vehicles 300, 400 are simulated if after the overtaking maneuver the now preceding vehicle 300 suddenly performs a complete braking.
  • the position of the two vehicles 300 and 400 is shown by curves 55 and 75.
  • the dashed curve 75 of the further vehicle 400 has a negative value.
  • the curve 55 of the vehicle 300 has the value 0. This corresponds to the situation immediately after completion of the overtaking maneuver.
  • the preceding vehicle 300 starts to brake hard and its speed decreases accordingly.
  • the curve 55 further increases, however, levels off slightly.
  • the gradient of the curve 55 decreases. Due to the reaction time of the driver of the further vehicle 400 the braking operation of the further vehicle 400 in this example starts 1 .5 seconds later. During this period of time the curve 75 increases linearly. After that, a speed line 85 indicates a decrease in the speed of the further vehicle 400.
  • Fig. 6 shows a similar calculation as in Fig. 5.
  • the initial distance value 500 of the two vehicles relative to each other is clearly smaller. It amounts only to 10 meters.
  • the simulation in Fig. 6 is performed in the same way as in Fig. 5.
  • the curves 75 and 55 intersect at a point of time c at about 3.6 seconds.
  • a vertical line marks this point of time c.
  • a so-called custodycrash value" could be determined.
  • the assistance for performing an overtaking maneuver as proposed according to the invention can be reasonably combined with further functions of a driver assistance system 45.
  • the present invention can for example be combined with a CVW function (close vehicle warning - warning upon approaching of a vehicle). This function can recognize whether in the space to the rear of the vehicle 300 another vehicle is approaching and whether on this lane this another vehicle is located.
  • this CVW function can be employed for initiating an overtaking maneuver.
  • the analyzing component 50 according to the invention can assist the driver of the vehicle 300 in safely completing the overtaking maneuver.

Abstract

The present invention relates to a method of performing an overtaking maneuver with a vehicle (300), which is located on a first lane (100) and which overtakes a further vehicle (400) located on a second lane (200). An analyzing component (50) is configured to receive motion data, which describes a current speed of the vehicle (300). Equally this analyzing component (50) receives environmental data, which are provided by an environmental sensor of the vehicle, wherein the environmental data describes a distance between the vehicle and the further vehicle (400) as well as a current speed of the further vehicle (400). A distance value (500) is determined, which describes a distance between the vehicle (300) and the further vehicle (400) in the direction of travel (250) of the second lane (200). Equally a threshold value (600) for the distance value (500) is determined in dependence on the motion data and the environmental data. These two values are compared with each other and based on this comparison a signal is provided.

Description

Method for performing an overtaking maneuver including considering a safety distance, analyzing component, driver assistance system, as well as vehicle
The present invention relates to a method for performing an overtaking maneuver with a vehicle, which is located on a first lane and which overtakes a further vehicle located on a second lane. Moreover, the present invention relates to an analyzing component for a driver assistance system. Further, the present invention relates to a driver assistance system with a corresponding analyzing component as well as a vehicle with such a driver assistance system.
In order to avoid accidents in road traffic, it is important to keep a certain distance, the so- called safety distance, to a preceding vehicle. However, it is not only required to maintain the safety distance to a preceding vehicle. Also immediately after an overtaking maneuver the distance between the overtaking vehicle and the vehicle to be overtaken should not become smaller than the required safety distance. In other words: An overtaking vehicle upon completion of the overtaking maneuver should ensure that the required safety distance is maintained. Hence, in the development of autonomously driving vehicles, it is to be ensured that these maintain the required safety distance not only during a normal driving situation, but also take it into consideration upon performing an overtaking maneuver.
The patent application DE 10 2006 059 915 A1 relates to a method for determining a vehicle guidance and a vehicle assistance system adjusted to a traffic situation. Here the relative speed and/or the distance between the vehicle and a preceding vehicle is determined by means of sensors. This is also applicable to a following vehicle. On the basis of these data a vehicle guidance that is adapted to the traffic situation is
determined.
The European patent document EP 1 887 540 B1 describes a device with a sensor system, which determines the relative speed between an own motor vehicle and a following motor vehicle. The system determines an assignment of adjacent lanes, wherein from the assignment of the lanes a probability for an overtaking operation of the following motor vehicle is determined.
In the patent application DE 10 2015 208 007 A1 a method for performing a lane change with a vehicle is proposed. In the method, a recommendation as to a lane change from a fast lane to a slow lane is made, when a sufficient distance to an overtaken vehicle is kept. The distance should be at least equal to a distance corresponding to that covered by the own vehicle in five seconds. However, from this patent application, one is not able to unambiguously derive, whether merely a recommendation as to a lane change is given or whether this lane change is autonomously performed.
The object of the present invention is to present a solution as to how an overtaking maneuver can be performed more safely.
