Control system and control method for identifying and reacting to a zipper merging method of a motor vehicle

Abstract

A control system (10) suitable for use in the present motor vehicle (12), the control system being configured and adapted to ascertain from the provided ambient data the position and speed of a first motor vehicle (28) traveling directly in front of the present motor vehicle (12) in a first lane (36), wherein the present motor vehicle (12) is in the first lane (36). The control system is configured and adapted to ascertain from the provided ambient data the position and speed of a second motor vehicle (30) traveling in an adjacent lane (38) adjacent to the first lane (36). The control system is configured and adapted to identify from the provided ambient data whether there is a zipper merge situation. The control system is configured and adapted to increase the target distance between the present motor vehicle (12) and the first motor vehicle when the value of the relative speed of the second motor vehicle (30) relative to the present motor vehicle (12) or relative to the first motor vehicle (28) is less than a predefined first value, when the second motor vehicle (30) is between the present motor vehicle (12) and the first motor vehicle (28) in the longitudinal direction extending along the adjacent lane (38), and when it has been identified that there is a zipper merge situation.

Description

Technical Field

[0001] A control system and a control method are described herein for determining a zipper merge situation in road traffic. The control system and the control method react according to the road situation.

[0002] The zipper merging method is used when the motorway lanes of a multi-lane road cannot be driven continuously or when the motorway lanes end. The zipper merging method allows vehicles that are blocked from continuing to transition to the adjacent, continuous motorway lane in such a way that they can alternately pass behind the vehicles driving on the continuous motorway just before the lane narrowing begins (zipper merging method). The zipper merging method is only suitable for situations where lanes disappear. If, for example, a broken-down vehicle blocks the lane, making it necessary to change lanes, the zipper merging method is not applicable. In this case, the unblocked lane has priority. Therefore, the driver of the car changing lanes may have to wait. In addition, the zipper merging method is not suitable for acceleration strips on highways. If you want to enter the highway, you must pay attention to the driving priority of the continuous lane. The incoming vehicle must wait here and can only join the continuous lane very carefully.

[0003] Traffic jams often occur in traffic conditions that require a zipper-style approach. Traffic jams can be defined based on vehicle speed. A jam exists when multiple vehicles travel at an average speed of less than 20 km / h for at least five minutes over a distance of at least one kilometer. Vehicle speeds between 20 km / h and 40 km / h are considered a traffic jam. Background Art

[0004] Until now, so-called ACC systems (Adaptive Cruise Control) have automatically adapted the speed of a motor vehicle to the speed of the vehicle ahead. A defined distance from the vehicle ahead should always be maintained. To this end, such systems determine the direction of movement and / or speed of the vehicle ahead in order to prevent the motor vehicle from intersecting its path and potentially creating a critical situation. This applies, on the one hand, to lane changes or cornering maneuvers, and, on the other hand, to rear-end collisions.

[0005] A method for supporting a vehicle driver during a lane change from a current lane to an adjacent target lane is known from document DE 10 2016 011 893 A1. The method is configured such that, when a zipper merging method is set, the driver of a vehicle on the merging lane as the current lane is indicated the end of the current lane, wherein additionally the driver is instructed to stay in the current lane until the end and then perform the lane change.

[0006] A method and a device for supporting a driver during a lane change from a current lane to an adjacent target lane are known from document DE 10 2009 023 444 A1. The method provides that possible lane changes to the target lane are ascertained based on the detected traffic situation and signaled to the driver. Signaling is effected hereby by means of a haptically perceptible steering wheel vibration.

[0007] In road traffic, situations requiring the zipper merging method often occur. Either two lanes merge into one lane or there is an obstacle in one of the lanes. In the case of zipper merging, motor vehicles from one of the lanes up to the end and motor vehicles from the continuous lane should alternately continue driving in the continuous lane. This requires special behavior on the part of the motor vehicles in the lane up to the end and in the continuous lane. The motor vehicles in the lane up to the end should drive in that lane up to near the end or the obstacle and then change to the continuous lane. The motor vehicles already initially in the continuous lane should permit the motor vehicles from the lane up to the end to cut in respectively.

[0008] In order for autonomous or semi-autonomous driver assistance systems to be able to correctly control motor vehicles in situations requiring the zipper merging method, it is necessary to correctly recognize the situation. Especially in the case of an obstacle in the event of an accident, it is difficult for (semi-)autonomous driver assistance systems to recognize the accident situation itself and to take the correct measures accordingly. Moreover, each situation requiring the zipper merging method is often different.

[0009] Consequently, there is a task of providing a control system and a control method for a motor vehicle which recognize a situation requiring the zipper merging method and control the motor vehicle according to the situation. Summary of the Invention

[0010] This task is solved by the following control system and the following control method.

[0011] Preferred embodiments result from the following description.

[0012] One aspect relates to a control system that is established and configured for use in a motor vehicle. The control system identifies lanes, road boundaries, road markings, other motor vehicles and / or objects in the front, side and / or rear areas of the motor vehicle based on ambient data obtained from at least one (or more) ambient sensors assigned to the motor vehicle.

[0013] At least one ambient sensor is configured to provide ambient data reflecting the front, side and / or rear areas of the motor vehicle to an electronic control unit of the control system.

[0014] The control system is at least configured and determined to obtain the position and speed of a first motor vehicle traveling directly in front of the motor vehicle in a first lane from the provided ambient data, wherein the motor vehicle is in the first lane.

[0015] In addition, the control system is at least configured and determined to obtain the position and speed of a second motor vehicle in an adjacent lane adjacent to the first lane from the provided ambient data.

