Method, device and storage medium for assisting a driver during a lane change

Abstract

The invention relates to a method for assisting a driver of a motor vehicle during a lane change, wherein an automated adjustment of the longitudinal guidance of the motor vehicle is carried out, wherein an automated adjustment of the longitudinal guidance of the motor vehicle is carried out during a lane following, which refers to the current lane of the motor vehicle. According to the invention, the method is characterized in that, upon detection of a lane change intention of the motor vehicle, an automated adjustment of the longitudinal guidance of the motor vehicle is carried out after the lane change process, which refers to the target lane of the motor vehicle. Furthermore, a device for carrying out the method is provided.

Description

Technical Field

[0001] This invention relates to a method for assisting a driver of a motor vehicle during lane changing, wherein the longitudinal guidance of the motor vehicle is automatically adjusted, and wherein, during lane following, the longitudinal guidance of the motor vehicle is automatically adjusted with respect to the current lane of the motor vehicle. According to the invention, the method is characterized in that, upon detecting a lane changing intention of the motor vehicle, the longitudinal guidance of the motor vehicle is automatically adjusted with respect to the target lane of the motor vehicle after the lane changing process. Furthermore, an apparatus for implementing the method is provided. Background Technology

[0002] Various automated driving functions are offered in vehicles to reduce driver workload, such as highway assist or parking assist. Pilot-assisted functions are also being considered in the future. Furthermore, existing technologies include automated longitudinal adjustment, also known as Adaptive Cruise Control (ACC). In ACC mode, the vehicle's speed is adapted to the maximum speed or traffic conditions. Lateral adjustment is then taken over by the driver.

[0003] Prior art, for example, is known from patent application DE102005023185A1. This document relates to lane change assist equipment for motor vehicles, which has a monitoring device for monitoring traffic conditions in the area in front of and behind the vehicle, and a judgment device for determining whether a safe lane change is possible.

[0004] Furthermore, prior art, for example, is known from patent application DE102010041620A1. This document relates to a method for assisting a driver during overtaking. In this method, the distance between the vehicle and the vehicle ahead is automatically adjusted to a first desired distance, and this distance is reduced at the starting point after the driver's overtaking intention is detected. When the driver's overtaking intention is detected and the safety functions are within a predetermined range, an increased acceleration is used to reduce the distance.

[0005] Furthermore, prior art, for example, is known from patent application DE102004029369A1. This document relates to a lane-changing assist device for motor vehicles, comprising a speed regulation system, an environmental sensing device, a judgment device, and a command device. The environmental sensing device senses the traffic environment, including traffic conditions in adjacent lanes. The judgment device determines whether the driver's lane-changing intention should be accepted. The command device outputs an acceleration command to the speed regulation system when a lane-changing intention is present. The device is characterized by an identification device configured to identify a window for safely merging into an adjacent lane based on data from the environmental sensing device, and the command device configured to calculate an acceleration strategy adapted to the window, including the timing of acceleration initiation. Here, the target speed or overtaking speed to be achieved during acceleration depends not only on the speed of the vehicle ahead in the current lane that is to be overtaken, but also on the speed of one or more other vehicles located ahead of the current vehicle in adjacent lanes. Summary of the Invention

[0006] Conversely, advantageously, the method of the present invention enables expanded functionality and improved assistance to motor vehicle drivers during lane changes. This is advantageously achieved through simple schemes and algorithms. Consequently, runtime and memory on the controller are saved, while ensuring safe driving under all conditions. This is achieved according to the invention through the features described in the preferred embodiment. Further configurations of the invention are the subject of the preferred embodiment.

[0007] A method is provided for assisting a driver of a motor vehicle during lane changing, wherein automatic adjustment of the longitudinal guidance of the motor vehicle is performed, wherein during lane following, the automatic adjustment of the longitudinal guidance of the motor vehicle is performed with respect to the current lane of the motor vehicle. According to the invention, the method is characterized in that, upon detecting a lane changing intention of the motor vehicle, automatic adjustment of the longitudinal guidance of the motor vehicle is performed with respect to the target lane of the motor vehicle after the lane changing process.