This object is solved by a method, by an analyzing component, by a driver assistance system, as well as a vehicle with the features according to the respective independent claims. Advantageous further developments are indicated in the dependent claims.
The present invention relates to a method for performing an overtaking maneuver with a vehicle, which is located on a first lane and which overtakes a further vehicle located on a second lane, wherein during the overtaking maneuver the following steps are
continuously performed by means of an analyzing component: In a first step, motion data is received, which describes a current speed of the vehicle. Here, the motion data can also describe the direction of the motion of the vehicle, i.e. the direction of travel. In a next step, environmental data is received, which is provided by an environmental sensor of the vehicle, wherein the environmental data describes a distance between the vehicle and the further vehicle as well as a current speed of the further vehicle. Further, the
environmental data can describe both the current speed as well as the direction of travel of the further vehicle. The environmental data can also describe the environment of the vehicle. Moreover, the environmental data can comprise the presence of further objects as well as the associated object type. The environmental data can be provided by means of an environmental sensor or a surround sensor of the driver assistance system. The environmental sensor can be configured as an ultrasonic sensor, as a Lidar sensor, as a laser scanner, and/or as a camera. The environmental sensor can in particular be a radar sensor. Here, it is in particular intended to enable that by means of the environmental sensor, a sensor signal is emitted and the sensor signal, which is reflected by the further vehicle, is then received. Based on the time-of-flight between an emission of the sensor signal and the receiving of the sensor signal reflected by the further vehicle, the distance between the vehicle and the further vehicle can be determined. Based on the difference between a frequency of the emitted sensor signal and a frequency of the received sensor signal, a relative speed between the vehicle and the further vehicle can be determined. Based on the current speed of the vehicle and the relative speed, the current speed of the further vehicle can be determined.
In the further course of the method according to the invention, a distance value is determined, which describes a distance between the vehicle and the further vehicle in the direction of travel of the second lane, based on the environmental data. This distance value describes a distance between the two vehicles in the direction of travel relative to each other with respect to the direction of travel of the second lane. Hence, the distance in the direction of travel of the second lane or in the direction of travel of the further vehicle is measured. The distance value can describe the so-called longitudinal distance between the vehicle and the further vehicle. This longitudinal distance can be determined on the basis of the environmental data, which are provided by means of at least one environmental sensor. It is in particular intended to enable that the environmental data describes the relative position between the at least one environmental sensor and the further vehicle. On the basis of the relative position, the longitudinal distance can be determined. The environmental sensor can for instance be configured to determine both the distance to the object as well as an angle relative to the object. From the distance and the angle, the longitudinal distance can be determined. It may also be intended to enable that at least two environmental sensors, which are located in different mounting positions, each determine the distance to the further vehicle. The relative position can be determined by means of triangulation or trilateration. Based on the motion data and the environmental data, a threshold value for the distance value is determined. In case the distance value is larger than the threshold value, a first signal is provided or emitted.
By this method according to the invention an overtaking maneuver is performed. The method can serve for reliably assisting a driver of the vehicle in performing the overtaking maneuver. The method can also be used in the autonomous operation of the vehicle. During the overtaking maneuver it is constantly checked whether the overtaking maneuver by merging of the vehicle from the first lane into the second lane is possible and whether at the same time a demanded safety distance is maintained. This is made possible by continuously comparing the distance value with the threshold value. Thus, the probability that the vehicle changes too early to the second lane is clearly reduced. This can help to avoid rear-end collisions after completion of the overtaking maneuver. In this regard, the term overtaking maneuver refers to the same meaning as the term overtaking operation. In the overtaking maneuver, the vehicle is moved at a higher speed than the further vehicle. Moreover, by this method, a driver of the further vehicle is not urged by the vehicle merging in too early. This reduces in particular the danger that the further vehicle needs to brake hard or steps aside to another lane. Thus, a danger of possible further subsequent accidents can be clearly reduced.
As mentioned above, a first signal is emitted, in case the distance value is larger than the threshold value. In an advantageous embodiment of the present invention, the first signal describes that a completion of the overtaking maneuver by merging of the vehicle into the second lane is possible. This first signal can be transmitted to an output device of the driver assistance system. In dependence on the first signal by means of the output device, an output can be provided to the driver of the motor vehicle. Thus, it can be signaled to the driver of the vehicle as from which point of time a safe completion of the overtaking maneuver would be possible. Such a signal can provide the driver with the information that the overtaking maneuver can be safely completed. This first signal can help the driver to avoid misjudgment. The first signal can also be used when
autonomously maneuvering the motor vehicle. When maneuvering autonomously upon receiving the first signal, a lane change from the first lane to the second lane can be performed.