[0016] In addition, the control system is at least configured and determined to identify from the provided ambient data whether there is a zipper merge situation. In addition, the control system is at least configured and determined that when the value of the relative speed of the second motor vehicle with respect to the motor vehicle or with respect to the first motor vehicle is less than a previously confirmed first value, when the second motor vehicle is between the motor vehicle and the first motor vehicle in the longitudinal direction extending along the adjacent lane, and when it has been identified that there is a zipper merge situation, to increase the target distance between the motor vehicle and the first motor vehicle.

[0017] Thus, the control system can control the motor vehicle in a continuous first lane such that the distance from the first motor vehicle is greater. Thereby, the second motor vehicle can cut in between the motor vehicle and the first motor vehicle during the zipper merge process.

[0018] The control system may include a semi-autonomous driver assistance system, such as an ACC system, or be part of it. The control system may also be part of an autonomous driver assistance system. Especially in the case of a semi-autonomous driver assistance system such as an ACC system, driving comfort is improved. The driver does not have to actively increase the (target) distance. It is also possible that in addition to increasing the target distance, the control system also sends a signal to the driver indicating that the target distance has been increased. The signal can be, for example, an optical signal (signal lamp) and / or a signal tone.

[0019] Preferably, the first lane and the adjacent lane are established and determined for traffic flow in the same direction. The traffic flow can herein represent the general driving direction of motor vehicles. When a motor vehicle drives "directly in front of" another motor vehicle, this is particularly understood to mean that there are no other motor vehicles between this motor vehicle and the other motor vehicle.

[0020] The existence of a zipper merge situation can be recognized by the control system. It is possible that the control system uses a binary variable or a continuous (probability) value for the existence of the zipper merge situation. In the case of continuous values, it is possible that the target distance is only increased when the continuous value is greater than a pre-determined threshold. The existence of the zipper merge situation can also be calculated from other factors / criteria.

[0021] In addition to / instead of the standard that the second motor vehicle must be in the longitudinal direction between this motor vehicle and the first motor vehicle, it is also sufficient if the second motor vehicle is slightly (e.g., less than 30% relative to the length of the gap) behind or in front of this positioning. This can be particularly advantageous when the second motor vehicle is faster than this motor vehicle (when the second motor vehicle drives behind the gap in the longitudinal direction) or slower than the first motor vehicle (when the second motor vehicle drives in front of the gap in the longitudinal direction).

[0022] It is also possible that there are additional required conditions for increasing the target distance. Thus, for example, it may be required that the second motor vehicle has a lane change signal (e.g., a direction indicator) indicating that it wants to and / or will change to the first lane. It is also possible that when the first motor vehicle is accelerating and this motor vehicle has reached its maximum speed and thus the distance between this motor vehicle and the first motor vehicle has increased, the target distance is not increased. In order to increase the target distance, it may also be required that the instantaneous distance between this motor vehicle and the first motor vehicle is less than a limit value. This limit value can be pre-determined or dependent on the length and / or speed of the second motor vehicle (in the driving direction). It is also possible for increasing the target distance that not all conditions have to be met, but only most of the conditions. The necessary number of most conditions and / or the rating of the conditions for the necessary threshold can be pre-determined.

[0023] The target distance can be increased immediately or with a time lag and / or continuously. It is also possible to take into account how fast and at what distance the motor vehicles driving behind this motor vehicle (behind this motor vehicle) are. Thus, in the case where the motor vehicle driving directly behind this motor vehicle is faster than this motor vehicle and / or very close to this motor vehicle, the target distance cannot be immediately increased to the maximum extent. Thus, the accident risk can be reduced. When the second motor vehicle is faster, the target distance can also be increased more.

[0024] The control system can also be set up and determined to obtain, from the provided environmental data, the position of a third motor vehicle driving directly in front of the first motor vehicle in the first lane.

[0025] Furthermore, the control system can be set up and determined to obtain, from the provided environmental data, the position and speed of a fourth motor vehicle that has driven in front of and / or has been driving in front of the second motor vehicle for a short time in an adjacent lane.

[0026] Furthermore, the control system can be set up and determined to identify whether there is a congestion situation from the provided environmental data. In addition, the control system can be set up and determined to identify a zipper merge situation when the fourth motor vehicle cuts into the gap between the first motor vehicle and the third motor vehicle from an adjacent lane and when a congestion situation has been identified.

[0027] This has the advantage that the control system can identify a zipper merge situation without having to identify obstacles or the end of an adjacent lane. This also ensures an automatic maintenance of an alternating insertion order.

[0028] The fourth motor vehicle that has driven in front of and / or has been driving in front of the second motor vehicle for a short time in an adjacent lane refers to a motor vehicle on the first lane that is (directly) in front of the second motor vehicle and that has to cut in before reaching an obstacle or the end of the adjacent lane. The control system can still identify the fourth motor vehicle when it is already in the process of changing lanes.

[0029] The existence of a congestion situation can be identified by the control system. It is possible that the control system uses a binary variable or a continuous (probability) value for the existence of a zipper merge situation. In the case of a continuous value, it is possible that the target distance is only increased when the continuous value is greater than a predefined threshold. The existence of a congestion situation can also be calculated based on other factors / criteria.

[0030] The existence of a zipper merge situation and / or a congestion situation can also be identified by one or more received radio signals (or other electromagnetic signals). The (multiple) signals can be sent to inform a (semi-)autonomous driver assistance system.

[0031] It is also possible that the fourth motor vehicle does not cut in between the first and third motor vehicles, but rather the fourth motor vehicle cuts in between the third motor vehicle and the motor vehicle directly in front of the third motor vehicle. In this case, there may or may not be another motor vehicle between the second and fourth motor vehicles. In either case, the control system will recognize the existence of a zipper merge situation. It is also possible that when the fourth motor vehicle cuts in between other motor vehicles (until there are multiple motor vehicles between this motor vehicle) that are further ahead of the third motor vehicle, the control system also recognizes the existence of a zipper merge situation.

