WO2022152455A1 - Aide au changement de voie d'un véhicule automobile - Google Patents

Aide au changement de voie d'un véhicule automobile Download PDF

Info

Publication number
WO2022152455A1
WO2022152455A1 PCT/EP2021/083780 EP2021083780W WO2022152455A1 WO 2022152455 A1 WO2022152455 A1 WO 2022152455A1 EP 2021083780 W EP2021083780 W EP 2021083780W WO 2022152455 A1 WO2022152455 A1 WO 2022152455A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane change
motor vehicle
lane
gap
target
Prior art date
Application number
PCT/EP2021/083780
Other languages
German (de)
English (en)
Inventor
Patrick Ahrens
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2022152455A1 publication Critical patent/WO2022152455A1/fr

Links

Classifications

    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • 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
    • G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
    • 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

Definitions

  • the invention relates to a system and a method for supporting a lane change of a motor vehicle.
  • Lane change assistants are known as on-board systems that adapt the speed of the motor vehicle to a flow speed of traffic in an adjacent lane.
  • lane change assistants are limited in their performance, since the "field of view" of the sensors of the lane change assistant is limited.
  • a first aspect of the invention relates to a system for supporting a lane change of a motor vehicle, the lane change having to take place at a specified lane change location and the system comprising at least one stationary element in the vicinity of a target lane into which the lane change is to take place for the lane change.
  • the system thus includes at least one “off-board” element remote from the motor vehicle.
  • Other elements of the system which are used for computing work, for example, can be fixed to the motor vehicle, ie “on board” and/or also off board.
  • the lane change location is a location at which the motor vehicle will change from a current lane to the target lane, with traffic in the target lane having the right of way over the current lane of the motor vehicle.
  • the lane change location is a place where the change from the current lane of the motor vehicle to the target lane is regulated by traffic signs, for example by a sign 205 “Give way!” or a sign 206 "Stop! Give way!”.
  • traffic signs for example by a sign 205 “Give way!” or a sign 206 "Stop! Give way!”.
  • the current lane of the motor vehicle ends at the lane change location and merges into the target lane there.
  • the lane change location is an intersection, a junction, a merging lane or an acceleration lane.
  • the system is set up by means of the at least one stationary element to detect at least one gap in the traffic flow in the target lane in the direction of travel before the lane change location.
  • the system is set up to use the at least one stationary element to detect the at least one gap in the traffic flow in the destination lane in the direction of travel in front of the lane change location, in that traffic participants forming the traffic flow are detected in the destination lane and distances between the traffic participants are detected.
  • the at least one gap in the traffic flow can be detected, for example.
  • the system is also set up to determine a distance between the motor vehicle and the lane change location, in particular a distance in the current lane of the motor vehicle, ie for example a distance to be covered by the motor vehicle to reach the lane change location.
  • the system is set up to determine a lane change time for the at least one gap in the traffic flow at which the at least one gap will be at the lane change location.
  • the system is in particular if the at least one gap in the traffic flow is at least two gaps in the traffic flow set up to determine the lane change time for each of the at least two gaps in the traffic flow.
  • the lane change time can be determined by assuming that the at least one gap in the traffic flow moves towards the lane change location at a constant speed after detection by the at least one stationary element in front of the lane change location.
  • the speed at which the at least one gap moves can be determined in particular in the area of the at least one stationary element using the stationary element.
  • the speed at which the at least one gap moves can be determined by measuring the time it takes for the at least one gap to move from one of the stationary elements to another of the stationary elements to move. This time can then be set in relation to the distance to be covered in order to determine the speed.
  • the length of the at least one gap in the traffic flow remains constant until the lane change location is reached.
  • the length of the at least one Gap of the lane change time can be determined.
  • the system is set up to determine a target speed for the motor vehicle as a function of the lane change time and the distance between the motor vehicle and the lane change location, so that the motor vehicle maintains the target speed arrives at the lane change location at the lane change time and the lane change to the target lane in the at least one gap in the traffic flow is possible.
  • the system is set up to control a longitudinal guidance of the motor vehicle as a function of the desired speed, ie for example to set the target speed of a speed controller of the motor vehicle to the desired speed.
  • the system is also set up, in particular, to control lateral guidance of the motor vehicle when the motor vehicle arrives at the lane change location, so that, for example, the lane change from the current lane of the motor vehicle to the target lane at the lane change location takes place with automated lateral guidance.
  • the target speed can be determined, for example, taking into account speed limits in the current lane of the motor vehicle.
  • the target speed can be capped by a speed limit on at least a first section of the current lane of the motor vehicle and increased for this on a second section of the current lane of the motor vehicle, so that on average a speed for the lane change location is reached Motor vehicle results in which the motor vehicle arrives at the lane change location at the time of the lane change.
  • the at least one stationary element is set up to detect the gap in the traffic flow at precisely one position in the target lane, for example using a light barrier, an induction loop, a reflection light sensor or a laser.
  • the means mentioned can be attached, for example, to a delineator post or a dedicated post in the vicinity of the target track.
  • the system comprises at least two stationary elements, and the at least two stationary elements are set up to recognize the at least gap in the traffic flow at different positions, so that a movement of the at least gap in the traffic flow can be tracked.