In a further embodiment of the present invention, it is intended to provide a second signal, in case the distance value is smaller than the threshold value, wherein the second signal describes that the completion of the overtaking maneuver by the merging of the vehicle into the second lane is not possible. In this variant of the invention, a signal, here the second signal, is emitted also for the case in which the overtaking maneuver cannot be completed yet. In this case, the longitudinal distance of the two vehicles in the direction of travel relative to each other is smaller than the demanded safety distance. The second signal can for instance be emitted optically as display by means of an output device. With this second signal, a driver of the vehicle should be halted not to complete an overtaking maneuver too early. If the vehicle is maneuvered autonomously, no change of lane can be performed as long as the second signal is received.
In a further embodiment of this invention, it is intended that based on the environmental data a vehicle type of the further vehicle is determined and the stopping distance is determined in dependence on the vehicle type of the further vehicle. The vehicle type can be a motor vehicle, a bus, a truck, a motorcycle, or the like. The stopping distance of the further vehicle depends amongst other things on whether the further vehicle for instance is a motor vehicle, a motor cycle, a bus, or a truck. In particular the stopping distance is dependent on a mass or a weight of the further vehicle. A fully loaded truck for instance will have a different stopping distance than a small car without load. Hence, it is in particular intended that the vehicle type describes the mass of the further vehicle. It is very advantageous to take the vehicle type of the further vehicle into consideration in determining the stopping distance and in calculating the threshold value. Thus, the method according to the invention can be designed to be more flexible.
A further embodiment of the present invention intends to enable that the environmental data further describes a roadway condition of the first and/or the second lane and the braking distance and/or that the stopping distance are determined dependent on the roadway condition. Depending on the roadway condition a different friction between the lane and the wheels of the vehicle or the further vehicle is given. This results in different braking distances or stopping distances. For instance in the case of a wet lane or glaze, it is to be reckoned with clearly longer stopping distances. It is known that a minimum value for the safety distance on the basis of a period of time is assumed. For determining the minimum value for the safety distance, a period of time of 3 to 4 seconds is assumed.
This means that the distance covered by a vehicle in 3 to 4 seconds corresponds to the suggested minimum distance. Since the roadway condition massively affects the braking distance or the stopping distance, it is preferably intended to consider the roadway condition when determining the stopping distance or the braking distance. Thus, the method according to the invention can be employed in nearly any kind of weather and in any season of the year.
In a further variant of the present invention, it is preferably intended to enable that based on the environmental data and the motion data a braking distance for the vehicle and a stopping distance for the further vehicle are determined and the threshold value is determined in dependence on the braking distance or the stopping distance. The stopping distance is the distance covered by the further vehicle on the second lane from the point of time, when an obstacle, for example the vehicle, occurs or can be seen, until standstill. The braking distance is the distance covered by the vehicle from the start of the braking to the end of the braking. If the vehicle has to suddenly brake hard after the overtaking maneuver, the braking with the further vehicle does not start at the same time, but slightly delayed. For this reason for a vehicle the stopping distance is in general longer than the braking distance. It is preferably intended to consider this difference when determining the threshold value.
A further variant of the present invention intends to enable that the stopping distance is determined in dependence on a predetermined reaction time of a driver of the further vehicle and/or a predetermined response time of the brakes of the further vehicle. If for instance the vehicle after the overtaking maneuver has to brake suddenly, the braking process in the further vehicle is not immediately initiated. It is in the nature of the matter that the driver of the further vehicle initiates a braking process only after a certain response time. Frequently, for this reaction time a period of about 1 ,5 second is assumed. Also a braking system of the further vehicle requires a certain response time until the braking takes effect. As a general rule, the response time is clearly shorter than the reaction time. It can for instance be estimated to be about 50 milliseconds. In this variant of the present invention, however, it is also possible to subdivide the response time or the reaction time into further additional periods of time. Hence, a more detailed analysis of the complete braking process can be taken into consideration.
In a further embodiment of the present invention it is intended to enable that the motion data further describes a current direction of travel of the vehicle and the environmental data further describes a current direction of travel of the further vehicle, wherein the threshold value is determined in dependence on the current speed of the vehicle and/or the current speed of the further vehicle. In this variant upon determination of the threshold value not only the current speed of the vehicle and/or of the further vehicle is taken into consideration, but moreover also the respective directions of travel of the two vehicles. If the further vehicle changes for instance from the second lane to the first lane, i.e. behind the overtaking vehicle on the first lane, the traffic situation changes. In this case under favorable conditions the vehicle can change from the first lane to the second lane, without violating the determined safety distance. In other words, by the lane change of the further vehicle a new threshold value can abruptly occur. Due to this new threshold value, correspondingly now a change of lane can be possible and this can be signaled accordingly by providing the first signal for the output device to the driver. Thus, it is possible to consider possible lane changes of vehicles to be overtaken during the overtaking maneuver when determining the threshold value.