[0032] The control system can also be at least configured and determined to obtain the position of the third motor vehicle directly in front of the first motor vehicle in the first lane from the provided environmental data.

[0033] In addition, the control system can be at least configured and determined to obtain the position and speed of the fourth motor vehicle in the adjacent lane that is ahead of the second motor vehicle from the provided environmental data.

[0034] In addition, the control system can be at least configured and determined to identify whether there is a congestion situation from the provided environmental data. In addition, the control system can be at least configured and determined to obtain a lane change probability from the provided environmental data, where the lane change probability indicates the probability that the fourth motor vehicle cuts into the gap between the first motor vehicle and the third motor vehicle from the adjacent lane to the first lane.

[0035] In addition, the control system can be at least configured and determined to recognize the existence of a zipper merge situation when the lane change probability is greater than a predetermined probability value and when it has been recognized that there is a congestion situation.

[0036] It is also possible that, taking into account the lane change probability for the existence of a zipper merge situation, the control system takes into account the probability of a motor vehicle traveling in the adjacent lane and wanting to cut in between two motor vehicles in front of the third motor vehicle.

[0037] The control system can obtain the lane change probability by means of at least one of the following factors: the speed and / or acceleration of the fourth motor vehicle; the position of the fourth motor vehicle in the adjacent lane in the lateral direction, where the lateral direction is perpendicular to the longitudinal direction; and / or the distance between the first motor vehicle and the third motor vehicle.

[0038] The speed and / or acceleration of the fourth motor vehicle can affect the calculation of the lane change probability because a low (e.g., less than a threshold) relative speed of the fourth motor vehicle with respect to the first or third motor vehicle increases the lane change probability. For example, the relative speed can be measured over a period of 0.2 - 1.5 seconds, e.g., 400 ms (milliseconds). The acceleration of the fourth motor vehicle can increase the lane change probability when the acceleration is low. It is also possible that a positive acceleration of the fourth motor vehicle increases the lane change probability. It is also possible that the control system differentiates between lateral and longitudinal speed or acceleration.

[0039] When the fourth motor vehicle travels close to the first lane, i.e., travels close to the road marking that demarcates the lane, the lateral positioning of the fourth motor vehicle can increase the lane change probability. A lane change signal (e.g., direction indicator) of the fourth motor vehicle indicating (planning) a lane change to the first lane can also increase the lane change probability. The turning into and / or adjustment of the tires of the fourth motor vehicle in the direction of the first lane can also increase the lane change probability.

[0040] When the distance between the first and third motor vehicles is at least greater than the length of the fourth motor vehicle, this distance can increase the lane change probability. When the distance is greater, this distance can further increase the lane change probability. This increase in the lane change probability can also be associated with the distance between the first and third motor vehicles proportionally, stepwise, or otherwise monotonically increasing. The (lateral) distance between the fourth and third motor vehicles also affects the lane change probability.

[0041] It is also possible that one or more of the just-mentioned criteria only affect the lane change probability or affect the lane change probability together with other (not explicitly mentioned either) criteria.

[0042] The control system can also be at least set up and determined to identify the existence of a congestion situation when the difference between the average speed of the motor vehicles in the first lane and the average speed of the motor vehicles in the adjacent lane is less than a predetermined second value.

[0043] The control system can also use additional criteria to determine the existence of a congestion situation. For example, the flashing of one or more warning lights of the motor vehicle traveling ahead can be such an additional criterion. The identification of a road sign or display board warning of congestion can also be an additional criterion.

[0044] It is also possible that the control system does not first determine the (intermediate) value of the existence of a congestion situation, but instead uses the criteria for determining the existence of a congestion situation to directly calculate the criteria for the existence of a zipper merge situation.

[0045] The control system can also omit the calculation of the (intermediate) value of the existence of the zipper merge situation and instead directly use the criteria required for this calculation as a condition for increasing the target distance (between the present motor vehicle and the first motor vehicle).

[0046] The control system can also be at least configured and determined to recognize the existence of a congestion situation when the number of motor vehicles in the adjacent lane that pass by or are passed by the present motor vehicle is less than a pre-determined third value within a predetermined time.

[0047] The control system can also recognize whether the number of motor vehicles being overtaken by the present motor vehicle in the overtaking lane (the left lane in Germany) relative to the first lane on which the present motor vehicle is traveling increases. If the control system detects this, it can additionally increase the probability of recognizing a congestion situation.

[0048] In a similar manner, the control system can also recognize whether an increasing number of vehicles from a lane (the right lane in Germany) that should travel more slowly relative to the first lane have overtaken the present motor vehicle. This can also increase the probability of recognizing a congestion situation.

[0049] The control system can also be at least configured and determined to recognize the existence of a zipper merge situation when there is an obstacle in front in the adjacent lane in the driving direction of the present motor vehicle.

[0050] This can be advantageous when there is no third and / or fourth motor vehicle in the previous sense. Nevertheless, the control system still recognizes the existence of a zipper merge situation and thus increases the target distance from the first motor vehicle so that the second motor vehicle can cut in ( / enter).

[0051] It is also possible that the control system recognizes a traffic sign that requires the execution of the zipper merge method. The control system can also recognize the end of the adjacent lane. This also allows the control system to recognize the existence of a zipper merge situation.

[0052] When the second motor vehicle is faster than the present motor vehicle, the control system can increase the target distance between the present motor vehicle and the first motor vehicle to a lesser extent.

[0053] When the second motor vehicle is slower than the present motor vehicle, the control system can increase the target distance between the present motor vehicle and the first motor vehicle to a greater extent.

[0054] Thereby, the change in the (longitudinal) spacing between the present motor vehicle and the second motor vehicle is considered based on the relative speed.

