Method for assigning a lane currently traveled by a vehicle

Abstract

The invention relates to a method for assigning a lane (12) currently driven by a vehicle (10), wherein input variables of at least one data source are detected for determining the lane (12) currently driven, wherein the at least one data source comprises detected signals of a surrounding sensor system (14) of the vehicle, in which method the possibility of unambiguous assignment of the lane driven by the vehicle is improved, it being provided that the at least one data source comprises C2X communication (16).

Description

Technical Field

[0001] The present invention relates to a method for allocating a driving lane currently being traveled by a vehicle, wherein input parameters of at least one data source are detected to determine the currently traveling driving lane, wherein the at least one data source includes signals detected by a vehicle's ambient environment sensing mechanism. Background Technology

[0002] For driver information systems or driver assistance systems, especially in motor vehicles, correctly assigning the vehicle and surrounding vehicles to the current driving lane is becoming increasingly important. Therefore, it is necessary for navigation systems to have information such as which lane the vehicle is in. Especially at complex highway intersections, it is crucial to provide drivers with accurate and reliable driving instructions.

[0003] Assistive features (such as distance keeping assist or following at a distance) can also significantly benefit from precise lane assignment for the vehicle itself and for other road users. Because radar, for example, has limited angular resolution, it cannot always reliably identify whether a vehicle ahead is in its lane or an adjacent lane. This can lead to, for example, the vehicle braking due to an engaged assist feature when another vehicle brakes at a highway exit, even though its lane is empty. Last but not least, safety features (such as blind spot detection) also require accurate lane information to determine whether a warning is necessary.

[0004] Different solutions are known in the prior art for accurately identifying driving lanes. For example, this includes using high-resolution maps in conjunction with high-precision camera positioning. Furthermore, different sensors (such as gyroscopes and wheel sensors) are used for "map matching." Additionally, "visual lane matchers" are also known.

[0005] For example, DE 10 2015 209 467 A1 illustrates a method for estimating driving lanes in a driver assistance system. The driving lane is estimated by evaluating input data from different sensors.

[0006] Map matching is typically based on Global Navigation Satellite Systems (GNSS), maps, wheel sensors, gyroscopes, and inference algorithms. Typically, while the direction of travel is accurately assigned, lane assignment is not always accurate. Accurate lane positioning for a vehicle can be achieved using high-precision maps and high-precision positioning. However, both are not always available. The solutions described above are suitable for today's customer functions, but are prone to errors in lane accuracy due to usability and / or accuracy limitations, especially for newer customer functions. Furthermore, the additional costs to the vehicle are quite high for some methods. Summary of the Invention

[0007] The present invention is now based on the objective of describing a method in which the explicit allocation of driving lanes by vehicles is improved, wherein cost efficiency is taken into account at the same time.

[0008] In the case of this invention, this objective is achieved by the method described at the beginning for allocating the driving lane currently being traveled by a vehicle, wherein at least one data source includes C2X communication, wherein at least one data source includes information about road topology, and the number of driving lanes of at least the currently traveled road segment is determined by the information about road topology, and signals indicating the driving direction of other vehicles in the vehicle's surrounding environment are detected, and the vehicle's position can be inferred by combining the road topology knowledge with the detected signals indicating the driving direction.

[0009] The basic idea behind this approach is to use C2X communication and existing ambient sensing devices (such as radar, lidar, and / or one or more cameras) to provide additional information to more reliably assign the vehicle to the current driving lane.

[0010] Modern vehicles are typically equipped with C2X radio modules to exchange standardized messages with each other and with infrastructure. Examples of this are the ETSI standard CAM (Cooperative Awareness Message) or DENM (Decentralized Environmental Notification Message) used for C2X communication. The first message contains the sending vehicle's location and speed.

[0011] In a first embodiment of the method according to the invention, the vehicle is configured to communicate with at least one other vehicle via C2X communication, thereby transmitting information about the vehicle's location to the other vehicle and vice versa. Through this inter-vehicle communication, the vehicles can communicate their locations to each other. By connecting to ambient environmental sensing mechanisms, the vehicle's location can be determined more precisely.