In a further embodiment of the present invention it is intended to enable that the threshold value is determined in consideration of physical equations of motion of the vehicle and/or the further vehicle and/or due to a predetermined statistical model. The physical equations of motion can describe the motion of the vehicle and/or the further vehicle. The physical equations of motion can describe the speed, the mass, and/or a friction between the wheel of the vehicles and the lane. Moreover, the equations of motion can describe a gradient of the roadway and/or course of the roadway. On the basis of the equations of motion, the stopping distance or the braking distance can be determined. Thus, further the threshold value for the distance value can also be determined based on physical equations of motion. In other words, in this variant of the present invention, the
trajectories of both vehicles can be calculated on the basis of physical equations of motion. Alternatively or additionally, it is also possible to determine this threshold value based on a statistical model. This statistical model can describe the reaction times of the drivers, typical delay times in operating the brake, typical time periods, which the driver requires for recognizing a dangerous situation, or the like. The statistical model can also describe an approximation formula for a braking path. In such estimated approximation formulae in this connection, further coefficients can also be included, which for instance, consider the vehicle type or the roadway condition. If for the determination of the threshold value, a statistical model is used, it is not absolutely necessary to simulate the trajectories of the vehicles.
In an advantageous further development of the present invention it is intended to enable that based on the environmental data an oncoming vehicle or a preceding vehicle on the first lane is recognized and the threshold value determined in dependence on the oncoming vehicle or the preceding vehicle. An overtaking maneuver should not be effected whilst violating the demanded safety distance to the preceding vehicle on the first lane. Therefore, it makes sense to consider a preceding vehicle, when determining the threshold value. This can preferably be done by using a further threshold value.
If, however, it is an oncoming vehicle, in this case the threshold will clearly differ from the case of a preceding vehicle. This case occurs for instance, if on a two-lane country road with opposite directions of travel an overtaking maneuver is performed on the lane of the oncoming traffic. In this example, it is extremely advantageous, if between the vehicle and the oncoming vehicle, a sufficiently large distance is given during the overtaking maneuver, so that no dangerous traffic situation occurs during the overtaking maneuver.
In this case, in addition to the threshold value the further threshold value can be determined, which relates to the required safety distance of the vehicle to the oncoming vehicle. In this variant of the invention, an oncoming traffic can be considered for the overtaking maneuver. Thus, it is possible to employ this method not only on motorways, but also on country roads or other roads with oncoming traffic.
The present invention moreover relates to an analyzing component for a driver assistance system for performing an overtaking maneuver with a vehicle, which is located on a first lane and which overtakes a further vehicle located on a second lane. The analyzing component can be an electronic control device of a vehicle. An interface of the analyzing component serves for continuously receiving motion data, which describes a current speed of the vehicle, and of environmental data, which are provided by an environmental sensor of the vehicle, wherein the environmental data describes a distance between the vehicle and the further vehicle as well as a current speed of the further vehicle.
The current speed, as has been mentioned above, besides the speed value can also describe the direction of travel of the vehicle. The analyzing component is also
characterized in that it is configured to determine a distance value, which describes a distance between the vehicle and the further vehicle in the direction of travel of the second lane, on the basis of the environmental data. The analyzing component moreover is configured to determine a threshold value for the distance value in dependence on the motion data and environmental data. Further, the analyzing component is configured to provide a first signal in case the distance value is larger than the threshold value. Therein, the first signal can describe that a completion of the overtaking maneuver by a merging of the vehicle into the second lane is possible.
The present invention in a further embodiment provides a driver assistance system for a vehicle with an analyzing component. In this variant of the invention, the analyzing component is incorporated in the driver assistance system of the vehicle. Thus, it is possible to provide additional information through further sensors, this additional information can be taken into consideration by the analyzing component when
determining the threshold value. The driver assistance system can further comprise a motion sensor, by means of which the current speed of the vehicle can be determined. The driver assistance system moreover can comprise at least one environmental sensor, by means of which the environmental data can be provided. The environmental sensor can preferably be configured as a radar sensor. By means of the radar sensor, the distance between the vehicle and the further vehicle can be determined. Hence, the distance value, which describes the longitudinal distance between the vehicle and the further vehicle with respect to the direction of travel of the second lane, can be
determined. Moreover, by means of the radar sensor the relative speed between the vehicle and the further vehicle can be determined. On the basis of the speed of the vehicle and the relative speed between the vehicle and the further vehicle, the speed of the further vehicle can be determined.
In a preferred embodiment of the present invention a vehicle is designed with such driver assistance system. If the driver assistance system with the inventive analyzing component is mounted in the vehicle, the analyzing component according to the invention can employ the method according to the invention in an appropriate manner.
The preferred embodiments presented with reference to the inventive method and their advantages correspondingly apply to the analyzing component according to the invention, the driver assistance system, as well as to the vehicle according to the invention.