  • the at least two stationary elements are arranged at a distance of at least 5 m and at most 100 m, in particular 33 m or 50 m, from one another in the vicinity of the target track.
  • the at least two stationary elements are at least three stationary elements, these can be arranged in pairs at different distances from one another, as long as their respective position is known, so that a movement of the at least one gap and the speed at which the at least one Gap moves, are identifiable.
  • the at least two stationary elements are, for example, arranged at a distance next to the track, for example at a small distance from the track of less than 1 m.
  • the system is set up to detect at least one gap in the traffic flow on a limited section of the target lane in the direction of travel before the lane change location, in particular at least 100 m before the lane change location and/or at most 1000 m before the lane change location, by means of the at least one stationary element , for example in the range of 200m or 300 and 500m or 600m.
  • the system is set up to use the at least one stationary element to detect at least two gaps in the flow of traffic in the target lane in the direction of travel before the lane change location, to select one of the at least two gaps, and to set the target speed for the motor vehicle as a function of the to identify a selected gap.
  • the system is set up to select one of the at least two gaps before or after determining one or more lane change times.
  • the system is set up to select one of the at least two gaps depending on at least one environmental condition, the at least one environmental condition being characteristic of an increased accident risk when performing the lane change.
  • the at least one environmental condition includes, for example, an outside temperature, an ambient brightness, a current time and/or a variable that is characteristic of road wetness.
  • the system is set up to select that one of the at least two gaps for which the risk of an accident is lowest, taking into account the at least one environmental condition.
  • the system is set up to receive gap selection information from a driver of the motor vehicle and to select one of the at least two gaps as a function of the gap selection information.
  • the system is set up to output information about each of the at least two gaps to the driver of the motor vehicle is, for example, the target speed required to reach the respective gap.
  • the system is also set up, for example, to receive one of the at least two gaps selected by the driver as gap selection information, the system then being set up to select that one of the at least two gaps that was also selected by the driver.
  • the system is set up, for example, to receive information characteristic of a time pressure on the part of the driver of the motor vehicle as gap selection information as gap selection information and then to select that one of the at least two gaps in the traffic flow that can be reached most quickly while complying with the traffic regulations.
  • a second aspect of the invention relates to a method for supporting a lane change of a motor vehicle, with the lane change having to take place at a predetermined lane change location.
  • One step of the method is the detection of at least one gap in the traffic flow in the target lane in the direction of travel before the lane change location.
  • a further step of the method is determining a distance between the motor vehicle and the lane change location.
  • a further step of the method is the determination of a lane change time, at which the at least one gap will be at the lane change location, for the at least one gap in the traffic flow.
  • a further step of the method is the determination of a target speed for the motor vehicle as a function of the lane change time and the distance between the motor vehicle and the lane change location, so that the motor vehicle arrives at the lane change location at the lane change time while maintaining the target speed and the lane change to the target lane in the at least one gap in the traffic flow is possible.
  • the at least one stationary element SE1 - SE8 is set up to detect the gap LV1, LV2 in the traffic flow at precisely one position of the destination lane ZS, with the at least one stationary element SE1 - SE8 consisting of four pairs (SE1, SE2 and SE3 , SE4 and SE5, SE6 and SE7, SE8) consists of stationary elements, with each year stationary elements being set up to detect the gap LV1, LV2 in the traffic flow at exactly one different position of the target lane ZS.
  • each pair is a light barrier, the components of which are arranged on opposite sides of the target track ZS.
  • the pairs are each arranged at a distance A of 50 m from one another in the vicinity of the target track ZS.
  • the system is set up by means of the at least one stationary element SE1 - SE8 at least one gap LV1, LV2 in the traffic flow on a limited section of the target lane ZS in the direction of travel FR before the lane change location SO recognize.
  • the system is set up to recognize at least one gap LV1, LV2 in the traffic flow in the target lane ZS in the direction of travel FR in front of the lane change location SO by means of the at least one stationary element SE1-SE8.
  • the system in the present exemplary embodiment recognizes two gaps LV1, LV2 in the traffic flow on the target lane ZS in the direction of travel FR before the lane change location SO, the system is set up to select one of the at least two gaps LV1, LV2.
  • the system is set up to select one of the two gaps LV1, LV2 as a function of at least one environmental condition, the at least one environmental condition being characteristic of an increased accident risk when performing the lane change.
  • the system is set up to select that one of the two gaps LV1, LV2 for which the accident risk is lowest, taking into account the at least one environmental condition.
  • the system is set up to determine a distance E between the motor vehicle EGO and the lane change location SO, for example using a navigation system of the motor vehicle EGO.
  • the system is set up to determine a lane change time for the selected one of the two gaps LV1, LV2 in the traffic flow at which the selected one of the two gaps LV1, LV2 will be at the lane change location SO.
  • the system is set up to determine a target speed for the motor vehicle EGO as a function of the lane change time and the distance E between the motor vehicle EGO and the lane change location SO, so that the motor vehicle EGO can arrive at the lane change location at the lane change time while maintaining the target speed SO arrives and the lane change to the target lane ZS in the selected one of the two gaps LV1, LV2 in the traffic flow is possible.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)

