Lane keeping assist system, method of operating the same and computer program product
By utilizing external vehicle group data analysis, the lane keeping assist system predicts and plans lane keeping motion outside the detection range, solving the guidance difficulties of existing lane keeping systems when the detection range is insufficient, and achieving more reliable and safer lane keeping.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- VOLKSWAGEN AG
- Filing Date
- 2022-01-05
- Publication Date
- 2026-06-19
AI Technical Summary
Existing lane keeping assist systems struggle to provide effective lateral guidance when lane markings are lacking or detection range is insufficient, especially on rural roads where maintaining lane centering is difficult.
By analyzing group data from outside the vehicle, future road segments are analyzed, the surrounding environment is detected by optical detection devices, and combined with electronic computing devices, partially assisted lane-keeping movements are executed, especially for predicting and planning lane-keeping movements outside the detection range.
It improves the reliability and safety of the lane keeping assist system, extends lane keeping motion beyond the detection range, provides early warnings and better predicts road conditions, ensures drivers are prepared in advance, and enhances the system's adaptability and driving experience.
Smart Images
Figure CN114715147B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a method for operating a lane keeping assist system (or lane departure prevention assist system) for a motor vehicle that is at least partially assisted in its operation. The method involves detecting the surrounding environment of the motor vehicle with a potential driving lane using an optical detection device of the lane keeping assist system and analyzing the surrounding environment using an electronic computing device of the lane keeping assist system. Based on the analyzed surrounding environment, at least partially assisted lane keeping movements are performed using a lateral adjustment device of the lane keeping assist system. Group data provided by an electronic computing device external to the motor vehicle is considered when analyzing the surrounding environment. The invention also relates to a computer program product and a lane keeping assist system. Background Technology
[0002] Lane keeping assist systems, particularly for assisting drivers in lateral guidance, are known from existing technology. These lateral guidance driver assistance systems can be specifically referred to as travel assist systems and have corresponding permissions for road traffic. In current implementations, lateral guidance is primarily based on lane data captured by cameras, which can also be referred to as so-called real-time recognition of lane markings. For example, on rural roads with only one lane marking, it may often be difficult to detect the marking with a camera, thus requiring suppression of the corresponding lateral guidance. It is also known that motor vehicles, especially with the aid of lane keeping assist systems, should stay as close to the center of the lane as possible.
[0003] DE 10 2019 114 527 A1 discloses a system and method for extracting vehicle lane-related information for a specific road segment by collecting data trajectories of driving dynamics. The method for controlling vehicle operation includes determining the vehicle's position, identifying the road segment corresponding to the vehicle's position, and receiving externally relevant data belonging to that road segment. Furthermore, it determines the rotation angle and centerline for the road segment. It analyzes vehicle data, vehicle positions, and the displayed dynamic characteristics of multiple vehicles traveling on the road segment. It determines trajectory data displaying the start point, end point, and centerline offset distance of these vehicles. By processing the trajectory data using a clustered loop algorithm that describes the rotation angle and centerline, it identifies the overall driving lanes for the road segment. It extracts virtual trajectories for the driving lanes and instructs the vehicle bus system to perform control procedures based on the extracted virtual trajectories for at least one driving lane.
[0004] US 2014 / 0358322 A1 describes a method and infrastructure for addressing consistency issues at the lane level, and proposes different approaches for estimating position correction, confidence levels for position and map consistency, self-correcting map adjustments, and turning and lane change events. In addition to the described algorithm, V2V data (wherever available) can be used to support the overall algorithmic steps discussed. The lane in which the primary vehicle is located is determined if the relative GPS accuracy between the primary vehicle and slightly more distant vehicles near the primary vehicle is sufficient to separate vehicles in the lanes, and if there are sufficient vehicles in all lanes of interest. Summary of the Invention
[0005] The technical problem to be solved by the present invention is to realize a method, a computer program product and a lane keeping assist system by means of which improved lateral guidance can be achieved in the at least partially assisted operation of a motor vehicle.
[0006] This technical problem is solved by the method, computer program product, and lane keeping assist system according to the present invention. Advantageous design solutions are described in the preferred embodiments.