Further features of the invention are apparent from the claims, the figures and the description of figures. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of figures and/or shown in the figures alone are usable not only in the respectively specified combination, but also in other combinations or alone without departing from the scope of the invention. Thus, implementations are also to be considered as encompassed and disclosed by the invention, which are not explicitly shown in the figures and explained, but arise from and can be generated by separated feature combinations from the explained implementations. Implementations and feature combinations are also to be considered as disclosed, which thus do not have all of the features of an originally formulated independent claim. Moreover, embodiments and feature combinations are to be considered as disclosed, in particular by the above set out embodiments, which go beyond the feature combinations set out in the back-references of the claims or deviate therefrom.
The present invention is now explained in more detail by referring to the enclosed drawings, which show in:
Fig. 1 a vehicle with a driver assistance system, which comprises an analyzing component;
Fig. 2 a schematic representation of the vehicle, which is just overtaking a further vehicle;
Fig. 3 a schematic representation of an overtaking maneuver, wherein the vehicle on the first lane is located in front of the further vehicle on the second lane, however has too small a distance to the further vehicle in the direction of travel to be able to complete the overtaking maneuver; Fig. 4 a schematic representation of an overtaking maneuver, wherein an additional vehicle is located on the first lane in the direction of travel of the vehicle;
Fig. 5 a diagram, which shows the distances and speeds of the two vehicles in a braking operation without a collision; and
Fig. 6 a diagram, which shows the distances and speeds of the two vehicles in a braking operation with a collision.
In the figures identical or functionally identical elements are equipped with the same reference signs.
Fig. 1 in an exemplary manner shows a vehicle 300, which in the present case is configured as passenger car. The vehicle 300 comprises a driver assistance system 45, which serves for supporting the driver of the vehicle 300 in an overtaking maneuver. The driver assistance system 45 comprises an analyzing component 50, which can be formed by an electronic control device. The driver assistance system 45 further comprises an output device 99, by means of which signals can be emitted to the driver of the vehicle 300. Moreover, the driver assistance system 45 comprises a motion sensor 95, by means of which motion data are provided. The motion data describes the current speed of the vehicle 300. Moreover, the driver assistance system 45 comprises at least one environmental sensor 10, by means of which environmental data can be provided. These environmental data can describe an environment of the vehicle 300. The environmental data can describe further vehicles 400. In particular the environmental data describes a distance between the vehicle 300 and a further vehicle 400. The environmental data can also describe a relative speed between the vehicle 300 and the further vehicle 400. On the basis of the current speed of the vehicle 300, a current speed of the further vehicle 400 can be determined. Moreover, the environmental data can describe a roadway condition.
In the present example the driver assistance system 45 comprises four environmental sensors 10, which are configured as radar sensors. These radar sensors serve for determining the environmental data. An analyzing component 50 is configured to receive the environmental data from the environmental sensors 10 and analyze the received environmental data. Further, the motion data of the motion sensor 95 are transmitted to the analyzing component 50. Besides the environmental sensors 10, further sensors of the driver assistance system 45 can deliver data to the analyzing component 50.
Fig. 2 shows an overtaking maneuver of the vehicle 300, which intends to overtake a further vehicle 400. The vehicle 300 in this situation is located on a first lane 100 and is driving in the direction of travel 150 of the first lane 100. The further vehicle 400 is located on the second lane 200. The direction of travel 250 of the second lane 200 in this example is identical with the direction of travel 150 of the first lane 100. The driver of the vehicle 300 would like to complete the overtaking maneuver by a lane change from the first lane 100 to the second lane 200.
Henceforth, the driver of the vehicle 300 must consider that sufficient and safe distance to the further vehicle 400 is maintained by the merging of his vehicle 300 into the second lane 200. A possible position of the vehicle 300 after the overtaking operation is marked by the reference sign 310. A safe path for the change of lanes is shown by an arrow 700. The method according to the invention or the analyzing component 50 should serve for safely conducting this overtaking maneuver. For this purpose a first signal or a second signal is emitted to the driver of the vehicle 300. The first signal describes that the overtaking maneuver can be safely completed. Ideally, the first signal is only emitted, if a distance between the vehicle 300 and the further vehicle 400 is sufficiently large. The second signal by contrast describes that the completion of the overtaking maneuver is not yet possible. In this case this is nearly not possible, because the distance is not large enough.
A dangerous path is represented in an exemplary way in Fig. 2 by a dashed arrow 750. Such overtaking maneuver along a dangerous path can lead to a collision between the vehicle 300 and the further vehicle 400, because thereby the demanded security distance cannot be maintained. If in this case the vehicle 300 had to brake suddenly and abruptly, for instance because suddenly an obstacle occurs in the further course of the second lane 200, the risk increases that in the case of a full braking, the further vehicle 400 cannot brake early enough. Thus, the danger increases that a further vehicle 400 crashes into the vehicle 300 driving in front of it and persons suffer damage. The method according to the invention can help the driver of the vehicle 300 in completing the overtaking maneuver not via the dangerous path 750, but via the safe path 700.
