Driver assistance system

Abstract

One aspect of the present invention relates to a driver assistance system for a motor vehicle, wherein the driver assistance system is designed to: receive or determine a maximum assumption about lane direction; determine, based on the maximum assumption, the maximum left lane edge and the maximum right lane edge of the lane in which the motor vehicle is located; identify at least one object located between the maximum left lane edge and the maximum right lane edge; and consider the at least one object in driver assistance.

Description

Technical Field

[0001] This invention relates to driver assistance systems and methods. Background Technology

[0002] In the context of this article, the term "autonomous driving" can be understood as driving with automatic longitudinal or lateral guidance or autonomous driving with both automatic longitudinal and lateral guidance. The term "autonomous driving" includes autonomous driving with any level of automation. Exemplary levels of automation are assisted, partially automated, highly automated, or fully automated driving. These levels of automation are defined by the Federal Highway Research Institute (BASt) (see BASt publication "Forschung kompakt", No. 11, 2012). In assisted driving, the driver continuously provides longitudinal or lateral guidance, while the system takes over other functions to a certain extent. In semi-autonomous driving (TAF), the system takes over longitudinal and lateral guidance for a period of time and / or in specific situations, where the driver must continuously monitor the system, similar to assisted driving. In highly automated driving (HAD), the system takes over longitudinal and lateral guidance for a period of time, and the driver does not need to continuously monitor the system; however, the driver must be able to take over vehicle control for a certain period of time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application scenario; for such applications, a driver is no longer required. According to the BASt definition, the four levels of automation mentioned above correspond to SAE Levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineers). For example, according to BASt, Highly Automated Driving (HAF) corresponds to Level 3 of the SAE J3016 standard. Furthermore, SAE Level 5 is specified in SAE J3016 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to fully automated driving, where the system can automatically handle all situations throughout the journey like a human driver; typically, a driver is no longer needed.

[0003] Driver assistance systems rely on recognizing whether an object is in the same lane as the vehicle in the direction of travel. In this case, the driver assistance system will react to the object, such as warning the driver of the vehicle or automatically reducing the danger posed by the object.

[0004] One known problem here is the incorrect assignment of objects to lanes. For example, a dangerous situation can occur if an object is incorrectly assigned to a lane different from that of a motor vehicle. Summary of the Invention

[0005] The purpose of this invention is to prevent dangers caused by incorrectly assigned objects.

[0006] The first aspect of the present invention relates to a driver assistance system for a motor vehicle.

[0007] The driver assistance system is configured to receive or determine the maximum assumptions about lane direction.

[0008] A lane, especially a driving lane, is an area where vehicles can travel in one direction. Alternatively, a lane is a one-way road with multiple driving lanes. Or, a lane includes multiple driving lanes or directional driving lanes.

[0009] Alternative locations—especially in the case of lane changing operations—are the lanes where the vehicle is currently located and the lane the vehicle is changing to.

[0010] The maximum assumptions include, in particular, assumptions about the maximum curvature of the lane, the maximum curvature of the lane depending on the maximum speed allowed in that lane, the maximum change in lane curvature, and / or the maximum change in lane curvature depending on the maximum speed allowed in that lane.

[0011] In addition, the driver assistance system is designed to determine the maximum left lane edge and maximum right lane edge of the lane in which the vehicle is located, based on the maximum assumption.

[0012] This invention is based on the understanding that roads and / or lanes are designed with certain maximum assumptions in mind in order to enable safe road traffic. Therefore, taking into account these maximum assumptions, the “worst-case” directions of the road or lane to the left and right can be determined.

[0013] Therefore, the maximum left lane edge and maximum right lane edge can be determined independently of the actual road or lane orientation. This is particularly advantageous because the road or lane orientation determined, for example, by sensors or environmental maps, may have been incorrectly determined, for example, due to faulty sensors (e.g., cameras obscured by the sun) or outdated environmental maps.

[0014] Furthermore, the driver assistance system is configured to identify at least one object located between the maximum left lane edge and the maximum right lane edge, and to consider this at least one object in the driver assistance. Specifically, the driver assistance system is configured to identify at least one other object not located between the maximum left lane edge and the maximum right lane edge, and to disregard said at least one other object in the driver assistance to avoid unnecessary braking.

[0015] At least one object and at least one other object are, for example, classified objects. Or, for example, it is an unclassified obstacle.

[0016] In particular, the driver assistance system is configured to take into account at least one object in driver assistance by notifying the driver of the motor vehicle of at least one object and / or adjusting the speed of the motor vehicle based on at least one object.

[0017] In an advantageous implementation, the driver assistance system is configured to determine a verified horizon line in front of the motor vehicle along the direction of travel.

