Driver assistance system for automatic longitudinal guidance of a motor vehicle

Abstract

One aspect of the present application relates to a driver assistance system for automatic longitudinal guidance of a motor vehicle, wherein the driver assistance system is configured to recognize at least one possible turn of the motor vehicle and to reduce the speed of the motor vehicle in dependence on the at least one recognized turn.

Description

Technical Field

[0001] This invention relates to a driver assistance system and method for automatic longitudinal guidance of motor vehicles. Background Technology

[0002] Within the scope 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 driver assistance, partially automated driving, highly automated driving, 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 driver assistance, the driver continuously provides longitudinal or lateral guidance while the system takes over other functions to a certain extent. In partially automated 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 as in driver assistance. In highly automated driving (HAF), 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 guidance 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; a driver is no longer required for that application scenario. The four levels of automation mentioned above, defined by BASt, correspond to SAE Levels 1 through 4 in standard SAE J3016 (SAE, Society of Automotive Engineers). For example, according to BASt, Highly Automated Implementation (HAF) corresponds to Level 3 in standard SAE J3016. Furthermore, SAE J3016 also provides SAE Level 5 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, where the system can automatically handle all situations throughout the driving process like a human driver; typically, a driver is no longer needed.

[0003] Driver assistance systems used for automatic longitudinal guidance typically lack information about the driver's intended route. For this reason, traditional driver assistance systems used for automatic longitudinal guidance behave very uncomfortably when the driver's intended route requires a turning maneuver. Summary of the Invention

[0004] The purpose of this invention is to make the behavior of a driver assistance system with automatic longitudinal guidance more comfortable when the driver's expected route requires a turning process.

[0005] This objective is achieved through the features of the independent claim. Advantageous embodiments are described in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim can form an invention independent of all combinations of features of the independent claim, either without the features of the independent claim or in combination only with a subset of the features of the independent claim, which can be the subject of the independent claim, divisional application, or subsequent application. This also applies to the technical teachings described in the specification, which can form inventions independent of the features of the independent patent claim.

[0006] A first aspect of the invention relates to a driver assistance system for automatic longitudinal guidance of a motor vehicle, which in particular takes over only the longitudinal guidance of the vehicle and not its lateral guidance. Alternatively, the driver assistance system according to the invention also, in particular, takes over the lateral guidance of the vehicle. The invention is based on the understanding that the task is independent of whether the driver assistance system takes over only the longitudinal guidance of the vehicle or also its lateral guidance.

[0007] The driver assistance system is configured to identify at least one possible turning point for the motor vehicle, such as an intersection, entrance, ramp, or exit.

[0008] In addition, the driver assistance system is configured to reduce the speed of the vehicle based on at least one identified possible turn.

[0009] Specifically, the driver assistance system is configured to reduce the speed of the vehicle based on the location of a possible turn or the distance between the vehicle and the possible turn.

[0010] In addition, the driver assistance system is specifically configured to reduce the speed of the vehicle from the moment a possible turn is detected, that is, immediately upon detection of a possible turn or only shortly thereafter but before reaching the possible turn.

[0011] In an advantageous embodiment of the invention, the driver assistance system is configured to identify at least one possible turning point of the vehicle in a portion of the travel distance in the direction of travel, i.e., a portion of the future travel distance of the vehicle, and reduce the speed of the vehicle based on at least one identified possible turning point.

[0012] In an advantageous embodiment of the invention, the driver assistance system is configured to determine a first end of a partial area based on a first predetermined vehicle deceleration.

[0013] The first end of a section, especially the end of a section closer to the vehicle, and therefore, from the perspective of the vehicle, this end represents the beginning of the section.

[0014] This invention is based on the understanding that, for the sake of passenger comfort and considering subsequent traffic, a vehicle should decelerate only by its maximum deceleration before turning. Therefore, the earliest possible turning maneuver can be determined from the vehicle's current position, current speed, and maximum expected deceleration.

[0015] The first predetermined vehicle deceleration is, in particular, a maximum deceleration with an upper limit, such as -1.5 m / s². Specifically, the driver assistance system is configured to determine the first end of a partial area based on the first predetermined vehicle deceleration, which depends on the vehicle's speed.

[0016] For example, the deceleration of the first predetermined vehicle is -1.5 m / s² at 14 km / h, -2 m / s² at 30 km / h, and -2.3 m / s² at 39 km / h.