In Fig. 2 the vehicle 300 is in the middle of an overtaking maneuver. Directly next to the vehicle 300 the further vehicle 400 is located. Thus, a completion of the overtaking maneuver in the situation shown in Fig. 2 cannot be performed as yet. By contrast, the example of Fig. 3 shows the overtaking operation at a later point of time. The vehicle 300 has overtaken the further vehicle 400, however, a distance value 500 is not sufficient. The distance value 500 describes the longitudinal distance between the vehicle 300 and the further vehicle 400 in the direction of travel 250 of the second lane 200. In the present case, the distance value 500 between a front side of the further vehicle 400 and a rear side of the vehicle 300 in the direction of travel 250 is determined. The distance value 500 can be determined on the basis of environmental data, which are provided by the environmental sensors 10 or the radar sensors. This environmental data describes the relative position between the vehicle 300 and the further vehicle 400. For instance the environmental data describes a distance to the further vehicle 400 and an angle relative to the further vehicle 400. On the basis of the relative position, the distance value 500 can be determined.
This distance value 500 can be compared with a threshold value 600, in order to be able to decide whether the vehicle 300 can change to the second lane 200. The threshold value 600 describes the safety distance. The distance value 500 in the direction of the second lane 200 in this example is clearly smaller than the required safety distance or the threshold value 600. In the example of Fig. 3, the vehicle 300 has just overtaken the further vehicle 400. It is located in the direction of travel 150 just in front of the further vehicle 400. In this case, the distance value 500 is clearly smaller than the threshold value 600 describing the demanded safety distance.
The present invention in this case intends to enable that in the vehicle 300 a second signal is provided, which signals that the overtaking maneuver cannot be completed as yet. This can be effected with the aid of the output device 99 for instance by means of a corresponding indication, a warning tone, or a corresponding vibration. Thus, the driver of the vehicle 300 receives the information that in this situation he cannot yet complete the overtaking maneuver safely. Hence, the overtaking maneuver of the distance value 500 as well as the threshold value 600 is continuously determined. Similarly, continuous comparison of these two values takes place.
The threshold value 600 can be determined on the basis of physical equations of motion. In this case in a calculation, the trajectories of the vehicles 300, 400 involved can be determined in advance. For this purpose information regarding the roadway conditions, the speeds, etc. are required. Radar sensors 10 can for instance capture the speed values. The data captured in this way can be used for the calculation. Instead of a simulation, the threshold value 600 can also be determined by means of statistical estimations and/or approximation formulae. Thus, for instance the calculation of the required safety distance can be realized with a simple approximation formula. The approximation value for the safety distance in meters can amount to half of the speed in kilometers per hour. This approximation formula can be equipped with corresponding coefficients, which capture certain influencing parameters. For instance a reaction coefficient could be envisaged, which can adopt various values. If for example vision is very poor, an adapted reaction coefficient can generate a higher threshold value 600.
In the calculation of the threshold value 600, various influencing parameters can be taken into account. These influencing parameters include for instance, the roadway condition, speeds of the vehicle 300 and the vehicle 400 as well as their directions, the vehicle type of the vehicle 400, the adhesive properties of the vehicles 300, 400 with regard to the lane or possible particular weather conditions, such as for instance strong wind or a blinding low sun. Besides the continuous determining of these two values, it is also intended that these values are continuously compared with each other.
If now for instance the speed of the further vehicle 400 changes, this is taken into account in the calculation of the threshold value 600. If the further vehicle 400 in the example of Fig. 3 accelerated, the distance value 500 in the case of constant speed of the vehicle 300 would not increase, but rather decrease. In this case the driver of the vehicle 300 would receive the second signal from the analyzing component 50 according to the invention, which provides him a signal him that the overtaking maneuver cannot be completed by a change of lane. This derives due to the fact that the distance value 500 is smaller than the threshold value 600.
If, however, the certain distance value 500 is larger than the threshold value 600, the first signal would be provided to the effect that it provides a signal to the driver of the vehicle 300 that by a change of lane he can safely complete the overtaking maneuver. Thus, the present invention assists the driver of the vehicle 300 in completing the overtaking maneuver via the safe path 700.
In Fig. 4 a more complex traffic situation is shown. Besides the vehicle 300 and the further vehicle 400, an additional third vehicle 800 is present on the first lane 100. In the present case this third vehicle 800 moves in the same direction of travel as the two other vehicles 300, 400. Thus, the third vehicle 800 with respect to the vehicle 300 is a preceding vehicle. In this example, the analyzing component 50 would not only continuously determine a threshold value 600 for the demanded safety distance, but also a further threshold value 900 for a distance to the preceding vehicle 800 is determined.