[0018] The verified horizon delineates an area ahead of the vehicle along the direction of travel where sensor and / or map information obtained with high integrity and performance is accurate and available to driver assistance systems. This can be achieved, for example, by having multiple redundant sensors detect and process the area up to the verified horizon. Alternatively, the validity of the map information can be verified using information from at least one sensor.

[0019] A validated horizon line typically delineates an area around a vehicle that is covered by the vehicle's sensors with high integrity and performance. Depending on the orientation of the sensors on the vehicle, this area may also be located next to or behind the vehicle.

[0020] The driver assistance system is configured to determine the maximum left lane edge and the maximum right lane edge so that they align with the horizon after a verified horizon in the direction of travel.

[0021] This invention is based on the understanding that the area between the vehicle and the proven horizon is known to have high integrity. Therefore, there is no need to perform a "worst-case" assessment of the lane edges in this area.

[0022] In another advantageous implementation, the verified horizon is essentially the front edge of the vehicle. This is the case when the area in front of the vehicle cannot be detected with high integrity.

[0023] In another alternative implementation, the driver assistance system is configured to use sensors to detect the lane in which the vehicle is located for a segment of road ahead of the vehicle along the direction of travel, and to determine a verified horizon line ahead of the vehicle along the direction of travel, such that the verified horizon line is connected to the segment of road ahead of the vehicle.

[0024] In another advantageous embodiment, the driver assistance system is configured to record first sensor information using a first camera and / or laser scanner mounted in the direction of travel.

[0025] In another advantageous embodiment, the driver assistance system is configured to receive a map of the vehicle's surroundings and, by checking the plausibility of the surroundings map and the information from the first sensor, identify the lane in which the vehicle is located for a section of road ahead of the vehicle along the direction of travel.

[0026] The surrounding environment map can be stored in the vehicle and / or received by a rear end outside the vehicle.

[0027] In another advantageous embodiment, the driver assistance system is configured to record second sensor information by means of a second camera and / or laser scanner mounted substantially orthogonal to the direction of travel, and to identify the lane in which the vehicle is located for a segment of road ahead of the vehicle along the direction of travel by checking the reasonableness of the first and second sensor information.

[0028] Instead, the driver assistance system is configured to identify the vehicle's lane for a segment of road ahead of the vehicle along the direction of travel by performing a plausible check on image information from a second camera mounted substantially to the left and to the right, both orthogonal to the direction of travel. Image information from the first camera is not required here.

[0029] In another advantageous embodiment, the driver assistance system is configured to record third sensor information via a third camera and / or laser scanner mounted opposite to the direction of travel, and to identify the lane in which the vehicle is located for a segment of road ahead of the vehicle along the direction of travel by checking the reasonableness of the first and third sensor information. The invention is based on the understanding that, particularly in the case of large-radius curves, a camera mounted opposite to the direction of travel can also help identify the lane ahead of the vehicle.

[0030] In another advantageous embodiment, the driver assistance system is configured to determine the geographical conditions of the vehicle in the lane in which the vehicle is located, i.e., in particular its orientation, and additionally to determine the maximum left lane edge and the maximum right lane edge based on the orientation of the vehicle in the lane in which the vehicle is located.

[0031] This invention is based on the understanding that by taking into account the geographical conditions of motor vehicles in the lane, especially their orientation, the area between the maximum left lane edge and the maximum right lane edge can be reduced, which leads to a reduction in the number of objects that are misidentified.

[0032] In another advantageous embodiment, the driver assistance system is configured to receive a map of the vehicle's surroundings, determine, based on the map, whether at least one object is located in the same lane as the vehicle, and, based on whether at least one object is located in the same lane as the vehicle, consider the at least one object in the driver assistance.

[0033] Specifically, the driver assistance system is configured to consider at least one object of a first type if the at least one object is located in the same lane as the motor vehicle; and to consider at least one object of a second type different from the first type if the at least one object is not located in the same lane as the motor vehicle.

[0034] If, for example, a driver assistance system automatically operates the motor vehicle, the vehicle's speed can be reduced with a first gradient when at least one object is in the same lane as the vehicle. If at least one object is not in the same lane as the vehicle, the vehicle's speed can be reduced with a second gradient, wherein the steepness of the second gradient is less than that of the first gradient.

[0035] This invention is based on the understanding that while the identification of whether at least one object is located in the same lane as a motor vehicle may be erroneous, it is not always wrong. Practice has shown that, even in most cases, this identification is correct. In the two scenarios described, at least one object is located between the maximum left lane edge and the maximum right lane edge, thus indicating a collision risk in the "worst-case" scenario.

[0036] However, the risk of collision is higher when at least one object is in the same lane as the motor vehicle than when at least one object is not in the same lane as the motor vehicle.

[0037] Therefore, in the sense of the trade-off between safety and driving comfort, a vehicle may decelerate less when an object is not identified as being in the same lane as the vehicle, compared to when an object is identified as being in the same lane as the vehicle.