[0017] For example, if the speed is between the two mentioned values, a first predetermined vehicle deceleration can be linearly interpolated between the speed-related decelerations. If the speed is below the mentioned minimum or above the mentioned maximum, either the mentioned minimum or maximum can be used for the first predetermined vehicle deceleration.

[0018] In another advantageous embodiment of the invention, the driver assistance system is configured to determine a second end of a partial region based on a second predetermined vehicle deceleration. The second predetermined vehicle deceleration is, for example, -0.25 m / s² or -0.5 m / s².

[0019] The second end of a section, especially the end further away from the vehicle, represents the end of the section from the vehicle's perspective.

[0020] The geographical location can also be determined from the current position of the vehicle, the current speed of the vehicle, and the second predetermined vehicle deceleration using the second predetermined vehicle deceleration.

[0021] Specifically, the second predetermined vehicle deceleration is only used to determine the second end of a certain area. Although it can actually be used to decelerate a motor vehicle, it is not mandatory, because if a motor vehicle travels at a constant speed for a longer period before a possible turn and then decelerates more significantly than the second predetermined vehicle deceleration, the driver of the motor vehicle will have a more comfortable driving experience.

[0022] In another advantageous embodiment of the invention, the driver assistance system is configured to identify at least two possible turns of the motor vehicle, particularly in the aforementioned portion of the travel distance in the direction of travel ahead of the motor vehicle.

[0023] In addition, the driver assistance system is set to select one of at least two possible turns for the vehicle and reduce the vehicle's speed based on the selected possible turn.

[0024] In another advantageous embodiment of the invention, the driver assistance system is configured to determine the road type for each of at least two possible turns of the motor vehicle, and select one of the at least two possible turns according to their respective road types.

[0025] For example, the law can define a road type system. For instance, German road traffic regulations recognize the following road types: highways, highway-like roads, motor vehicle lanes, roads outside built-up areas, and roads within built-up areas.

[0026] The road type system can also be specified or supplemented by other parameters, such as the maximum speed allowed, road width, or number of lanes.

[0027] In particular, the road type system specifies the priority of each road type, thereby enabling, for example, driver assistance systems to select the possible turns with the highest priority.

[0028] In another advantageous embodiment of the invention, the driver assistance system is configured to determine the importance of the road type for each of at least two possible turns of the motor vehicle, and select the possible turn with the highest importance among the at least two possible turns.

[0029] For example, this importance could come from the road type system mentioned above. Alternatively, it could come from other data, such as navigation data, like measured traffic volume or determined average speed.

[0030] In another advantageous embodiment of the invention, the driver assistance system is configured to recognize the driver's turning intention when the vehicle is running in automatic longitudinal guidance, and reduce the speed of the vehicle according to the recognized turning intention.

[0031] In particular, the driver assistance system is configured to recognize turning intentions according to the teachings of the third and / or fourth aspects of the present invention.

[0032] The fourth aspect of the present invention relates to a method for automatic longitudinal guidance of a motor vehicle.

[0033] One step in this method is to identify at least one possible turning point for the vehicle.

[0034] Another step in the method is to reduce the speed of the vehicle based on at least one identified possible turn.

[0035] A third aspect of the invention relates to a driver assistance system for automatic longitudinal guidance of a motor vehicle. In particular, the driver assistance system according to the invention does not take over the lateral guidance of the motor vehicle. Alternatively, the driver assistance system according to the invention also takes over the lateral guidance of the motor vehicle. The invention is based on the understanding that this task is independent of whether the driver assistance system only undertakes the longitudinal guidance of the motor vehicle or additionally undertakes the lateral guidance of the motor vehicle.

[0036] The driver assistance system is configured to recognize the driver's intention to turn when the vehicle is in automatic longitudinal guidance mode, and reduce the vehicle's speed based on the recognized turning intention.

[0037] In particular, the driver assistance system is configured to reduce the vehicle's speed as early as possible upon recognizing a turning intention. For example, the driver assistance system is configured to reduce the vehicle's speed at the exact moment the turning intention is recognized, or only at a later time.

[0038] In an advantageous embodiment of the invention, the driver assistance system is configured to recognize the activation of the vehicle's turn indicator, particularly by evaluating the operation of the vehicle driver by a switch for activating the turn indicator.

[0039] The driver assistance system is also specifically designed to identify which turn indicator is activated, i.e., whether the right turn indicator or the left turn indicator is activated.