Moreover, in the example shown in Fig. 4, additionally a further distance value 900 for the distance to the preceding vehicle 800 can be taken into consideration. With respect to the preceding vehicle 800, a further threshold value 650 for a security distance to the preceding vehicle 800 can be determined. This means that in the example of Fig. 4 not only the distance value 500 is compared with the threshold value 600, but moreover in addition the distance value 900 is compared with a further threshold value 650. In this example it is preferably intended that only if both distance values 500, 900 exceed their respective threshold values 600, 650, a hint as to a possible lane change is issued. This, however, is not the case in the example of Fig. 4, since the vehicle 300 is not located in front of the further vehicle 400 and thus the distance value 500 does not exceed the threshold value 600.
The threshold value 650 for the safety distance to the third vehicle 800 decisively depends on its direction of travel. If the vehicle 300 is located on a common country road, the additional vehicle 800 could travel in a direction of travel 890 that is contrary to the direction of travel of the vehicle 300. Thus, the vehicle 300 would be situated on the lane of the oncoming traffic. This has a decisive influence upon the threshold value 900 for the safety distance 650 to the now oncoming vehicle 800, which approaches the vehicle 300 in the direction of travel 890. In this case for the distance value 900 a considerably larger threshold value 650 is envisaged.
Since this situation in the case of too small a distance 900 from the vehicle 800 oncoming now is extremely dangerous, the present invention can intend to enable that the driver of the vehicle 300 is urged by a corresponding warning signal to immediately discontinue the overtaking maneuver. In this case it may be intended that by corresponding optical, haptic and/or acoustic signals of the driver of the vehicle 300 is warned against a possible collision with the oncoming vehicle 800. Ideally, there remains enough time for the driver of the vehicle 300 to brake and merge back into the second lane 200 behind the further vehicle 400.
The data of the radar sensors 10 captured by the analyzing component 50 and the driver assistance system 45 can be used for a prediction of the traffic situation. The prediction was based on the corresponding physical equations of motion. In the prediction different values for the required parameters, such as for instance delay, mass of the vehicles 300, 400 etc. can be used. Fig. 5 comprises a time axis t and a left y axis for the speed and a right y axis d for the distance of both vehicles (300, 400) relative to each other.
The continuous linear descending curve 65 represents the speed of the vehicle 300, the temporally offset descending dashed curve 85 is the speed of the further vehicle 400, which was overtaken. Thus, in this example the distances and the speeds of the two vehicles 300, 400 are simulated if after the overtaking maneuver the now preceding vehicle 300 suddenly performs a complete braking. The position of the two vehicles 300 and 400 is shown by curves 55 and 75. At the point of time 0, the dashed curve 75 of the further vehicle 400 has a negative value. The curve 55 of the vehicle 300 has the value 0. This corresponds to the situation immediately after completion of the overtaking maneuver.
Now the preceding vehicle 300 starts to brake hard and its speed decreases accordingly. The curve 55 further increases, however, levels off slightly. The gradient of the curve 55 decreases. Due to the reaction time of the driver of the further vehicle 400 the braking operation of the further vehicle 400 in this example starts 1 .5 seconds later. During this period of time the curve 75 increases linearly. After that, a speed line 85 indicates a decrease in the speed of the further vehicle 400.
As from the point of time 1 .5 seconds in this example now also the curve 75 of the further vehicle 400 levels off. In the case of both vehicles 300, 400 a braking is initiated. Due to the reaction time and possibly different delay values the two curves 75 (further vehicle 400) and 55 (vehicle 300) converge. In this prediction the distance value 500 at the point in time 0 amounts to about 33 meters. As soon as in the simulation a vehicle reaches the speed value 0, its curve extends horizontally. In this case the corresponding vehicle would have arrived at a standstill and of course does not travel any distance any more. If the curves 55 and 75 intersect, a collision occurs. In the example of Fig. 5 the curves 55 and 75 do not intersect, which means that no collision is calculated.
Fig. 6 shows a similar calculation as in Fig. 5. Here, however, the initial distance value 500 of the two vehicles relative to each other is clearly smaller. It amounts only to 10 meters. The simulation in Fig. 6 is performed in the same way as in Fig. 5. In Fig. 6 the curves 75 and 55 intersect at a point of time c at about 3.6 seconds. A vertical line marks this point of time c. This means that at the point of time c in the calculation, a collision of the two vehicles 300, 400 occurs. In a further evaluation by means of the difference between the two speed values of the two vehicles 300 and 400 prevailing at the point of time c a so-called„crash value" could be determined. Thus, it could be assessed how dangerous a possible collision could be. Based on that, a decision on a lane change can be made to avoid the potentially more dangerous collision.