[0008] This is understood as: performing at least partially automated adjustment of the longitudinal guidance of the motor vehicle. For example, as in the "classic" ACC function, speed and / or distance to the preceding object are adapted during lane following. Furthermore, individual preferences (e.g., differences in distance) and specific limits (e.g., speed limits) can be considered. According to the invention, when an intentional lane change is detected in the motor vehicle, the automated adjustment of the longitudinal guidance is altered. From now on, the adjustment is no longer based on, for example, the preceding vehicle in the current lane, but advantageously only on the vehicle in front of the motor vehicle in the target lane. Thus, the position and / or speed of the motor vehicle are advantageously adapted with respect to the target lane, thereby enabling lane changes to be implemented in a defined manner. In particular, the adjustment of the longitudinal guidance is based on vehicles in the target lane of the motor vehicle, wherein the vehicles in the target lane are the preceding vehicles that are spatially closest to the motor vehicle in the direction of travel. Here, the objective of this function may be: if the target object in the target lane is traveling faster or there are no vehicles in the target lane, the motor vehicle is accelerated, allowing the driver to change lanes during acceleration.

[0009] In a favorable manner, this allows for the use of a very simple algorithm, as the adjustment parameter here does not need to consider the current lane and the target lane, but only one lane. Therefore, it is essentially possible to use the same analysis, evaluation, and adjustment algorithms used in classic ACC functionality. This saves development resources and enables high efficiency. In other words, no specific adjustment application is needed because "general" ACC adjustment is applied to the target lane. ACC adjustment does not need to be extended to an arbitrarily large number of traffic participants, as all relevant traffic participants can be calculated using a simple algorithm. This saves runtime and memory on the controller. Nevertheless, safe driving is ensured at all times. Furthermore, the advantage of smooth adjustment is obtained when changing lanes.

[0010] Lane changes to the left or right can be understood as lane changes. For example, the initiation and termination of an overtaking maneuver, a change of the current lane to follow a navigation route, and necessary driving maneuvers due to changes in road structure (such as a reduction in the number of lanes) can be understood as lane change processes. Here, longitudinal guidance adjustments are typically made when the vehicle accelerates to a faster target lane and when it decelerates to a slower target lane. The lane change process itself is usually performed manually by the driver. Such a lane is particularly understood as the target lane: the lane the vehicle changes towards from its current position. For example, when initiating an overtaking maneuver, the target lane is typically the adjacent lane to the left of the current lane, and when the overtaking maneuver ends, for example, the adjacent lane to the right of the current lane. Alternatively, if a lane change involves two lanes, the target lane is the next lane after that. For example, lane change intentions can be detected based on driver behavior or actions, such as by activating a hazard light. Alternatively, automated driving functions may have an intention to change lanes, and this can be detected, for example, based on data signals.

[0011] In an advantageous embodiment, the method is characterized in that, upon detecting a vehicle's intention to change lanes, the automated adjustment of the vehicle's longitudinal guidance considers whether a lane change to the target lane can be implemented.

[0012] This is understood to mean that in the case of automated adjustment for longitudinal guidance of the target lane of the vehicle, not only possible vehicles in front of the vehicle along the direction of travel in the target lane are considered, but also possible vehicles behind and / or beside the vehicle in the target lane. For example, it is possible to estimate whether a lane change can be made without danger. Here, for example, an environmental sensing system can be used to determine the objects in the target lane and to consider the position or position changes of these objects, especially their speed and / or acceleration. Here, these parameters can be used not only in an absolute sense but also in a sense relative to the vehicle, such as the relative position of the vehicles (i.e., distance) and the acceleration difference between the vehicle and the vehicles in the target lane. Of course, it is also possible to consider the possible acceleration curve of the vehicle and, based on this, analyze whether, in the event of a possible lane change, the desired distance or the required safe distance can be maintained by combining the acceleration caused by the automated adjustment for longitudinal guidance.

[0013] In one possible configuration, the method is characterized in that, upon detecting a vehicle's intention to change lanes, and upon identifying a vehicle in the target lane, the automated adjustment of the vehicle's longitudinal guidance is set at a defined distance between the vehicle and the identified vehicle.

[0014] This is understood as: adjusting the longitudinal direction of the target lane for the motor vehicle to set a defined distance between the motor vehicle and any vehicles that may be located in the target lane. This distance setting can be used to maintain a safe and / or desired distance. It can also be used to provide sufficient distance for possible acceleration and lane-changing processes. In addition to setting the relevant distance, it is also advantageous to calculate the relevant distance.