[0055] In the control system, the first value can be proportional to the speed of the present motor vehicle.

[0056] The first value is a threshold value below which the numerical value of the relative speed of the second motor vehicle relative to the present motor vehicle or relative to the first motor vehicle must be in order to increase the target distance.

[0057] The first value can also depend on the speed of the first or second motor vehicle.

[0058] A control system, wherein a zipper merging situation is a situation in which one of two adjacent lanes, preferably the adjacent lane, ends and / or is no longer passable at a position in front in the driving direction of the present motor vehicle, wherein both lanes are provided and determined for traffic in the same direction, and in this situation, the motor vehicles in both lanes are to be merged into another continuous lane such that the motor vehicles originally in one lane and the motor vehicles originally in the other lane should exist in an alternating order successively.

[0059] The continuous lane is preferably the first lane. The adjacent lane can extend to the left or right of the first lane. There can also be additional lanes.

[0060] On the other hand, it relates to a control method which, in a motor vehicle, based on ambient data obtained from at least one / more ambient sensors assigned to the motor vehicle, identifies lanes, road boundaries, lane markings, other motor vehicles and / or objects in the front, side and / or rear regions of the motor vehicle. The control method is carried out in particular by means of the above-mentioned control system. The control method at least comprises the following steps:

[0061] - To obtain from the provided ambient data the position and speed of a first motor vehicle, wherein the first motor vehicle is driving directly in front of the present motor vehicle in the first lane, and wherein the present motor vehicle is in the first lane,

[0062] - To obtain from the provided ambient data the position and speed of a second motor vehicle, wherein the second motor vehicle is driving in an adjacent lane adjacent to the first lane,

[0063] - To identify from the provided ambient data whether there is a zipper merging situation,

[0064] - When the numerical value of the relative speed of the second motor vehicle relative to the present motor vehicle or relative to the first motor vehicle is less than a predetermined first value, when the second motor vehicle is between the present motor vehicle and the first motor vehicle in the longitudinal direction extending along the adjacent lane and when it has been identified that there is a zipper merging situation, to increase the target distance between the present motor vehicle and the first motor vehicle.

[0065] Yet another aspect relates to a motor vehicle which comprises the control system as described above.

[0066] Compared with traditional driver assistance systems, the solution introduced here enables the recognition of zipper merging situations and reacts to them. The zipper merging situation is reliably recognized by obstacles, the end of the lane, or the behavior of other motor vehicles.

[0067] The driving comfort is improved by increasing the target distance to the vehicle in front as a reaction. In the case of a semi-autonomous driver assistance system, the driver no longer needs to take active preparatory measures to perform the zipper merging method. In addition, the zipper merging method is also complied with by leaving enough space for the second motor vehicle to cut in.

[0068] It is obvious to those skilled in the art that the above aspects and features can be combined in the control system and / or control method in any way. Although some of the above features have been described with respect to the control system, it should be understood that these features can also be applied to the control method. Similarly, the features regarding the control method described above can be applied to the control system in a corresponding manner. Description of the Drawings

[0069] Further objectives, features, advantages, and application possibilities result from the following description of embodiments, which should not be understood restrictively, with reference to the accompanying drawings. Here, all features described and / or illustrated, either alone or in any combination, represent the subject matter disclosed herein. The dimensions and proportions of the components shown in the figures are not to scale here. Identical or functionally identical components are provided with the same reference numerals.

[0070] Figure 1 A motor vehicle according to an embodiment is schematically shown, which has a control system and at least one environmental sensor;

[0071] Figure 2 An exemplary zipper merging situation is schematically shown;

[0072] Figure 3 An architecture for the decision to increase the target distance according to an embodiment is schematically shown. Detailed Description of the Embodiments

[0073] Within the scope of the following disclosure, various aspects are preferably described with reference to the control system. However, these aspects are of course also valid within the scope of the disclosed control method, which can be executed, for example, by a central control device (ECU) of a motor vehicle. This can be achieved by appropriate read and write access to the memory assigned to the motor vehicle. The control method can be executed within the motor vehicle not only in hardware and software, but also in a combination of hardware and software. This also includes digital signal processors, application-specific integrated circuits, field-programmable gate arrays, and other suitable switching and arithmetic components.

[0074] Figure 1

[0074] schematically shows a motor vehicle 12, which includes a control system 10. The control system 10 is coupled to at least one of the ambient sensors 14, 16, 18 on the motor vehicle 12 to obtain ambient data from at least one of the sensors 14, 16, 18. The control system 10 may include an electronic control unit ECU (Electronic Control Unit; not shown in the figure). For example, the control system 10 may be at least configured and determined to identify a zipper merge situation and increase the target distance by means of the ECU and / or additional electronic control systems. For this purpose, the ECU receives signals from the ambient sensors 14, 16, 18, processes these signals and the associated ambient data, and generates corresponding control and / or output signals.

[0075] Figure 1 shows three ambient sensors 14, 16, 18, which send corresponding signals to the control system 10 or the electronic control unit ECU. In particular, at least one ambient sensor 14 pointing forward in the driving direction of the motor vehicle 12 is arranged on the motor vehicle 12, and this ambient sensor detects the area 22 in front of the motor vehicle 12. This at least one ambient sensor 14 may be arranged, for example, in the area of the front bumper, the headlights and / or the front radiator grille of the motor vehicle 12. Thereby, the ambient sensor 14 detects the near-front area 22 of the motor vehicle 12.