[0038] For example, if at least one object is in the same lane as a motor vehicle, deceleration can be selected to prevent a collision between the motor vehicle and at least one object.

[0039] For example, in cases where at least one object is not in the same lane as the motor vehicle, deceleration can be selected, which, while not preventing a collision between the motor vehicle and at least one object, limits the potential impact of the collision to avoid serious damage.

[0040] In another advantageous embodiment, the driver assistance system is configured to receive or determine various maximum assumptions about lane direction depending on different collision severity, determine the maximum left lane edge and the maximum right lane edge of the lane in which the motor vehicle is located based on these maximum assumptions for each collision severity, identify at least one object located between this pair of maximum left lane edges and maximum right lane edges, and consider at least one object in the driver assistance according to the corresponding collision severity.

[0041] This invention is based on the knowledge that very serious collisions must be prevented with a higher probability than less serious collisions. Therefore, it is meaningful to exclude collisions in the narrow strip between the maximum left and right lane edges, and additionally, to exclude collisions exceeding a certain level of damage in a wider area.

[0042] A second aspect of the invention relates to a method for assisting a motor vehicle driver.

[0043] One step in this method is to determine the maximum assumption about lane direction.

[0044] Another step in the method is to determine the maximum left lane edge and the maximum right lane edge of the lane in which the vehicle is located, based on the maximum assumption.

[0045] Another step in the method is to identify at least one object located between the maximum left lane edge and the maximum right lane edge. If it is unclear whether at least one object is located between the maximum left lane edge and the maximum right lane edge, for example because it is at least partially obscured, it can be assumed that at least one object is located between the maximum left lane edge and the maximum right lane edge and has not moved.

[0046] Another step in this method is to consider at least one object in driver assistance.

[0047] The foregoing statements regarding the driver assistance system according to the first aspect of the invention are also applicable in a corresponding manner to the method according to the second aspect of the invention. Advantageous embodiments of the method according to the invention not explicitly described herein correspond to advantageous embodiments of the driver assistance system according to the invention described above. Attached Figure Description

[0048] The present invention will now be described with reference to the accompanying drawings and embodiments. Wherein:

[0049] Figure 1 The diagram illustrates traffic conditions used to explain existing technology; and

[0050] Figure 2 The traffic conditions used to illustrate the present invention are shown. Detailed Implementation

[0051] Figure 1 An exemplary traffic situation is shown to illustrate the prior art. Here, motor vehicle EGO is in one lane.

[0052] Traditional driver assistance systems incorrectly identify a lane as a right-turn lane with left lane edge RL1 and right lane edge RR1. However, in reality, the lane is a straight-ahead lane with left lane edge RL2 and right lane edge RR2.

[0053] In a real lane, there is an object O ahead of the vehicle EGO along the direction of travel. However, due to the incorrect lane determination by conventional driver assistance systems, the driver assistance system does not take object O into account, for example, by adjusting the speed of the vehicle EGO.

[0054] Even if a conventional driver assistance system identifies the correct lane edges RL2 and RR2 at a later time step, it may be too late to react to object O, because the distance between the vehicle EGO and object O may already be very small for the speed of travel.

[0055] Figure 2 Traffic conditions are illustrated to illustrate the invention. A motor vehicle EGO with a driver assistance system according to the invention can be seen. This driver assistance system is designed to receive or determine the maximum assumptions about lane direction.

[0056] Maximum assumptions include, for example, assumptions about the maximum curvature of the lane, the maximum curvature of the lane depending on the maximum speed allowed in that lane, the maximum change in lane curvature, and / or the maximum change in lane curvature depending on the maximum speed allowed in that lane.

[0057] In addition, the driver assistance system is configured to determine the maximum left lane edge RLmax and the maximum right lane edge RRmax of the lane in which the vehicle (EGO) is located, based on the maximum assumption.

[0058] In addition, the driver assistance system is configured to determine a verified horizon H in front of the vehicle's EGO along the direction of travel, and to determine the maximum left lane edge RLmax and the maximum right lane edge RRmax in such a way that they are connected to the verified horizon H in the direction of travel.

[0059] The driver assistance system is configured to use sensors to identify the lane in which the vehicle's EGO is located for a road segment S in front of the vehicle's EGO along the direction of travel, and to determine a verified horizon H in front of the vehicle's EGO along the direction of travel, such that the verified horizon H is connected to the road segment S in front of the vehicle's EGO.

[0060] For example, the driver assistance system is configured to record first sensor information via a first camera mounted in the direction of travel to receive a map of the surrounding environment of the vehicle EGO, and, for a road segment S along the direction of travel in front of the vehicle EGO, identify the lane in which the vehicle EGO is located by checking the reasonableness of the surrounding environment map and the first sensor information.