[0007] One aspect of the invention relates to a method for operating a lane-keeping assist system for a motor vehicle that is at least partially assisted in its operation, wherein the surrounding environment of the motor vehicle with a potential driving lane is detected by means of an optical detection device of the lane-keeping assist system, and the surrounding environment is analyzed by means of an electronic computing device of the lane-keeping assist system, and wherein, based on the analyzed surrounding environment, a partially assisted lane-keeping movement is performed by means of a lateral adjustment device of the lane-keeping assist system, wherein cluster data provided by an electronic computing device outside the motor vehicle is taken into account when analyzing the surrounding environment.
[0008] The specification stipulates that, based on ensemble data analysis, a road segment that is drivable (or available for drivability) in the future, which is outside the detection area of the optical detection device, is determined for the lateral adjustment device to determine at least partially assisted lane-keeping motion in the future.
[0009] Therefore, swarm data can be used to perform improved lateral guidance in at least partially assisted operation of motor vehicles. In particular, it is possible to analyze road segments that can be traversed in the future, especially those requiring lane keeping assist. Swarm data is derived, in particular, from motor vehicles that have already traversed the same road segments. Thus, existing information can be traced back based on swarm data, and from this information, future traversable road segments can be analyzed, and, for example, examined in terms of assisted drivability.
[0010] Therefore, it is particularly recommended to use the corresponding group data as a source of adjustment for future driving. For example, group data can be used on rural roads with only one lane marking to virtually mirror (spiegeln) a lane on the path traveled by other vehicles, thereby creating two lanes, and thus enabling lateral guidance for vehicles in this section of the road. Therefore, lane centering guidance can also be maintained for specific situations, such as if only one line is known, which can be mirrored on the driving path and thus generate a second virtual line. Furthermore, by simply “following” the path traveled by other vehicles, or in other words, “following” the group data, it is possible to cross intersections even when no lines exist at the intersection.
[0011] Therefore, better predictions can be achieved, especially by using swarm data. In particular, since optical detection devices, for example, specifically designed as cameras, have a detection range of only 50 meters, lane-keeping movements can also be planned accordingly even when the detection range has been exceeded, based on swarm data.
[0012] According to an advantageous implementation, the length of at least a portion of the traversable lane and / or the time during which at least partial assisted movement can be achieved in the lane are determined based on swarm data, without the need for optical detection devices to detect the lane. For example, if the lane is not found using a camera, the current situation according to the prior art is that, without corresponding optical recognition, only assisted guidance (or driving) can be achieved for, for example, 85 meters. This can be extended accordingly by using swarm data, since, for example, it can be determined that other motor vehicles have also traveled several kilometers without a lane. Therefore, the swarm data is used to enable the analysis and extension of the corresponding length of the lane or the time for assisted movement. Thus, improved lateral guidance can be achieved for motor vehicles that are at least partially assisted in their movement.
[0013] Furthermore, it has proven advantageous to consider current weather and / or road type and / or events and / or driver status and / or historical swarm data when determining the length and / or time. In particular, different types of swarm data can be used, such as whether there is only one live lane and one virtual lane, or whether there are no live lanes but two virtual lanes. Therefore, the allowed duration or allowed road segment can also be considered in the algorithm, particularly based on the type of swarm data used. These other data, for example, can specify how the length and duration of the assisted movement can be reliably determined based on the corresponding surrounding environment.
[0014] In another advantageous implementation, at least one criterion characterizing the driving lane is determined and predicted based on swarm data. Characterization criteria may, for example, be curve curvature and / or lane center and / or median / center strip and / or corresponding side strips (or shoulders). Therefore, virtual driving lanes can be reliably generated based on swarm data, thereby enabling reliable, at least partially assisted, lane-keeping movements.
[0015] Furthermore, it has proven advantageous to determine the availability of the lane-keeping assist system based on the predicted future partially assisted movement and the current and / or future position of the vehicle. For example, curve curvature outside the camera's detection area can be detected early on. This (i.e., the availability of the lane-keeping assist system) can also be determined if it is subsequently predicted that at least partially assisted lane-keeping movement cannot be achieved within that curve curvature. In particular, analysis of such events can be determined based on the current position. Furthermore, this situation can also be determined based on future positions, such as the driving route.