[0015] In a preferred embodiment, the method is characterized in that, upon detecting a lane-changing intention of a motor vehicle, the automatic adjustment of the vehicle's longitudinal guidance sets the vehicle's acceleration curve.

[0016] This is understood as adjusting the longitudinal guidance of the vehicle regarding the target lane to set the vehicle's acceleration. The distance setting can be used to assist the lane-changing process. Here, for example, a limit value for the appropriate vehicle acceleration can be determined and set. Furthermore, adaptive adaptation of the acceleration value can be performed during the lane-changing process. Advantageously, a specific acceleration curve can be defined over the preparation (until implementation) time of the lane-changing process, and this specific acceleration curve can be set by means of automated adjustment of the longitudinal guidance.

[0017] In an alternative extension, the method is characterized in that, upon detecting a lane-changing intention of a vehicle, the automated adjustment of the vehicle's longitudinal guidance determines a set acceleration value, wherein, in determining the set acceleration value, at least one of the following two parameters is considered in addition to the acceleration value used to adjust the vehicle's speed:

[0018] - The acceleration value used to adjust to the desired distance;

[0019] - The acceleration value used to adjust to a safe distance.

[0020] This is understood to mean that when determining the acceleration value to be set by the vehicle (i.e., this vehicle), multiple parameters are considered. Of course, the parameters to be considered are related to the target lane of the vehicle.

[0021] For example, consider the acceleration value related to the adjustment of a vehicle's speed. This value describes an acceleration that allows the vehicle's speed to be adjusted to a desired target speed.

[0022] Furthermore, consider, for example, an acceleration value related to adjusting to a desired distance defined by the driver. This value describes an acceleration value used to adjust the relative position of the vehicle with respect to the desired target distance relative to the vehicle in front. Alternatively (or additionally), consider, for example, an acceleration value related to adjusting to a defined safe distance. This value describes an acceleration value used to adjust the relative position of the vehicle with respect to the minimum distance relative to the vehicle in front.

[0023] In one possible implementation, the method is characterized in that, upon detecting a vehicle's lane-changing intention, the automatic adjustment of the vehicle's longitudinal guidance determines a set acceleration value, wherein this acceleration value is determined as the minimum of a set of acceleration values ​​including at least one of the following:

[0024] - The acceleration value used to adjust the speed of a motor vehicle;

[0025] - The acceleration value used to adjust to the desired distance;

[0026] - The acceleration value used to adjust to a safe distance.

[0027] In a favorable manner, the acceleration value to be set is the minimum of one of the following three acceleration values: the acceleration value used to adjust the speed of the vehicle; the acceleration value used to adjust to the desired distance; and the acceleration value used to adjust to the safe distance.

[0028] In a preferred configuration, the method is characterized in that, upon detecting a vehicle's intention to change lanes, the automated adjustment of the vehicle's longitudinal guidance takes parameters about the vehicle's current lane as boundary conditions.

[0029] As already explained, only parameters concerning the target lane are used as adjustment parameters. However, aspects of the current lane can still be considered advantageously. Thus, other relevant traffic participants (vehicles in the lane currently occupied by this vehicle) can be considered as boundary conditions for "general" ACC adjustment. Here, the objective of this function can be: if the target object in the target lane is traveling faster or there are no vehicles in the target lane, accelerate the vehicle so that the driver can change lanes during acceleration. However, if no lane change is made, the distance should not fall below the minimum distance relative to vehicles in the current lane.

[0030] In an alternative implementation, the method is characterized in that, upon detecting a vehicle's lane-changing intention, at least one of the following steps is performed:

[0031] - If a lane change is identified as feasible, an automated adjustment for longitudinal guidance of the vehicle is performed. This automated adjustment is configured to assist in the implementation of the lane change process, in particular by setting specific acceleration curves, so as to enable safe and comfortable lane changes for vehicle occupants.

[0032] - If lane change is identified as infeasible, automatic adjustment of longitudinal guidance of the vehicle is performed, which is configured to allow the lane following assistance process to continue, in particular by setting a limited acceleration curve so as to achieve a safe and comfortable lane following process for vehicle occupants.