[0012] Alternatively or concurrently, in another embodiment of the method according to the invention, the vehicle communicates with infrastructure via C2X communication. For example, it can be envisioned that the vehicle communicates with a camera and corresponding assessment equipment located in the road surface area. The elevated camera provides an additional perspective to identify other vehicles that may be obscured by the following vehicle. This is predicated on the assumption that the vehicle ahead is completely obscured by the following vehicle. The following vehicle sends a C2X message to the infrastructure. For example, if the infrastructure is a camera, the area in front of the following vehicle can be calculated using the camera's tilt angle and resolution, as well as by determining the height of the following vehicle. In this way, the position of the vehicle ahead can be restricted to a specific area (e.g., a lane) not only longitudinally but also laterally, and thus the position can be determined more precisely.

[0013] To simplify the implementation of this method, in another embodiment of the invention, the ambient environment sensing mechanism operates using radar and / or ultrasound. Radar is based on radio-based detection and distance measurement, wherein the corresponding radar sensor is a radiation-based sensor used to detect objects (e.g., other vehicles and pedestrians) and measure their distance to the vehicles and their relative speed. For this purpose, electromagnetic waves are emitted. The electromagnetic waves reflected by the objects are received and evaluated. The measured values ​​are converted into electrical signals, which are evaluated in a dedicated controller (see http: / / www.mein-autolexikon.de / fahrerassistenzsysteme / radarsensor.html).

[0014] Ultrasonic sensors are also radiation-based sensors. They transmit and receive sound waves with frequencies higher than the range perceptible to human hearing (above 16 kHz). These sound waves are typically transmitted via a diaphragm using so-called piezoelectric actuators. The sound waves propagate through the surrounding air and are reflected by obstacles. The reflected echo signals are recorded by the sensor and evaluated by a central controller. The distance to the corresponding object is calculated from the travel time (i.e., the time required for the echo signal to reach the transmitter) (see https: / / www.mein-autolexikon.de / fahrerassistenzsysteme / ultraschallsensor.pdf).

[0015] In another embodiment of the method according to the invention, the surrounding environment sensing mechanism includes a side area sensing mechanism, and information about the lateral position of the vehicle on the road surface is determined by means of the side area sensing mechanism, wherein the current driving lane can be inferred from the lateral position. Therefore, for example, it can be envisioned that the vehicle can infer its own lateral position, particularly the driving lane, by means of other vehicles detected next to it. For example, if other vehicles are traveling to the left and right of the vehicle and the vehicles communicate with each other, they can recognize each other and thus determine that the other vehicle is traveling to the right of the vehicle. Using this information, the vehicle can determine its position. For example, if another vehicle is detected to the left of the vehicle, it is inferred that the vehicle cannot be in the left driving lane. Correspondingly, if another vehicle is detected to the right of the vehicle, it can also be inferred that the vehicle is not in the right driving lane.

[0016] To further improve the accuracy of determining the driving lane, in another embodiment of the method according to the invention, at least one data source includes information about the road topology, and the number of driving lanes at least in the currently traveling road segment can be determined using the information about the road topology.

[0017] Furthermore, in another embodiment of the invention, a signal indicating the direction of travel of other vehicles in the surrounding environment is detected, and the vehicle's position can be inferred by combining the detected direction-of-travel signals with road topology knowledge. Road topology knowledge (specifically, knowledge about the number of turning lanes) additionally aids in lane allocation. A vehicle with its left turn signal flashing not far before an intersection is highly likely to be in the left-turn lane. If its lateral position can be so clearly identified, its lane can also be absolutely allocated based on the relative positions of surrounding vehicles.

[0018] In another embodiment of the method according to the invention, the surrounding environment sensing mechanism includes a front sensing mechanism, which determines the position of vehicles traveling ahead. Lane assignment can be achieved by means of the front sensing mechanism. If another vehicle is traveling in front of the vehicle, the vehicle's own lateral position on the road surface can be determined by means of the detected vehicles traveling ahead, especially when the road topology is known. In the case of vehicles communicating with each other via C2X, a vehicle can also communicate its position to vehicles traveling ahead. Similarly, a vehicle traveling ahead, knowing its own lateral position on the road surface, can determine the lateral position of following vehicles and communicate that position to the following vehicles or vehicles via C2X.