[0016] Equally advantageous is the ability to output a warning message to the driver of the vehicle if it is determined that the lane-keeping assist system is unavailable. This is especially beneficial in the early stages, before the vehicle reaches the location where the lane-keeping assist system is no longer available. The warning message can be output visually (or optically), tactilely, and acoustically. Because the driver is informed early on that the lane-keeping assist function will soon be unavailable, he can take over driving operation himself. Using preferred, regularly updated distance or time parameters until reaching the appropriate location, the driver can be precisely informed of the point in time from which he can no longer expect to use the lane-keeping assist system, thus preparing for the need for manual intervention. Therefore, the safety of the lane-keeping system is greatly improved, particularly compared to currently known purely camera-based solutions, which abruptly terminate availability and therefore require constant driver attention.
[0017] Furthermore, it is advantageous to output a warning message to the driver of the vehicle if it is determined that the lane keeping assist system is only available with limitations. This warning message describes which assist function of the lane keeping assist system is restricted. For example, if a corresponding road curve is detected, the driver can be notified that, while maintaining at least partially assisted movement, the vehicle can only proceed at a speed of 20 km / h along that curve. Therefore, either the driver must brake the vehicle accordingly, or the assist system must also perform longitudinal adjustments. This information can then be communicated to the driver so that he is aware of this information or, for example, can take over the driving task himself at this location.
[0018] In another advantageous implementation, when planning the route for the motor vehicle, at least partially assisted road segments that will be drivable in the future are considered. For example, this can be considered if it is determined that there are routes where lateral adjustments are no longer feasible. For instance, if the driver wishes to traverse a road segment with continuous lateral adjustments, other road segments in which the unavailability of lateral adjustments is excluded can be identified accordingly.
[0019] The proposed method is particularly a computer-implemented method. Therefore, another aspect of the invention relates to a computer program product having program instructions that, when executed on an electronic computing device, cause the method described according to the foregoing aspects to be performed. For this purpose, the electronic computing device particularly includes circuitry (especially integrated circuits) and a processor, as well as other electronic components, to enable the execution of the corresponding program instructions.
[0020] Another aspect of the invention relates to a lane-keeping assist system for a motor vehicle capable of at least partially assisted operation, comprising at least one optical detection device and at least one electronic computing device, wherein the lane-keeping assist system is designed to perform the method according to the foregoing aspects. In particular, the method is performed by means of this lane-keeping assist system.
[0021] Another aspect of the invention relates to a motor vehicle having a lane-keeping assist system according to the foregoing aspects. This motor vehicle is particularly designed to be at least partially assisted.
[0022] Advantageous implementations of the method are considered advantageous implementations of computer program products, lane keeping assist systems, and motor vehicles. Therefore, lane keeping assist systems and motor vehicles possess technical features enabling the implementation of the method or advantageous implementations of the method.
[0023] An extended design of the lane keeping assist system according to the present invention also belongs to the present invention, and said extended design has the features already described in conjunction with the extended design according to the method of the present invention. For this reason, the corresponding extended design according to the method of the present invention will not be described here.
[0024] The present invention also includes combinations of features of the embodiments described. Attached Figure Description
[0025] The following describes embodiments of the present invention. In the accompanying drawings:
[0026] Figure 1 A schematic top view of a motor vehicle having one embodiment of a lane-keeping assist system is shown; and
[0027] Figure 2Another schematic top view showing another embodiment of another motor vehicle with another lane keeping assist system. Detailed Implementation
[0028] The embodiments described below are preferred embodiments of the present invention. In these embodiments, the described components represent individual features of the invention that can be considered independently of each other, and these features also independently extend the invention and can therefore be considered as part of the invention individually or in combinations different from those shown. Furthermore, the described embodiments can be supplemented by other features of the invention already described.
[0029] In the accompanying drawings, elements with the same function are respectively assigned the same reference numerals.
[0030] Figure 1 This is a schematic top view showing one embodiment of a motor vehicle 1 equipped with a lane keeping assist system 2. The motor vehicle 1 is located on a road 3. The road 3 has a driving lane 4.
[0031] Lane keeping assist system 2 is designed for use with a motor vehicle 1 that is at least partially assisted in its operation. For this purpose, lane keeping assist system 2 has an optical detection device 5, which is specifically designed as a camera. Lane keeping assist system 2 also has at least one electronic computing device 6. The camera 5 can be used to detect a detection area 7. In particular, the optical detection device 5 can be used to detect the driving lane 4 at least partially.