[0033] If a lane change is identified as not currently feasible, an automated adjustment for longitudinal guidance of the vehicle is performed. This adjustment is configured to prepare for a future lane change, in particular by setting a limited distance from the vehicle ahead in the current lane, so that a specific acceleration profile can be set when the future lane change is implemented.

[0034] In an advantageous extension, the method is characterized in that the lane-changing process of the vehicle in response to the detected lane-changing intention is achieved by means of automated adjustment of the vehicle's lateral guidance.

[0035] This is understood to mean that the lane-changing process of a motor vehicle is achieved through at least partially automated adjustments of the vehicle's lateral guidance. Therefore, the detected lane-changing intention is achieved through automated adjustments both longitudinally and laterally.

[0036] This method can be implemented, for example, in software or hardware, or in a hybrid of software and hardware, such as in a controller.

[0037] The proposed solution also implements a device configured to perform, manipulate, or implement, in a corresponding apparatus, the steps of a variation of the method proposed herein. This variation of the invention, in the form of a device, also enables the rapid and efficient resolution of the task on which the invention is based.

[0038] Currently, "device" can be understood as an electrical appliance that processes sensor signals and outputs control and / or data signals based on those signals. The device can have an interface, which can be constructed in hardware and / or software. In a hardware configuration, the interface may be, for example, a portion of a so-called system ASIC containing various functions of the device. However, it is also possible that the interface is its own integrated circuit or at least partially composed of discrete components. In a software configuration, the interface can be a software module coexisting with other software modules on a microcontroller. Therefore, what can be considered a device includes: lane-changing assistance systems for assisting motor vehicles, automated adjustment assistance systems for longitudinal guidance, environmental sensing devices, especially cameras, lidar, and / or radar, and a central or distributed controller for operating one of the aforementioned devices.

[0039] It is also advantageous to have a computer program product or computer program with program code that can be stored on a machine-readable carrier or storage medium, such as semiconductor memory, hard disk memory or optical memory, and especially when the program product or program is executed on a computer or device, for implementing, realizing and / or manipulating the steps of the method according to one of the foregoing embodiments. Attached Figure Description

[0040] It should be noted that the features listed individually in the specification can be combined with each other in any technically meaningful manner and illustrate other configurations of the invention. Further features and advantages of the invention are derived from the description of the embodiments with reference to the accompanying drawings.

[0041] The attached diagram shows:

[0042] Figure 1 A schematic diagram showing a driving situation with multiple objects, illustrating the lane-changing intention of this vehicle; and

[0043] Figure 2 The acceleration curves are shown when adjustments are made based on the object in the target lane of the vehicle; and

[0044] Figure 3 The acceleration curve is shown when the adjustment is made according to the object in the target lane of the vehicle, wherein the adjustment has several parameters to be considered. Detailed Implementation

[0045] Figure 1This is a schematic illustration of a driving situation with multiple objects, and the vehicle is attempting a lane change. Here, road 5 has two lanes: right lane 5a (also referred to as the current lane) and left lane 5b (also referred to as the target lane). In right lane 5a is a first object 1 (also referred to as the vehicle itself, or simply the motor vehicle). There is also a second object 2 (also referred to as the preceding vehicle in the current lane). In left lane 5b is a third object 3 (also referred to as the preceding vehicle in the target lane). There is also a fourth object 4 (also referred to as the following vehicle in the target lane).

[0046] Here, the method of the present invention is implemented in a motor vehicle 1. Motor vehicle 1 has a device 11 for this purpose. This device can be considered, for example, an auxiliary system for assisting lane changes and / or an auxiliary system for automated adjustment of longitudinal guidance and / or environmental sensing devices, particularly cameras, lidar, and / or radar, and / or a central controller or distributed controller for operating one of the aforementioned devices. Motor vehicle 1 has implemented a lane-following process (classic ACC function) using automated adjustment of longitudinal guidance until a lane-changing intention is detected. The lane-changing intention can be detected, for example, by monitoring the driver and / or obtaining the driver's wishes, such as by manipulating the hazard lights. In the illustrated situation, there is a detected lane-changing intention in motor vehicle 1, whereby the driver intends to change to the left lane. Accordingly, the automated longitudinal guidance has changed. Therefore, the automated longitudinal adjustment is no longer directed towards the current lane, but towards the desired target lane. Thus, distance adjustment is performed, for example, based on possible objects in the target lane from now on. Here, object 3 is identified and a virtual object bor_3 (also referred to as: Border) is created. For this adjustment, the virtual object represents the real object 3. Furthermore, the safe distance x_sec_3 to be set between vehicle 1 and object 3 or the virtual object bor_3 is shown. Also shown is the desired distance x_req, which is equivalent to the desired distance from the vehicle ahead set by the driver.