Abstract

Un aspect de l'invention concerne un système d'aide au changement de voie d'un véhicule automobile, le changement de voie devant avoir lieu à un point de changement de voie prédéterminé et le système comprenant au moins un élément fixe dans l'environnement d'une voie cible pour le changement de voie.
PCT/EP2021/083780 2021-01-12 2021-12-01 Aide au changement de voie d'un véhicule automobile WO2022152455A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021100423.3A DE102021100423A1 (de) 2021-01-12 2021-01-12 Unterstützung eines Spurwechsels eines Kraftfahrzeugs
DE102021100423.3 2021-01-12

Publications (1)

Publication Number Publication Date
WO2022152455A1 true WO2022152455A1 (fr) 2022-07-21

Family

ID=78844719

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2021/083780 WO2022152455A1 (fr) 2021-01-12 2021-12-01 Aide au changement de voie d'un véhicule automobile

Country Status (2)

Country Link
DE (1) DE102021100423A1 (fr)
WO (1) WO2022152455A1 (fr)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200320869A1 (en) * 2019-04-04 2020-10-08 Denso International America, Inc. Method for un-signalized intersection traffic flow management

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009027535A1 (de) 2009-07-08 2011-01-20 Robert Bosch Gmbh Vorrichtung zur Unterstützung eines Einschervorgangs bei Fahrzeugen
DE102015200765A1 (de) 2015-01-20 2016-07-21 Robert Bosch Gmbh Verfahren zum Planen eines Fahrspurwechselvorgangs für ein automatisiert fahrbares Kraftfahrzeug
US11027736B2 (en) 2018-04-27 2021-06-08 Honda Motor Co., Ltd. Systems and methods for anticipatory lane change

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200320869A1 (en) * 2019-04-04 2020-10-08 Denso International America, Inc. Method for un-signalized intersection traffic flow management

Also Published As

Publication number Publication date
DE102021100423A1 (de) 2022-07-14

Similar Documents

Publication Publication Date Title
EP1844373B1 (fr) Procede pour prevoir la trajectoire d'automobiles dans des systemes d'assistance au conducteur
DE60200382T2 (de) Darstellung der Krümmung geographischer Merkmale mit Hilfe von Biegekoeffizienten
DE102017005967A1 (de) Fahrerunterstützungsverfahren und -system
WO2017144382A1 (fr) Dispositif et procédé d'assistance au guidage latéral pour un véhicule routier
DE112015001544T5 (de) Fahrzeuganzeigesteuervorrichtung
DE102013012324A1 (de) Verfahren und Vorrichtung zur Fahrwegfindung
WO2015032709A1 (fr) Procédé et dispositif de surveillance de la circulation routière pour la constatation d'une circulation dans le mauvais sens d'un véhicule automobile
EP0986765A1 (fr) Procede et dispositif de determination du trajet probable d'un vehicule
EP2676857A2 (fr) Procédé et dispositif de génération d'un paramètre de commande pour un système d'assistance de distance d'un véhicule
DE102009036433A1 (de) Verfahren und Vorrichtung zum Betrieb eines Fahrerassistenzsystems
EP2422332A1 (fr) Procédé de classification d'un objet en tant qu'obstacle
WO2016020347A1 (fr) Procédé de détection d'un objet dans une zone environnante d'un véhicule automobile au moyen d'un capteur à ultrasons, système d'assistance au conducteur et véhicule automobile
DE102020108857A1 (de) Verfahren zur Planung einer Soll-Trajektorie
WO2018104462A1 (fr) Procédé, dispositif et véhicule sur voie, notamment véhicule ferroviaire, pour l'analyse d'image basée sur la voie de circulation en trafic sur voie, notamment pour l'analyse d'image basée sur le rail en trafic ferroviaire
EP1557784A1 (fr) Procédé et système d'aide à la conduite d'un véhicule automobile
DE102022119571A1 (de) Benachrichtigungssteuerungsvorrichtung für ein Fahrzeug
DE102008062796A1 (de) Fahrerassistenzsystem und Verfahren zum Betreiben eines Fahrzeugs
DE102015214425A1 (de) Verfahren zum Erkennen eines Verlaufs von Schienen
WO2021254906A1 (fr) Procédé de détermination d'un type d'utilisation d'un motif de points de repère destinée à une localisation autonome d'un véhicule, et système de localisation autonome électronique d'un véhicule
DE102013010721A1 (de) Verfahren zum Betrieb eines Fahrzeuges
WO2022152455A1 (fr) Aide au changement de voie d'un véhicule automobile
WO2008040607A1 (fr) Système d'assistance au conducteur et procédé de recherche d'objets localisés
DE102013016906A1 (de) Verfahren zum Betrieb eines Fahrzeuges
DE102017011564A1 (de) Verfahren zur Erkennung einer Straßenausfahrt
DE102016209515B4 (de) Verfahren zur Verkehrsleitung eines Fahrzeugs auf einer Fahrbahn

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21823869

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21823869

Country of ref document: EP

Kind code of ref document: A1