[0076]

[0075] shows at least one additional or alternative ambient sensor 16 also pointing forward in the driving direction of the motor vehicle 12 in the area of the front windshield of the motor vehicle 12. For example, this ambient sensor 16 may be arranged between the interior rearview mirror and the front windshield of the motor vehicle 12. Such an ambient sensor 16 detects the area 24 in front of the motor vehicle 12, wherein, due to the front section (or its geometry) of the motor vehicle 12, the near-front area 24 of the motor vehicle 12 cannot be detected according to the shape of the motor vehicle 12.

[0077] Figure 1 In addition, at least one ambient sensor 18 may be arranged on the side and / or the rear of the motor vehicle 12. This optional ambient sensor 18 detects the area 26 on the side and / or behind the motor vehicle 12 in the driving direction of the motor vehicle 12. For example, the data or signals of this at least one ambient sensor 18 may be used to verify the information detected by other ambient sensors 14, 16 and / or to determine the curvature of the lane traveled by the motor vehicle 12.

[0078] At least one of the ambient sensors 14, 16, 18 can be carried out arbitrarily and can include a front camera, a rear camera, a side camera, a radar sensor, a lidar sensor, an ultrasonic sensor, and / or an inertial sensor. For example, the ambient sensor 14 can be implemented in the form of a front camera, a radar sensor, a lidar sensor, or an ultrasonic sensor. The front camera is particularly suitable as the ambient sensor 16 at a higher position, while the ambient sensor 18 arranged at the rear of the motor vehicle 12 can be carried out in the form of a rear camera, a radar sensor, a lidar sensor, or an ultrasonic sensor.

[0079] The electronic control unit ECU processes the ambient data obtained from one or more of the ambient sensors 14, 16, 18 on the motor vehicle 12 in order to obtain information about the static surroundings (such as immovable ambient objects like road boundaries and stationary obstacles) and the dynamic surroundings of the motor vehicle 12 (such as movable ambient objects like other motor vehicles or traffic participants).

[0080] Therefore, the electronic control unit processes the ambient data obtained from one or more of the ambient sensors 14, 16, 18 on the motor vehicle 12 in order to detect the lane having the first and second lateral road boundaries in front of the motor vehicle 12 on which the motor vehicle is traveling. Additionally, the electronic control unit ECU processes the ambient data obtained from one or more of the ambient sensors 14, 16, 18 on the motor vehicle 12 in order to detect the lane occupied by other objects (the lane is adjacent to the lane on which the (motor) vehicle is traveling, and which may also include additional lanes) and the lateral road boundaries of this lane in front of, beside, and / or behind the motor vehicle 12. The other objects can here be one (or more) other motor vehicles moving along a lane adjacent to the lane of the motor vehicle, or any other possible obstacle in front of the other motor vehicle in the lane.

[0081] For this purpose, the ambient sensors 14, 16, 18 provide the electronic control unit ECU with ambient data reflecting the front, side, and / or rear areas of the motor vehicle. For this purpose, the control system 10 is connected to at least one of the ambient sensors 14, 16, 18 via at least one data channel or bus ( Figure 1 shown by the dashed line in the figure). The data channel or bus can be implemented by means of a cable or wirelessly.

[0082] Alternatively or additionally, the control system 10 or its electronic control unit ECU can also obtain data that describes a lane with lateral road boundaries on which the present motor vehicle 12, another motor vehicle, and a plurality of additional motor vehicles are traveling, or data that can be derived therefrom, from one or more other auxiliary systems 20 or another control unit 20 of the present motor vehicle 12. Thus, the data and information already known through other systems can be used by the control system 10.

[0083] The driver assistance system 20 or the electronic control unit 20 can also be configured and determined to (semi-)autonomously control the motor vehicle. In this case, the control system 10 is configured and determined to output data to the driver assistance system 20 or the electronic control unit 20 for autonomous driving. In particular, the control system 10 (or its ECU) can increase the data, the target distance (from the vehicle traveling ahead), and output this information to the component 20. The data can also be transmitted in a wired or wireless manner via a data channel or a bus.

[0084] Figure 2 An exemplary zipper merge situation is schematically shown, in which the control system 10 controls the present motor vehicle 12 such that the target distance is increased. In addition to the present motor vehicle 12, a first motor vehicle 28, a second motor vehicle 30, a third motor vehicle 32, and a fourth motor vehicle 24 can also be seen. The present motor vehicle 12, the first motor vehicle 28, and the third motor vehicle are on a first lane 36. The second motor vehicle is on an adjacent lane 38. The first lane 36 and the adjacent lane 38 are separated from each other by a road marking 40. Externally, the first lane 36 is bounded by a road marking 42 and the second lane 38 is bounded by a road marking 44. The fourth motor vehicle 34 is changing from the adjacent lane 38 to the first lane 36 and intersects the road marking 40 there. This is also indicated by the gray arrow at the fourth motor vehicle 34. The double arrow 46 shows the (actual) distance between the present motor vehicle 12 and the first motor vehicle 28. The road marking 48 shows that the adjacent lane 38 can no longer be traveled on.

[0085] The zipper merge method can also be based on Figure 2It can be seen that motor vehicles are grouped into the continuous first lane 36 in an alternating sequence. The third motor vehicle 32, which was also traveling in the first lane 36 beforehand, travels first. Then, the fourth motor vehicle 34 cuts into the first lane 36 from the adjacent lane 38 and thus is grouped as the second. After that is the first motor vehicle 28 that has been traveling in the first lane 36 beforehand and thus is grouped as the third. Then comes the second motor vehicle 30, which is still traveling in the adjacent lane 38 but will soon merge between the first motor vehicle 28 and the present motor vehicle 12 and thus is grouped as the fourth. After that is the present motor vehicle, which has been in its own lane 36 beforehand and is grouped as the fifth. Thus, the motor vehicles are arranged in an alternating sequence.