[0032] Specifically, the optical detection device 5 of the lane keeping assist system 2 detects the surrounding environment 8 of the vehicle 1, particularly the road 3 or the driving lane 4. Specifically, it detects the surrounding environment 8 with potential driving lanes 4, and analyzes the surrounding environment 8 or driving lane 4 using the electronic computing device 6 of the lane keeping assist system. Based on the analyzed surrounding environment 8, a partially assisted lane keeping movement 9 is performed using the lateral adjustment device 10 of the lane keeping assist system 2, wherein group data 12 provided by the electronic computing device 11 outside the vehicle is considered when analyzing the surrounding environment 8. Specifically, based on the group data 12, it analyzes the future drivable road segments 13 outside the detection area 7 of the optical detection device 5, and determines the future partially assisted lane keeping movement 9 for the lateral adjustment device 10.
[0033] In particular, in the absence of a direction for the driving lane 4, the at least partially drivable length L of the driving lane 4 and / or the time during which at least partially assisted driving is possible is determined by means of an optical detection device 5 based on the group data 12.
[0034] As shown here, road 3 has a median strip 14, or dividing line, and a boundary line 15. The median strip 14 and the boundary line 15 have been detected by means of the optical detection device 5. Therefore, real-time data is particularly relevant. Outside the detection area 7, the virtual center line 16 and the virtual boundary line 17 can be estimated, in particular, based on the group data 12.
[0035] Therefore, based on the group data 12, it is also possible to maintain the assisted lane movement 9 for longer distances, such as over 85 meters. In particular, due to the different usage types of the group data 12, such as one real lane plus one virtual lane, or no real lane but two virtual lanes, the allowed duration or length L can also be considered in the algorithm according to the usage type of the group data 12.
[0036] When determining the length L and / or time, particular consideration can be given to the current weather and / or road type and / or events (e.g., construction site) and / or the driver status of vehicle 1 and / or the history of group data 12. Regarding driver status, for example, whether the driver has their hands on the steering wheel can be considered, or corresponding analysis can be performed based on the driver's observation of the camera. Furthermore, when determining the length L and / or time, for mirror types, for example, the presence or absence of a line can be considered.
[0037] For example, if there is good weather, vehicle 1 is on a highway and there is no construction site, then even if, for example, no two lanes are identified, the allowed length L can be limited to 5000 meters because the group data 12 has very good consistency with the real-time data within a preset time period. In another example, if there is good weather, vehicle 1 is on a highway and there is no construction site, but one identified lane is lost, and the group data 12 has had very good consistency with the real-time data in a preset road segment, then the allowed path for lane keeping motion 9 can be opened without restriction. As a third example, if severe weather, a highway, or a construction site is detected, and a lane is lost at the same time, the group data 12 may also have good consistency with the real-time data within a preset length, so the path segment used for the assisted lane keeping motion can be limited to 100 meters.
[0038] Figure 2Another schematic top view of another embodiment of the lane keeping assist system 2 in motor vehicle 1 is shown. In particular, it is shown that the availability of the lane keeping assist system 2 can also be determined based on the estimated future partially assisted lane keeping motion 9 and based on the current and / or future position P. For example, if it is determined that the lane keeping assist system 2 is unavailable, a warning message can be output to the driver of motor vehicle 1. If it is determined that the lane keeping assist system 2 is only available with limitations, a warning message can be output to the driver of motor vehicle 1, wherein the warning message describes which assistance function of the lane keeping assist system 2 is limited.
[0039] Furthermore, it can be stipulated that, when planning the route for vehicle 1, at least partially assisted road segments that will be traversable in the future should be considered. For this purpose, availability, type of lateral guidance, speed, and weather can be provided, for example, by the navigation device 18 of vehicle 1. For the route calculation of the navigation device 18, road segments in which the lane keeping assist system 2 has been determined to be available and therefore usable based on the group data 12 are particularly preferred. For typical route calculation algorithms, this is preferably achieved by adjusting the weights of the road segments of the navigation route.
[0040] Therefore, it is particularly recommended that vehicle 1 be assisted in driving, at least partially, in the center of the lane using lane keeping assist system 2. With the help of swarm data 12, lane centering guidance can remain unchanged in certain situations. For example, if only one line is identified, mirroring can be performed on the traveled path. A second virtual line can be generated. Intersections can also be crossed, for example, without lines, by following the paths of other vehicles. If vehicle 1 has information about what percentage of the road ahead has been traversed by other vehicles using the assist system, this can be taken into account, for example, in the navigation plan.