[0019] Additionally or alternatively, in another embodiment of the invention, the ambient environment sensing mechanism includes a rear sensing mechanism, which determines the position of following vehicles. Similar to the front sensing mechanism, lane assignment can also be achieved using the rear sensing mechanism. If another vehicle is traveling behind the vehicle, the lateral position of the vehicle on the road surface can be determined by means of the detected following vehicle, especially when the road topology is known. In cases where vehicles communicate with each other via C2X, the vehicle can also communicate its position to the following vehicle. Similarly, the following vehicle, knowing its own lateral position on the road surface, can determine the lateral position of the vehicle ahead and communicate that position to the preceding vehicle via C2X.

[0020] In a preferred embodiment of the method according to the invention, the position of the guardrail is determined by detecting the reflective properties of an object, and the lateral position of the vehicle on the road surface is determined based on the position of the guardrail. If the guardrail is classified as an object, the current driving lane can be determined based on the lateral offset of the vehicle's position relative to the guardrail. The classification of "guardrail" is determined by the reflective properties of the object, such as "radar cross-section".

[0021] Unless otherwise stated in individual cases, the different embodiments of the invention mentioned in this application can be advantageously combined with each other. Attached Figure Description

[0022] The invention is illustrated below with reference to the accompanying drawings and embodiments. Wherein: Figure 1 A schematic diagram illustrating the implementation of an embodiment of the method according to the invention on a four-lane highway is shown. Figure 2 A schematic diagram of another embodiment of the method according to the present invention is shown, and Figure 3 A schematic diagram illustrating communication between infrastructure and at least one vehicle is shown. Detailed Implementation

[0023] Figure 1 A vehicle 10 is shown traveling in lane 12 of a highway. Using an ambient environment sensor 14 and C2X communication 16, the vehicle 10 is able to detect and communicate with other vehicles 18. Furthermore, elements of the infrastructure 20, such as cameras positioned at the edge of the road surface 22, can also communicate with the vehicle via C2X communication 16. In this embodiment, the ambient environment sensor 14 includes a side area sensor. Based on the signals detected by the ambient environment sensor 14 and C2X communication 16, the current lane 12 of the vehicle 10 can be inferred.

[0024] The lateral region sensor 14 can be used to determine information about the lateral position of the vehicle 10 on the road surface 22, from which the current driving lane 12 can be inferred. Figure 1 As can be seen, in addition to vehicle 10, another vehicle 18 is traveling in lane 12 next to the lane 12 traveled by vehicle 10. Through C2X communication 16 between vehicle 10 and the other vehicle 18, they can recognize each other and thus determine that the other vehicle 18 is traveling, for example, to the right of vehicle 10.

[0025] Using this information, vehicles can determine their positions. The method is based on the following logical deduction: vehicle 10 detects another vehicle 18 traveling to its left, for example, and infers that vehicle 10 cannot travel in the left lane 12. The knowledge of the lane 12 being traveled in can also be transferred to the other vehicle 18, or the other vehicle 18 can transfer the knowledge of the lane 12 it is traveling in to vehicle 10. Thus, vehicles can mutually infer which lane 12 they are in. Here, road topology knowledge and the corresponding actual number of lanes 12 are set as additional data sources.

[0026] The side area sensing mechanism, in addition to the surrounding environment sensing mechanism 14, is configured to determine the position of the guardrail 24 by detecting the reflective properties of objects, and to determine the lateral position of the vehicle 10 on the road surface based on the position of the guardrail 24. If the guardrail 24 is classified as an object, the currently traveling lane 12 can be determined based on the lateral offset of the vehicle 10 relative to the guardrail 24. The classification of the guardrail 24 is determined by the reflective properties of the object. For this purpose, in this embodiment, the side area sensing mechanism is implemented using radar.