[0086] The control system 10 of the present motor vehicle 12 can identify from the provided ambient data that the fourth motor vehicle 34 is cutting into the gap between the first motor vehicle 28 and the third motor vehicle 32. If there is also a congestion situation now, the control system 10 identifies that there is a zipper merge situation. The control system 10 may have analyzed beforehand whether there is a congestion situation. For example, it may have measured how many motor vehicles have overtaken the present motor vehicle 12 or been overtaken by the present motor vehicle in the adjacent lane within a past fixed time period (e.g., the last 10 seconds / 30 seconds / 1 minute or a similar time). If this value is low, the control system 10 can identify that there is a congestion situation. Alternatively, the control system can also identify that there is a congestion situation based on the fact that the average speed of the adjacent lane is equal to or close to the average speed of the first lane.

[0087] The control system 10 can also identify that the gap between the first motor vehicle 28 and the third motor vehicle 32 is large enough for the fourth motor vehicle 34 to cut into. This fact can increase the probability of identifying the zipper merge situation.

[0088] The control system 10 can also identify that the distance between the present motor vehicle 12 and the first motor vehicle 28 is not large enough for the second motor vehicle 30 to cut into. The control system 10 also obtains the relative speed of the second motor vehicle 30 with respect to the present motor vehicle 12 or with respect to the first motor vehicle 28. The control system 10 can identify these factors from the provided ambient data and, in response, increase the target distance between the present motor vehicle 12 and the first motor vehicle 28. The second motor vehicle is approaching the road marking 40 and wants to change lanes. This can also be identified and influence the decision-making.

[0089] In the case where the surrounding environment sensors 14, 16, 18 of the present motor vehicle 12 cannot directly (optically, linearly) identify / detect the fourth motor vehicle 34, it is feasible to identify / detect the fourth motor vehicle 34 by a reflected light beam (which is reflected on the ground, for example, under the first motor vehicle 28). The reflected light beam comes from the fourth motor vehicle 34, is reflected on the ground (under the first motor vehicle 28), and is detected by the sensors in the present motor vehicle, which is possible, for example, by a radar sensor. The third motor vehicle 32 can also be identified / detected in a similar manner.

[0090] Figure 3 Schematically shows the architecture of a decision according to an implementation example. Rectangles (with sharp corners and rounded corners) and ellipses show steps. The respective leading arrows point to subsequent steps, which are carried out when all criteria "upstream" of the arrow (such as a "yes" decision) are met.

[0091] Rectangle S1 represents the query of checking whether a lane change of the fourth motor vehicle 34 is identified. Alternatively, S1 may also query whether the lane change probability of the fourth motor vehicle 34 is greater than a pre-determined probability value. Rectangle S2 represents the query of asking whether the distance between the first and third motor vehicles 28, 32 is large enough for the fourth motor vehicle 34 to cut in. If the conditions of rectangles S1 and S2 are met, the condition of rectangle S3 is queried. In S3, it is checked whether the fourth motor vehicle 34 has cut into the gap between the first motor vehicle and the third motor vehicle.

[0092] Rectangle S4 represents the query of checking whether a congestion situation is identified. This can be achieved, for example, by a calculated congestion probability and a threshold value. Other measures, some of which have been described previously, are also feasible. If the conditions of rectangle S3 (i.e., S1 and S2) and S4 are met, the control system identifies a zipper merge method / zipper merge situation according to ellipse S5. S5 is shown as an ellipse because no additional criteria (except for "upstream" criteria) are checked. Either a value is calculated or set for the zipper merge situation, or ellipse S5 is just a placeholder and the arrow entering ellipse S5 may directly point to rectangle S8 (in the case where there is no ellipse S5).

[0093] Rectangle S6 represents the query of checking whether the second motor vehicle 30 is laterally between the present motor vehicle 12 and the first motor vehicle 28. Rectangle S7 represents the query of checking whether the relative speed of the second motor vehicle 30 with respect to the present motor vehicle 12 or with respect to the first motor vehicle 28 is very low. If all preconditions of S5, S6, and S7 (i.e., S1 to S7 are valid) are met, the target distance is adapted, which is represented in rectangle S8. No verification is carried out in this step (S8). This should be represented based on the rounded rectangle S8.

[0094] It should be understood that the above exemplary embodiments are not conclusive and do not limit the subject matter disclosed herein. In particular, it will be apparent to those skilled in the art that those skilled in the art can combine the features of different embodiments with each other and / or can omit different features of the embodiments, without departing from the subject matter disclosed herein.

Claims

1. A control system (10), which is configured and determined for use in the present motor vehicle (12), and which is based on ambient data obtained from at least one ambient sensor (14, 16, 18) assigned to the motor vehicle to identify lanes, road boundaries, road markings, other motor vehicles and / or objects in the areas (22, 24, 26) in front of, beside and / or behind the present motor vehicle (12), wherein, The at least one ambient sensor is set up to provide ambient data reflecting the area in front of, beside and / or behind the motor vehicle (12) to the electronic control unit of the control system (10), and wherein the control system (10) is at least set up and determined to - obtain from the provided ambient data the position and speed of a first motor vehicle (28) traveling directly in front of the own motor vehicle (12) in a first lane (36), wherein the own motor vehicle (12) is in the first lane (36), - obtain from the provided ambient data the position and speed of a second motor vehicle (30) traveling in an adjacent lane (38) adjacent to the first lane (36), - identify from the provided ambient data whether there is a zipper merge situation, - when the value of the relative speed of the second motor vehicle (30) relative to the own motor vehicle (12) or relative to the first motor vehicle (28) is less than a pre-determined first value, when the second motor vehicle (30) is between the own motor vehicle (12) and the first motor vehicle (28) in the longitudinal direction extending along the adjacent lane (38) and when it has been identified that there is a zipper merge situation, increase the target distance between the own motor vehicle (12) and the first motor vehicle (28), wherein the control system is also set up and determined to - obtain from the provided ambient data the position of a third motor vehicle (32) traveling directly in front of the first motor vehicle (28) in the first lane (36), - obtain from the provided ambient data the position and speed of a fourth motor vehicle (34) traveling in the adjacent lane (38) in front of the second motor vehicle (30) and / or that has previously traveled in front of the second motor vehicle for a short time, - identify from the provided ambient data whether there is a congestion situation, - when the fourth motor vehicle (34) cuts into the gap between the first motor vehicle (28) and the third motor vehicle (32) from the adjacent lane (38) to the first lane (36) and when it has been identified that there is a congestion situation, identify that there is a zipper merge situation.