[0061] Furthermore, the driver assistance system is configured to identify at least one object O located between the maximum left lane edge RLmax and the maximum right lane edge RRmax, and to take into account the at least one object O in the driver assistance, for example, by notifying the driver of the vehicle EGO of the at least one object O, and / or adjusting the speed of the vehicle EGO by the driver assistance system based on the at least one object O.

Claims

1. A driver assistance system for an electric vehicle (EGO), wherein, The driver assistance system is designed to: Receive or determine maximum assumptions about the lane orientation ahead of the motor vehicle, the maximum assumptions including assumptions about the maximum curvature of the lane, the maximum curvature of the lane depending on the maximum speed allowed on the lane, the maximum change in lane curvature, and the maximum change in lane curvature depending on the maximum speed allowed on the lane; Based on the maximum assumption and independent of the actual lane direction, determine the maximum left lane edge (RLmax) and maximum right lane edge (RRmax) of the lane where the motor vehicle (EGO) is located. Identify at least one object (O) located between the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax); and The at least one object (O) is considered in driver assistance.

2. The driver assistance system according to claim 1, wherein, The driver assistance system is designed to: Determine the verified horizon (H) in front of the vehicle (EGO) along the direction of travel; and Determine the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax) so that they connect to the horizon after the verified horizon (H) along the direction of travel.

3. The driver assistance system according to claim 2, wherein, The verified horizon (H) is the front edge of the motor vehicle (EGO).

4. The driver assistance system according to claim 2, wherein, The driver assistance system is designed to: For the road segment (S) in front of the motor vehicle (EGO) along the direction of travel, sensors are used to identify the lane in which the motor vehicle (EGO) is located; and Determine the verified horizon (H) in front of the vehicle (EGO) along the direction of travel, and connect the verified horizon (H) with the road segment (S) in front of the vehicle (EGO).

5. The driver assistance system according to claim 4, characterized in that, The driver assistance system is designed to record first sensor information via a first camera and / or laser scanner mounted in the direction of travel.

6. The driver assistance system according to claim 5, wherein, The driver assistance system is designed to: Receive a map of the surrounding environment of the motor vehicle (EGO); and By checking the reasonableness of the surrounding environment map and the first sensor information, the lane in which the motor vehicle (EGO) is located is identified for the road segment (S) in front of the motor vehicle (EGO) along the direction of travel.

7. The driver assistance system according to claim 5, wherein, The driver assistance system is designed to: The second sensor information is recorded by a second camera and / or laser scanner installed orthogonally to the direction of travel; as well as By checking the reasonableness of the first sensor information and the second sensor information, the lane in which the motor vehicle (EGO) is located is identified for the road segment (S) in front of the motor vehicle (EGO) along the direction of travel.

8. The driver assistance system according to claim 5, wherein, The driver assistance system is designed to: Third sensor information is recorded by a third camera and / or laser scanner mounted opposite to the direction of travel; and By checking the reasonableness of the first sensor information and the third sensor information, the lane in which the motor vehicle (EGO) is located is identified for the road segment (S) in front of the motor vehicle (EGO) along the direction of travel.

9. The driver assistance system according to any one of claims 1 to 8, wherein, The driver assistance system is designed to take into account the at least one object (O) in the driver assistance in the following manner: The driver of the motor vehicle (EGO) is notified of the at least one object (O); and / or The speed of the motor vehicle (EGO) is adjusted according to the at least one object (O).

10. The driver assistance system according to any one of claims 1 to 8, wherein, The driver assistance system is designed to: Determine the direction of the motor vehicle (EGO) in the lane where the EGO is located; and The maximum left lane edge (RLmax) and the maximum right lane edge (RRmax) are determined additionally based on the direction of the motor vehicle (EGO) in the lane where the motor vehicle (EGO) is located.

11. The driver assistance system according to any one of claims 1 to 8, wherein, The driver assistance system is designed to: Receive a map of the surrounding environment of the motor vehicle (EGO); Determine whether the at least one object (O) is in the same lane as the motor vehicle (EGO) according to the surrounding environment map; as well as The at least one object (O) is considered in the driver assistance based on whether it is in the same lane as the motor vehicle (EGO).

12. A method for assisting a driver of an assisted motor vehicle (EGO), wherein, The method includes the following steps: Determine the maximum assumptions about the lane orientation ahead of the motor vehicle, the maximum assumptions including the maximum curvature of the lane, the maximum curvature of the lane depending on the maximum speed allowed on the lane, the maximum change in lane curvature, and the maximum change in lane curvature depending on the maximum speed allowed on the lane; Based on the maximum assumption and independent of the actual lane direction, determine the maximum left lane edge (RLmax) and maximum right lane edge (RRmax) of the lane where the motor vehicle (EGO) is located. Identify at least one object (O) located between the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax); and The at least one object (O) is considered in driver assistance.

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