[0027] Figure 2 An embodiment of a method for determining the current lane 12 is shown. In addition to the possibility of C2X communication, vehicle 10 has a front sensing mechanism as part of an ambient environment sensing mechanism 14. This front sensing mechanism can detect other vehicles 18 traveling ahead. If another vehicle 18 is traveling in front of vehicle 10, especially if the road topology is known, vehicle 10 can determine its own lateral position on the road surface 22 based on the detected other vehicle 18 traveling ahead. Since the vehicle communicates via C2X communication, vehicle 10 can also communicate its position to the other vehicle 18 traveling ahead. The other vehicles 18, knowing their own lateral position on the road surface, can also determine the lateral position of the following vehicle, i.e., vehicle 10, and communicate this position to the following vehicle or vehicle 10 via C2X communication 16.

[0028] Figure 3Advantageous C2X communication 16 between vehicle 10 and infrastructure 20 in the form of a camera is illustrated. The elevated camera provides an additional perspective to identify other vehicles 18 that may be obscured by the following vehicle. As a premise, it is assumed that the preceding vehicle 26 is completely obscured by the following vehicle 28. The preceding vehicle 26 sends a C2X message to infrastructure 20. For example, if infrastructure 20 is a camera, the area in front of the following vehicle 28 can be calculated by the camera's tilt angle and resolution, as well as by determining the height of the following vehicle 28. In this way, the position of the preceding vehicle 26 can be restricted to a specific area (e.g., lane 12) not only in the longitudinal position but also in the lateral position, and thus the position can be determined more precisely.

[0029] List of reference numerals 10 vehicles 12 lanes 14. Ambient environment sensing mechanism 16 C2X communication 18 Other vehicles 20 Infrastructure 22 Road surface 24. Guardrail 26. Vehicles traveling ahead 28. Following vehicles.

Claims

1. A method for allocating a driving lane (12) currently being traveled by a vehicle (10), wherein, Input parameters from at least one data source are detected to determine the currently traveling lane (12), wherein at least one data source includes signals detected by the vehicle's ambient environment sensing mechanism (14), and wherein at least one data source includes C2X communication (16). Its features are, At least one data source includes information about the road topology, and the number of turning lanes (12) at least on the currently traveling road segment can be determined by the information about the road topology, wherein the surrounding environment sensing mechanism (14) includes one or more cameras, wherein signals indicating the direction of travel of other vehicles (18) located in the surrounding environment of the vehicle (10) and not far before the intersection are detected by means of the one or more cameras, thereby identifying specific surrounding vehicles, i.e., other vehicles (18) located not far before the intersection and flashing their left lights, and wherein the position of the vehicle (10) is inferred by combining the knowledge about the number of turning lanes with the relative position of the vehicle (10) relative to the surrounding vehicles.

2. The method according to claim 1, characterized in that, The vehicle (10) communicates with at least one other vehicle (18) via C2X communication, transmitting information about the location of the vehicle (10) to the other vehicle (18) and transmitting information about the location of the other vehicle (18) to the vehicle (10).

3. The method according to claim 1 or 2, characterized in that, The vehicle (10) communicates with the infrastructure (20) via C2X communication.

4. The method according to any one of claims 1 to 2, characterized in that, The ambient environment sensing mechanism (14) also includes radar and / or ultrasonic sensors.

5. The method according to any one of claims 1 to 2, characterized in that, The surrounding environment sensing mechanism (14) includes a side area sensing mechanism, and by means of the side area sensing mechanism, information about the lateral position of the vehicle (10) on the road surface (22) is determined, wherein the current driving lane (12) can be inferred from the lateral position.

6. The method according to any one of claims 1 to 2, characterized in that, The surrounding environment sensing mechanism (14) includes a front sensing mechanism, and the position of another vehicle (18) traveling in front is determined by the front sensing mechanism.

7. The method according to any one of claims 1 to 2, characterized in that, The surrounding environment sensing mechanism (14) includes a rear sensing mechanism, and the position of the following vehicle is determined by the rear sensing mechanism.

8. The method according to any one of claims 1 to 2, characterized in that, The position of the guardrail (24) is determined by means of the reflective properties of the detected object, and the lateral position of the vehicle (10) on the road surface (22) is determined based on the position of the guardrail (24).

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