[0041] In another design, the proportion of possible lateral guidance can also be displayed to the driver in the navigation device 18. For example, a color scale from red to green can be output, where red indicates less than 10% of the path and green indicates that the lane keeping assist system 2 is continuously (especially more than 90%) available.
[0042] Specifically, it can analyze speed data, identified lane markings, and the use of lane keeping assist system 2 in the absence of group data 12 or in the presence of group data 12, and can also transmit these data to an electronic computing device 11 outside the vehicle for analysis. For this purpose, mirroring of, for example, one or more lanes can be performed.
[0043] The expected support (or assistance) can then be displayed on the navigation device 18 or output device (e.g., screen) in the vehicle 1, for example, based on color marks or dashed lines, to indicate road segments. Furthermore, this can be taken into account in route planning. Additionally, for example, in the case of winding rural roads, information such as lateral guidance will no longer be available on curves can be output to the driver. Therefore, better prediction and warnings can be achieved using swarm data 12.
[0044] List of reference numerals
[0045] 1 Motor vehicles
[0046] 2 Lane Keeping Assist System
[0047] 3 Roads
[0048] 4 driving lanes
[0049] 5. Optical Inspection Device
[0050] 6. Electronic computing device
[0051] 7. Detection Area
[0052] 8. Surrounding environment
[0053] 9 Lane Keeping Sport
[0054] 10. Lateral adjustment device
[0055] 11. External electronic computing devices of motor vehicles
[0056] 12 groups of data
[0057] 13 Road sections that will be drivable in the future
[0058] 14 Intermediate Zone
[0059] 15 Boundary Line
[0060] 16 Virtual intermediate band
[0061] 17 Virtual Boundary Line
[0062] 18 Navigation devices
[0063] L length
[0064] P position
Claims
1. A method for operating a lane-keeping assistance system (2) of a motor vehicle (1) that is operated at least partially assisted, wherein The lane keeping assist system (2) detects the surrounding environment (8) of the motor vehicle (1) with a potential driving lane (4) using the optical detection device (5), and analyzes the surrounding environment using the electronic computing device of the lane keeping assist system (2), wherein, based on the analyzed surrounding environment (8), at least partially assisted lane keeping movements (9) are performed using the lateral adjustment device (10) of the lane keeping assist system (2), wherein group data (12) provided by the electronic computing device (11) outside the motor vehicle is taken into account when analyzing the surrounding environment (8). Its features are, Based on the group data (12), the analysis identifies future drivable road segments (13) outside the detection area (7) of the optical detection device (5), and determines future partially assisted lane-keeping movements (9) for the lateral adjustment device (10). The group data (12) is used to determine at least partially drivable lengths of the lane (4) and / or at least partially assisted driving times on the lane (4) without the aid of the optical detection device (5) to detect the lane (4). The determination of the length and / or the time takes into account current weather and / or road type and / or events and / or the driver status of the motor vehicle (1) and / or the history of the group data (12).
2. The method according to claim 1, Its features are, Based on the group data (12), at least one criterion characterizing the driving lane (4) is determined and predicted.
3. The method according to claim 1, Its features are, The availability of the lane keeping assist system (2) is determined based on the estimated future partial lane keeping motion (9) and the current and / or future location.
4. The method according to claim 3, Its features are, If it is determined that the lane keeping assist system (2) is unavailable, a warning message is output to the driver of the motor vehicle (1).
5. The method according to claim 3, Its features are, If it is determined that the lane keeping assist system (2) is only available with restrictions, a warning message is output to the driver of the motor vehicle (1), wherein the warning message describes which assist function of the lane keeping assist system (2) is restricted.
6. The method according to claim 1, Its features are, When planning the route for the motor vehicle (1), at least some of the assisted road sections (13) that will be traversable in the future should be considered.
7. A computer program product having program instructions that, when run by an electronic computing device (6), cause the execution of the method according to any one of claims 1 to 6.
8. A lane keeping assist system (2) for a motor vehicle (1) capable of at least partially assisted operation, comprising at least one optical detection device (5), a lateral adjustment device (10), and at least one electronic computing device (6), wherein, The lane keeping assist system (2) is designed to perform the method according to any one of claims 1 to 6.