The assistance for performing an overtaking maneuver as proposed according to the invention can be reasonably combined with further functions of a driver assistance system 45. For instance the present invention can for example be combined with a CVW function (close vehicle warning - warning upon approaching of a vehicle). This function can recognize whether in the space to the rear of the vehicle 300 another vehicle is approaching and whether on this lane this another vehicle is located. Thus, this CVW function can be employed for initiating an overtaking maneuver. During the overtaking maneuver the analyzing component 50 according to the invention can assist the driver of the vehicle 300 in safely completing the overtaking maneuver.

Claims

Claims
1. Method for performing an overtaking maneuver with a vehicle (300), which is
located on a first lane (100) and which overtakes a further vehicle (400) located on a second lane (200), wherein during the overtaking maneuver the following steps are continuously performed by means of an analyzing component (50):
- receiving motion data, which describes a current speed of the vehicle (300),
- receiving environmental data, which are provided by an environmental sensor of the vehicle (300), wherein the environmental data describes a distance between the vehicle (300) and a further vehicle (400) as well as a current speed of the further vehicle (400),
- determining a distance value (500), which describes a distance between the vehicle (300) and the further vehicle (400) in the direction of travel (250) of the second lane (200), based on the environmental data,
- determining a threshold value (600) for the distance value (500) in dependence on the motion data and the environmental data,
- providing a first signal, in case the distance value (500) is larger than the threshold value (600).
2. Method according to claim 1 ,
characterized in that
the first signal describes that a completion of the overtaking maneuver by merging of the vehicle (300) into the second lane (200) is possible.
3. Method according to claim 1 or 2,
characterized in that
a second signal is provided, in case the distance value (500) is smaller than the threshold value (600), wherein the second signal describes that the completion of the overtaking maneuver by merging vehicle (300) into the second lane (200) is not possible.
4. Method according to any one of the preceding claims,
characterized in that
on the basis of the environmental data a vehicle type of the further vehicle (400) is determined and the stopping distance is determined in dependence on the vehicle type of the further vehicle (400).
5. Method according to claim 4,
characterized in that
the environmental data further describes a roadway condition of the first lane (100) and/or the second lane (200) and the braking distance and/or the stopping distance are determined in dependence on the roadway condition.
6. Method according to claim 4 or 5,
characterized in that
on the basis of the environmental data and the motion data a braking distance for the vehicle (300) and a stopping distance for the further vehicle (400) are determined and the threshold value (600) is determined in dependence on the braking distance and/or the stopping distance.
7. Method according to any one of claims 4 to 6,
characterized in that
the stopping distance is determined by a predetermined reaction time of a driver of the further vehicle (400) and/or a predetermined response time of the brakes of the further vehicle (400).
8. Method according to any one of the preceding claims,
characterized in that
the motion data further describes a current direction of travel of the vehicle (300) and the environmental data further describes a current direction of travel of the further vehicle (400), wherein the threshold value is determined in dependence on the current speed of the vehicle (300) and/or on the current speed of the further vehicle (400).
9. Method according to any one of the preceding claims,
characterized in that
the threshold value is determined considering physical equations of motion of the vehicle (300) and/or the further vehicle (400) and/or based on a predetermined statistical model.
10. Method according to any one of the preceding claims,
characterized in that
based on the environmental data an oncoming vehicle (800) or a preceding vehicle (800) on the first lane (100) is recognized and the threshold value (600) is determined in dependence on the oncoming vehicle (800) or the preceding vehicle (800).
1 1. Analyzing component (50) for a driver assistance system (45) for performing an overtaking maneuver with a vehicle (300), which is located on a first lane (100) and which overtakes a further vehicle (400) located on a second lane (200), comprising:
- an interface for continuously receiving motion data, which describes a current speed of the vehicle (300), and of environmental data, which are provided by an environmental sensor of the vehicle (300), wherein the environmental data describes a distance between the vehicle (300) and the further vehicle (400) as well as current speed of the further vehicle (400),
characterized in that
- the analyzing component (50) is configured to determine a distance value (500), which describes a distance between the vehicle (300) and the further vehicle (400) in the direction of travel (250) of the second lane (200) based on the environmental data,
- to determine a threshold value (600) for the distance value in dependence on the motion data and environmental data,
- to provide a first signal, in case the distance value (500) is larger than the threshold value (600).
12. Driver assistance system (45) for a vehicle (300) comprising an analyzing
component (50) according to claim 1 1 .
13. Vehicle (300) comprising a driver assistance system (45) according to claim 12.
PCT/EP2019/064653 2018-07-23 2019-06-05 Method for performing an overtaking maneuver including considering a safety distance, analyzing component, driver assistance system, as well as vehicle WO2020020525A1 (en)

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