[0040] The driver assistance system is configured to recognize the driver's turning intention based on the activation of the turn indicator. In other words, the driver's turning intention is recognized when the turn indicator is activated. For example, when the left turn indicator is activated, a turning intention to the left is recognized, and, for example, when the right turn indicator is activated, a turning intention to the right is recognized.

[0041] In particular, if the steering indicator activation switch can be activated in several stages, such as by touch and pause stages, the driver assistance system is configured to recognize the driver's turning intention at least in the second stage of activation, i.e., in the pause stage.

[0042] In another advantageous embodiment of the invention, the driver assistance system is configured to determine the number of lanes on the directional roadway in which the motor vehicle is traveling and to identify the driver's intention to turn based on the determined number of lanes.

[0043] A carriageway serves as a traffic space and consists of multiple lanes. A directional carriageway is used for traffic in only one direction.

[0044] A lane (also called a lane) is an area where vehicles can travel in one direction.

[0045] For example, the present invention is based on the knowledge that when driving on a directional roadway with multiple lanes, lane changes can be made in addition to turning, thus distinguishing the driver's intention to turn from the driver's intention to change lanes.

[0046] In another advantageous embodiment of the invention, the directional driveway for motor vehicles includes exactly one lane.

[0047] In this scenario, the driver assistance system is configured to recognize the activation of the vehicle's turn indicator and, based on the activation of the turn indicator, to identify the driver's intention to turn.

[0048] If, for example, a motor vehicle is in a driving lane that includes only one lane, the intention to turn is identified based on the activation of the turn indicator, for example, directly when the turn indicator is activated by the driver of the motor vehicle.

[0049] In another advantageous embodiment of the invention, the directional carriageway for motor vehicles includes more than one lane, i.e., for example, two or three lanes.

[0050] An additional difficulty in this situation is that, for example, in addition to the driver's intention to turn, there may be the driver's intention to change lanes, and / or different lanes offer different turning opportunities based on applicable traffic regulations.

[0051] In this scenario, the driver assistance system is configured to determine the lane in which the vehicle is traveling and, based on the lane (FS1) in which the vehicle (KFZ) is traveling, determine the driver's intention to turn.

[0052] Specifically, the driver assistance system is configured to recognize the activation of the vehicle's turn indicator and, if the lane in which the vehicle is traveling allows turning in the direction of the activated turn indicator, confirm the driver's intention to turn.

[0053] If, for example, the left turn indicator is activated and the vehicle is in the left lane, the driver's intention to turn is confirmed. Otherwise, if the right turn indicator is activated and the vehicle is in the left lane, the driver's intention to turn is not confirmed. In this case, the driver may have intended to change lanes.

[0054] Specifically, the driver assistance system is configured to recognize the activation of the vehicle's turn indicator and confirm the driver's intention to turn when the lane in which the vehicle is traveling allows turning in the direction indicated by the activated turn indicator, for example, even when the lane in which the vehicle is traveling allows travel in multiple directions (e.g., turning and going straight) and / or when multiple lanes allow turning in the same direction.

[0055] In another advantageous embodiment of the invention, the directional carriageway in which the motor vehicle travels includes multiple lanes, and the driver assistance system cannot determine the lane in which the motor vehicle is traveling.

[0056] This can happen, for example, when sensors used to locate a vehicle are unable to generate sufficiently accurate data.

[0057] In this scenario, the driver assistance system is configured to recognize the activation of the vehicle's turn indicator and, if the turn indicator remains activated for more than a predetermined time period, determine or confirm the driver's intention to turn. This predetermined time period is, for example, 3 seconds.

[0058] In another advantageous embodiment of the invention, the driver assistance system is configured to recognize the activation of the steering indicator of a motor vehicle, recognize lane changes of a motor vehicle following the activation of the steering indicator, and recognize the driver's turning intention based on the activation of the steering indicator after a lane change.

[0059] In particular, the driver assistance system is configured to recognize lane changes by setting up a reference point for checking whether the vehicle, such as the center point of the rear axle, has crossed the dividing line between the two lanes.

[0060] In another advantageous embodiment of the invention, the driver assistance system is configured to recognize the driver's intention to turn if the turning indicator is activated for a period of time longer than a predetermined time after a lane change, such as an additional 3 or 5 seconds.

[0061] In another advantageous embodiment, the driver assistance system is configured to recognize the driver's intention to turn when the steering indicator is deactivated by the driver after a lane change and then reactivated.

[0062] In another advantageous embodiment of the invention, the driver assistance system is configured to identify possible turns of the motor vehicle and reduce the speed of the motor vehicle based on the identified possible turns.