[0047] Of course, when adjusting the longitudinal guidance of vehicle 1 in target lane 5b, other boundary conditions can also be considered. One of the boundary conditions currently being considered is a parameter concerning the current lane 5a. Therefore, in the case of automated longitudinal guidance, for example, the safe distance x_sec_2 concerning object 2 or its virtual object bor_2 can also be considered as a boundary condition.

[0048] For example, when adjusting the longitudinal guidance of vehicle 1 in target lane 5b, an object can be considered as a boundary condition: said object is located behind or beside vehicle 1 in target lane 5b, such as object 4 as shown, for example. Here, the distance between vehicle 1 and object 4, or the change of that distance over time (alternatively: speed difference and / or acceleration difference), can be considered to determine whether the lane change process to the target lane is entirely feasible. This information can also be considered to set the acceleration curve so that lane changes can be achieved thereby.

[0049] Figure 2 The acceleration curves are shown when adjustments are made based on an object in the target lane for the motor vehicle. Here, the vertical axis represents the acceleration a. x The horizontal axis represents time t. This acceleration curve can occur in driving situations where the driver intends to change lanes from the current lane to a target lane in conjunction with an increase in speed. Upon detecting the intention to change lanes, the longitudinal guidance is adjusted according to the target lane and, correspondingly, according to the vehicle 3 that may be ahead of the vehicle 1 in the target lane 5b. Now, a defined target distance (e.g., a safe distance or a desired distance) should be adjusted for the vehicle 3 in the target lane 5b. If the vehicle 3 ahead in the target lane 5b is faster than the vehicle 1, the desired target acceleration change curve, for example, is derived. In this situation—also due to the lack of other boundary conditions—the synthesized (i.e., the acceleration to be set or already set) a_fin substantially approaches the acceleration a_v used to adjust the speed of the vehicle. If the driver performs a lane change, this acceleration change curve is correspondingly set by the automated longitudinal guidance.

[0050] Figure 3 The acceleration curve is shown when adjusting for an object (vehicle 3) in the target lane 5b of this motor vehicle 1, wherein the adjustment has several parameters to consider. If the driver performs a lane change, the acceleration curve is as shown above. Figure 2 The acceleration variation curve shown can be set via automated longitudinal guidance. However, if the driver does not change lanes, vehicle 1 must limit its acceleration, for example, in... Figure 3As shown in the diagram. For example, a limit is imposed based on a clearance caused by other traffic participants, such as the minimum distance from the vehicle 2 traveling ahead in the current lane 5a. Multiple different traffic participants can also be considered for this restriction. Furthermore, different potential clearances can be applied to the same traffic participant, such as a safe distance and a defined desired distance, or an acceleration a_sec for adjusting the safe distance x_sec and an acceleration a_req for adjusting the defined desired distance x_req. Thus, for example, in the embodiment shown, firstly, the synthesized acceleration a_fin approaches the acceleration adjusted based on the vehicle 3 in the target lane 5b. However, for example, because the distance to the following vehicle 4 in the target lane 5b is small, the driver does not perform a lane change. Therefore, the acceleration of vehicle 1 is limited due to vehicle 2 in the current lane 5a of vehicle 1. Firstly, the acceleration a_fin is limited here based on the acceleration a_req for adjusting the desired distance (with respect to object 2). However, here, the maximum deceleration is not particularly strong. However, as vehicle 1 approaches vehicle 2 further in the current lane 5b, the acceleration a_fin is further limited based on the acceleration a_sec required to adjust (with respect to object 2). Therefore, the acceleration value a_fin derived from the adjustment based on the target lane object is reduced by two additional maximum accelerations a_sec and a_req, and the minimum value is selected from all values ​​to limit the composite acceleration a_fin. Accordingly, this acceleration curve is set and implemented if no lane change occurs.