2. The control system (10) according to claim 1, wherein the control system is also at least set up and determined to, - identify that there is a congestion situation when the difference between the average speed of the motor vehicles in the first lane (36) and the average speed of the motor vehicles in the adjacent lane (38) is less than a pre-determined second value.

3. The control system (10) according to claim 1, wherein the control system is also at least set up and determined to, - identify that there is a congestion situation when the number of motor vehicles in the adjacent lane (38) that pass by or are passed by the own motor vehicle (12) within a predetermined time is less than a pre-determined third value.

4. The control system (10) according to any one of claims 1 to 3, wherein, When the second motor vehicle (30) is faster than the own motor vehicle (12), the target distance between the own motor vehicle (12) and the first motor vehicle (28) is increased to a lesser extent.

5. The control system (10) according to any one of claims 1 to 3, wherein, When the second motor vehicle (30) is slower than the own motor vehicle (12), the target distance between the own motor vehicle (12) and the first motor vehicle (28) is increased to a greater extent.

6. The control system (10) according to any one of claims 1 to 3, wherein, The first value is proportional to the speed of the own motor vehicle (12).

7. The control system (10) according to any one of claims 1 to 3, wherein, The zipper merging situation is a situation in which one of two lanes adjacent to each other ends and / or is no longer passable at a position in front in the driving direction of the own motor vehicle (12), wherein the two lanes are both established and determined for traffic in the same direction, and wherein the motor vehicles in the two lanes should be arranged in another continuous lane such that the motor vehicles originally in one lane and the motor vehicles originally in the other lane should exist in an alternating order successively one after another.

8. The control system (10) according to any one of claims 1 to 3, wherein, The zipper merging situation is a situation in which the adjacent lane (38) ends and / or is no longer passable at a position in front in the driving direction of the own motor vehicle (12), wherein the two lanes are both established and determined for traffic in the same direction, and wherein the motor vehicles in the two lanes should be arranged in another continuous lane such that the motor vehicles originally in one lane and the motor vehicles originally in the other lane should exist in an alternating order successively one after another.

9. A control system (10) which is configured and determined for use in the present motor vehicle (12), the control system being based on ambient data obtained from at least one ambient sensor (14, 16, 18) assigned to the motor vehicle to identify lanes, road boundaries, road markings, other motor vehicles and / or objects in the regions (22, 24, 26) in front of, beside and / or behind the present motor vehicle (12), wherein, The at least one ambient sensor is established to provide ambient data reflecting the area in front of, beside and / or behind the motor vehicle (12) to the electronic control unit of the control system (10), and wherein the control system (10) is at least established and determined for - obtaining from the provided ambient data the position and speed of the first motor vehicle (28) driving directly in front of the own motor vehicle (12) in the first lane (36), wherein the own motor vehicle (12) is in the first lane (36), - obtaining from the provided ambient data the position and speed of the second motor vehicle (30) driving in the adjacent lane (38) adjacent to the first lane (36), - identifying from the provided ambient data whether there is a zipper merging situation, - when the value of the relative speed of the second motor vehicle (30) with respect to the own motor vehicle (12) or with respect to the first motor vehicle (28) is less than a predetermined first value, when the second motor vehicle (30) is between the own motor vehicle (12) and the first motor vehicle (28) in the longitudinal direction extending along the adjacent lane (38) and when it has been identified that there is a zipper merging situation, increasing the target distance between the own motor vehicle (12) and the first motor vehicle (28), wherein the control system is also at least established and determined for - Obtain the position of a third motor vehicle (32) traveling directly in front of the first motor vehicle (28) on the first lane (36) from the provided ambient data. - Obtain the position and speed of a fourth motor vehicle (34) traveling in front of the second motor vehicle (30) on the adjacent lane (38) from the provided ambient data. - Identify from the provided ambient data whether there is a congestion situation. - Obtain a lane change probability from the provided ambient data, where the lane change probability indicates the probability that the fourth motor vehicle (34) cuts into the gap between the first motor vehicle (28) and the third motor vehicle (32) from the adjacent lane (38) to the first lane (36). - When the lane change probability is greater than a predetermined probability value and when it has been identified that there is a congestion situation, identify that there is a zipper merge situation.

10. The control system (10) according to claim 9, wherein, The lane change probability is obtained by means of at least one of the following factors: - The speed and / or acceleration of the fourth motor vehicle (34). - The lateral position of the fourth motor vehicle (34) on the adjacent lane (38), where the lateral direction is perpendicular to the longitudinal direction. - The distance between the first motor vehicle (28) and the third motor vehicle (32).

11. The control system (10) according to claim 9 or 10, the control system is further at least configured and determined to - When the difference between the average speed of the motor vehicles on the first lane (36) and the average speed of the motor vehicles on the adjacent lane (38) is less than a predetermined second value, identify that there is a congestion situation.

12. The control system (10) according to claim 9 or 10, the control system is further at least configured and determined to - When the number of motor vehicles on the adjacent lane (38) that pass by or are passed by the own motor vehicle (12) within a predetermined time is less than a predetermined third value, identify that there is a congestion situation.