[0063] In particular, the driver assistance system is configured to teach the driver to identify possible turns according to the first and / or second aspects of the invention.

[0064] A fourth aspect of the invention relates to a method for automatic longitudinal guidance of a motor vehicle.

[0065] One step in this method is to identify the driver's intention to turn while the vehicle is being guided longitudinally.

[0066] Another step in the method is to reduce the speed of the vehicle when a turning intention is detected. Attached Figure Description

[0067] The present invention will now be described with reference to the accompanying drawings and embodiments. Wherein:

[0068] Figure 1 An embodiment of the present invention is shown.

[0069] Figure 2 Another embodiment of the invention is shown.

[0070] Figure 3 Another embodiment of the invention is shown, and

[0071] Figure 4 Another embodiment of the invention is shown. Detailed Implementation

[0072] Figure 1 An embodiment of a driver assistance system for automatic longitudinal guidance in motor vehicle KFZ is shown.

[0073] The driver assistance system is configured to recognize the driver's turning intentions when the vehicle is in automatic longitudinal guidance (KFZ).

[0074] The driver’s turning intention in a motor vehicle KFZ describes the driver’s intention at a position that provides the driver with two or more opportunities M1, M2 to continue driving, where one of these opportunities, such as M2, means staying in the current lane FS1, and the other opportunity, such as M1, means turning from the current lane FS1 at a possible turning point A1.

[0075] In addition, the driver assistance system is set to reduce the speed of the vehicle's KFZ based on the recognized turning intention.

[0076] In particular, the driver assistance system is configured to recognize the activation of the turn indicator of the vehicle KFZ and determine the number of lanes FS1 on the directional carriageway FB in which the vehicle KFZ is traveling.

[0077] When the directional road FB in which motor vehicle KFZ travels only includes one carriageway FS1, such as Figure 1 As shown, the driver assistance system is configured to recognize the driver's intention to turn based on the activation of the direction indicator.

[0078] Figure 2 Another embodiment of a driver assistance system for automatic longitudinal guidance in motor vehicle KFZ is shown.

[0079] Here, the driver assistance system is configured to recognize the driver's turning intention when the vehicle KFZ is automatically guided longitudinally, wherein in this embodiment, the directional carriageway FB in which the vehicle travels includes more than one lane FS1, FS2, i.e., two lanes.

[0080] Lane FS1 provides two opportunities, M1 and M2, for continuing to travel, where M1 indicates turning from lane FS1 at opportunity A1.

[0081] Lane FS2 provides only one opportunity for continued travel, M3, which is to remain on the directional carriageway FB.

[0082] The driver assistance system is set to determine the lane FS1 in which the vehicle KFZ is traveling, and to determine the driver's turning intention based on the lane FS1 in which the vehicle KFZ is traveling.

[0083] For example, if the driver of the vehicle KFZ operates the control element, such as the hazard light control lever, in a way that particularly suggests a left turn intention, then in this case the driver assistance system determines or confirms the driver's turning intention because a left turn is possible at point A1 on the current lane FS1 of the vehicle KFZ.

[0084] Otherwise, if the driver assistance system cannot determine the lane FS1 in which the vehicle KFZ is traveling, the driver assistance system can still determine the driver's turning intention. This is achieved by setting the driver assistance system to recognize the activation of the turning indicator of the vehicle KFZ and determining the driver's turning intention when the turning indicator has been activated for a predetermined period of time.

[0085] Figure 3 Another embodiment of a driver assistance system for automatic longitudinal guidance in motor vehicle KFZ is shown.

[0086] The driver assistance system is configured here to recognize the turning intention of the driver of the vehicle KFZ when the vehicle KFZ is automatically guided longitudinally, wherein in this embodiment the directional carriageway FB in which the vehicle travels includes multiple lanes FS1 and FS2, i.e., two lanes.

[0087] Lane FS2 provides two opportunities for continuing to drive, M1 and M2, where M1 indicates turning from lane FS2 at the possible turning point A1.

[0088] Lane FS1 provides only one vehicle M3 for continued travel, i.e., remaining on the directional carriageway FB.

[0089] The driver assistance system is set to determine the lane FS1 in which the vehicle KFZ is traveling, and to determine the driver's turning intention based on the lane FS1 in which the vehicle KFZ is traveling.