Claims

1. A method for assisting a driver of a motor vehicle (1) during a lane change, wherein, The automatic adjustment of the longitudinal guidance of the motor vehicle is performed, wherein, during lane following, the automatic adjustment of the longitudinal guidance of the motor vehicle (1) is performed with respect to the current lane (5a) of the motor vehicle (1), characterized in that, When the lane-changing intention of the motor vehicle (1) is detected by monitoring the driver and / or seeking the driver's wishes, the automatic adjustment of the longitudinal guidance of the motor vehicle is changed so that it no longer points to the current lane, but rather the automatic adjustment of the longitudinal guidance of the motor vehicle (1) is performed with respect to the target lane (5b) after the lane-changing process, wherein only parameters with respect to the target lane are used as adjustment parameters, and parameters with respect to the current lane (5a) of the motor vehicle (1) are taken into account as boundary conditions.

2. The method according to claim 1, characterized in that, When the lane-changing intention of the motor vehicle (1) is detected, the automatic adjustment of the longitudinal guidance of the motor vehicle (1) considers whether a lane change can be implemented on the target lane (5b).

3. The method according to claim 1 or 2, characterized in that, When the lane-changing intention of the motor vehicle (1) is detected, and a vehicle (3) in the target lane (5b) of the motor vehicle (1) is found, the automatic adjustment of the longitudinal guidance of the motor vehicle (1) is set at a limited distance between the motor vehicle (1) and the found vehicle (3).

4. The method according to claim 1 or 2, characterized in that, When the lane-changing intention of the motor vehicle (1) is detected, the automatic adjustment of the longitudinal guidance of the motor vehicle (1) sets the acceleration curve of the motor vehicle (1).

5. The method according to claim 1 or 2, characterized in that, When the lane-changing intention of the motor vehicle (1) is detected, the automatic adjustment of the longitudinal guidance of the motor vehicle (1) determines the acceleration value to be set, wherein, in determining the acceleration value to be set (a_fin), in addition to considering the acceleration value (a_v) used to adjust the speed of the motor vehicle, at least one of the following two parameters is also considered: - The acceleration value (a_req) used to adjust to the desired distance (x_req); - The acceleration value (a_sec) used to adjust to the safe distance (x_sec).

6. The method according to claim 1 or 2, characterized in that, When the lane-changing intention of the motor vehicle (1) is detected, the automatic adjustment of the longitudinal guidance of the motor vehicle (1) calculates the acceleration value (a_fin) to be set, wherein the acceleration value (a_fin) is calculated as the minimum value in a group of acceleration values ​​including at least one of the following: - The acceleration value (a_v) used to adjust the speed of the motor vehicle; - The acceleration value (a_req) used to adjust to the desired distance (x_req); - The acceleration value (a_sec) used to adjust to the safe distance (x_sec).

7. The method according to claim 1 or 2, characterized in that, Upon detecting the lane-changing intention of the motor vehicle (1), at least one of the following steps is performed: - If a lane change is identified as feasible, then an automated adjustment of the longitudinal guidance of the motor vehicle (1) is performed, the automated adjustment being configured such that an acceleration curve is set to assist in the implementation of the lane change process so as to enable a safe and comfortable lane change for the vehicle occupants. - If lane change is identified as infeasible, the longitudinal guidance of the motor vehicle (1) is automatically adjusted, the automatic adjustment being configured to assist the lane following process to continue, setting a defined acceleration curve so as to enable a safe and comfortable lane following process for the vehicle occupants. - If lane change is identified as currently not feasible, then the longitudinal guidance of the motor vehicle (1) is automatically adjusted, the automatic adjustment being configured such that a limit distance is set relative to the preceding vehicle (2) in the current lane (5a) in preparation for a future lane change process, so that an acceleration curve can be set when the future lane change process is implemented.

8. The method according to claim 1 or 2, characterized in that, The lane-changing process of the motor vehicle (1) in accordance with the detected lane-changing intention is achieved by means of the automatic adjustment of the lateral guidance of the motor vehicle (1).

9. An apparatus configured to perform the method according to any one of claims 1 to 8.

10. A computer program product configured to, when executed by the device according to claim 9, implement the method according to any one of claims 1 to 8.

11. A machine-readable storage medium on which a computer program product according to claim 10 is stored.

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