13. The control system (10) according to claim 9 or 10, wherein, When the second motor vehicle (30) is faster than the own motor vehicle (12), increase the target distance between the own motor vehicle (12) and the first motor vehicle (28) to a lesser extent.

14. The control system (10) according to claim 9 or 10, wherein, When the second motor vehicle (30) is slower than the own motor vehicle (12), increase the target distance between the own motor vehicle (12) and the first motor vehicle (28) to a greater extent.

15. The control system (10) according to claim 9 or 10, wherein, The first value is proportional to the speed of the own motor vehicle (12).

16. The control system (10) according to claim 9 or 10, wherein, The zipper merge situation is a situation in which one of the two adjacent lanes ends and / or becomes impassable at a position in front along the driving direction of the own motor vehicle (12), where the two lanes are both configured and determined for traffic in the same direction, and where the motor vehicles in the two lanes should line up on another continuous lane such that the motor vehicles originally in one lane and the motor vehicles originally in the other lane should exist in an alternating order, one after the other.

17. The control system (10) according to claim 9 or 10, wherein, The zipper merge situation is as follows. The adjacent lanes (38) end and / or become impassable at a position in front in the driving direction of the present motor vehicle (12). Both of the lanes are established and determined for traffic in the same direction. And the motor vehicles in the two lanes should line up on another continuous lane such that the motor vehicles originally in one lane and the motor vehicles originally in the other lane should exist in an alternating order, one after the other, respectively.

18. Control method, which, in a motor vehicle (12), identifies lanes, road boundaries, road markings, other motor vehicles and / or objects in the area in front of, beside and / or behind the motor vehicle (12) on the basis of ambient data obtained from at least one ambient sensor (14, 16, 18) assigned to the motor vehicle (12), wherein The control method is executed by means of the control system (10) according to any one of claims 1 to 8, and wherein the control method at least includes the following steps: - Obtain the position and speed of a first motor vehicle (28) from the provided ambient data, wherein the first motor vehicle (28) is driving directly in front of the present motor vehicle (12) on a first lane (36), and wherein the present motor vehicle (12) is on the first lane (36). - Obtain the position and speed of a second motor vehicle (30) from the provided ambient data, wherein the second motor vehicle (30) is driving on an adjacent lane (38) adjacent to the first lane (36). - Identify from the provided ambient data whether there is a zipper merge situation. - When the value of the relative speed of the second motor vehicle (30) with respect to the present motor vehicle (12) or with respect to the first motor vehicle (28) is less than a predetermined first value, when the second motor vehicle (30) is between the present motor vehicle (12) and the first motor vehicle (28) in the longitudinal direction along the adjacent lane (38), and when it is identified that there is a zipper merge situation, increase the target distance between the present motor vehicle (12) and the first motor vehicle (28). Wherein the control method further at least includes the following steps: - Obtain the position of a third motor vehicle (32) driving directly in front of the first motor vehicle (28) on the first lane (36) from the provided ambient data. - Obtain the position and speed of a fourth motor vehicle (34) driving in front of the second motor vehicle (30) on the adjacent lane (38) and / or having driven in front of the second motor vehicle for a short time beforehand from the provided ambient data. - Identify from the provided ambient data whether there is a congestion situation. - When the fourth motor vehicle (34) cuts into the gap between the first motor vehicle (28) and the third motor vehicle (32) from the adjacent lane (38) to the first lane (36) and when it is identified that there is a congestion situation, identify that there is a zipper merge situation.

19. Control method, which, in a motor vehicle (12), identifies lanes, road boundaries, road markings, other motor vehicles and / or objects in the area in front of, beside and / or behind the motor vehicle (12) on the basis of ambient data obtained from at least one ambient sensor (14, 16, 18) assigned to the motor vehicle (12), wherein The control method is executed by means of the control system (10) according to any one of claims 9 to 17, and wherein the control method at least includes the following steps: - Obtain the position and speed of the first motor vehicle (28) from the provided ambient environment data, wherein the first motor vehicle (28) is traveling directly in front of the present motor vehicle (12) on the first lane (36), and wherein the present motor vehicle (12) is on the first lane (36). - Obtain the position and speed of the second motor vehicle (30) from the provided ambient environment data, wherein the second motor vehicle (30) is traveling on an adjacent lane (38) adjacent to the first lane (36). - Identify from the provided ambient environment data whether there is a zipper merge situation. - When the value of the relative speed of the second motor vehicle (30) with respect to the present motor vehicle (12) or with respect to the first motor vehicle (28) is less than a predetermined first value, when the second motor vehicle (30) is between the present motor vehicle (12) and the first motor vehicle (28) in the longitudinal direction extending along the adjacent lane (38), and when it has been identified that there is a zipper merge situation, increase the target distance between the present motor vehicle (12) and the first motor vehicle (28). Wherein, the control method further at least includes the following steps: - Obtain the position of the third motor vehicle (32) traveling directly in front of the first motor vehicle (28) on the first lane (36) from the provided ambient environment data. - Obtain the position and speed of the fourth motor vehicle (34) traveling in front of the second motor vehicle (30) on the adjacent lane (38) from the provided ambient environment data. - Identify from the provided ambient environment data whether there is a congestion situation. - Obtain the lane change probability from the provided ambient environment data, the lane change probability indicating the probability that the fourth motor vehicle (34) cuts into the gap between the first motor vehicle (28) and the third motor vehicle (32) from the adjacent lane (38) to the first lane (36). - When the lane change probability is greater than a predetermined probability value and when it has been identified that there is a congestion situation, identify that there is a zipper merge situation.

20. A motor vehicle, the motor vehicle including the control system according to any one of claims 1 to 17.

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