[0090] For example, if the driver of the vehicle KFZ operates the control element, such as the hazard lights control lever, in a way that particularly suggests a left turn intention, then in this case the driver assistance system determines or confirms that there is no driver intention to turn, because a left turn is not permitted in the current lane FS1 of the vehicle KFZ.

[0091] However, if vehicle KFZ changes from lane FS1 to lane FS2 in this situation, it can turn left.

[0092] In this case, the driver assistance system is specifically configured to recognize the activation of the turn indicator of the vehicle's KFZ, recognize the lane change of the vehicle's KFZ following the activation of the turn indicator, and recognize the driver's turning intention after the lane change based on the activation of the turn indicator. This is achieved, for example, by configuring the driver assistance system to recognize the driver's turning intention when the turn indicator is activated for more than a predetermined time period after the lane change.

[0093] Figure 4 Another embodiment of a driver assistance system for automatic longitudinal guidance in motor vehicle KFZ is shown.

[0094] The driver assistance system is configured to identify at least one possible turning point A1-A4 of the vehicle KFZ and reduce the speed of the vehicle KFZ based on at least one identified possible turning point A1-A4.

[0095] Specifically, the driver assistance system is configured to recognize the activation of the turn indicator of the vehicle KFZ, recognize the driver's turning intention based on the activation of the turn indicator, and then identify at least one possible turning point A1-A4 of the vehicle KFZ.

[0096] Advantageously, the driver assistance system is configured to determine a portion of the travel distance in the direction of travel located in front of the vehicle KFZ, wherein the driver assistance system is configured to determine a first end E1 of the portion of the region based on a first predetermined vehicle deceleration, and a second end E2 of the portion of the region based on a second predetermined vehicle deceleration.

[0097] In addition, the driver assistance system is configured to identify at least one possible turning point A2, A3 of the vehicle KFZ in a portion of the driving path located in front of the vehicle KFZ in the driving direction, and reduce the speed of the vehicle KFZ based on at least one identified possible turning point A2, A3.

[0098] In order to reduce the speed of the vehicle's KFZ, the driver assistance system is set to select one of at least two possible turns A2, A3 in a partial area, and reduce the speed of the vehicle's KFZ according to the selected possible turn.

[0099] For example, this selection can be made by determining the road type for each of the at least two possible turns A2 and A3 of the motor vehicle KFZ, and selecting one of the at least two possible turns A2 and A3 according to their corresponding road types.

Claims

1. A driver assistance system for automatic longitudinal guidance of a motor vehicle (KFZ), wherein the driver assistance system is configured to... • Identify at least one possible turning point of the vehicle (KFZ) within a portion of the travel distance in the direction of travel ahead of the vehicle (KFZ). • Determine the first end (E1) of the said partial area based on the first predetermined vehicle deceleration. • Determine the second end (E2) of the aforementioned partial area based on the second predetermined vehicle deceleration, and • Reduce the speed of the motor vehicle (KFZ) based on the identified at least one possible turning point.

2. The driver assistance system according to claim 1, wherein the driver assistance system is configured to... • Identify at least two possible turns of the vehicle (KFZ). • Select one of the at least two possible turning points of the motor vehicle (KFZ), and • Reduce the speed of the vehicle (KFZ) according to the selected possible turning point.

3. The driver assistance system according to claim 2, wherein the driver assistance system is configured to... • For each of the at least two possible turns of the motor vehicle (KFZ), determine the road type, and • Select one of the at least two possible turns based on the corresponding road type of the at least two possible turns.

4. The driver assistance system of claim 3, wherein the driver assistance system is configured to... • Determine the importance of the road type for each of the at least two possible turns of the motor vehicle (KFZ), and • Select the most important possible turn from the at least two possible turns.

5. The driver assistance system according to any one of claims 1-3, wherein the driver assistance system is configured to... • When the vehicle (KFZ) is operating under automatic longitudinal guidance, the turning intention of the driver of the vehicle (KFZ) is identified, and • Reduce the speed of the vehicle (KFZ) based on the identified turning intention.

6. A method for automatic longitudinal guidance of a motor vehicle (KFZ), wherein the method includes the following steps: • Identify at least one possible turning point of the vehicle (KFZ) within a portion of the travel distance in the direction of travel ahead of the vehicle (KFZ). • Determine the first end (E1) of the said partial area based on the first predetermined vehicle deceleration. • Determine the second end (E2) of the aforementioned partial area based on the second predetermined vehicle deceleration, and • Reduce the speed of the motor vehicle (KFZ) based on the identified at least one possible turning point.

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