Method for checking a pre-set speed limit of a vehicle on a lane and method for assisting a driver

Abstract

The invention relates to a method for checking a predefined speed limit for a vehicle (1, 2) on a lane (F). According to the invention, a situationally appropriate driving speed for driving on a section (S) of the lane (F) is determined, and if the appropriate driving speed is below the predefined speed limit, the predefined speed limit is assessed as inappropriate. The invention also relates to a method for assisting a driver of a vehicle (1, 2).

Description

Technical Field

[0001] The invention relates to a method for checking a predefined speed limit for a vehicle on a roadway and to a method for assisting a driver of a vehicle. Background Art

[0002] DE 10 2020 003 073.4 describes a method and a device for automated driving of a vehicle. The method provides that, when there is a curve ahead of the vehicle, a field of view limitation of at least one detection unit of an environment sensor system pointing in the direction of travel of the vehicle due to the curve is determined, and if it is determined that the field of view of the at least one detection unit is below a predetermined threshold, the vehicle is automatically changed to a lane outside the curve, provided that the lane outside the curve is available, wherein preferably there is no right-driving instruction.

[0003] Furthermore, DE 10 2015 223 176 A1 discloses a driver assistance system for a vehicle, the vehicle having an environment sensor, which detects the environment of the vehicle via a sensor, and a data processing unit, which evaluates sensor data of the environment sensor in order to identify obstacles in the vehicle environment. Furthermore, a method for determining an obstruction area in the vehicle environment is disclosed. The method provides for evaluating sensor data generated by the environment sensor in order to identify obstacles in the vehicle environment of the vehicle. Furthermore, an obstruction area is calculated based on the identified obstacle, which is blocked by the identified obstacle and limits the field of view of the optical environment sensor of the vehicle. Summary of the invention

[0004] The object of the present invention is to provide a method for checking a predefined speed limit for a vehicle on a lane and a method for assisting a driver of the vehicle.

[0005] According to the invention, this object is achieved by a testing method having the features specified in claim 1 and by a supporting method having the features specified in claim 9 .

[0006] Advantageous embodiments of the invention are the subject matter of the dependent claims.

[0007] According to the invention, a method for checking a predefined speed limit for a vehicle on a lane provides for determining a situationally appropriate driving speed for driving on a section of the lane and, if the appropriate driving speed is below the predefined speed limit, assessing the predefined speed limit as inappropriate.

[0008] By applying the method, a road section with an inappropriate predefined speed limit can be determined. By applying the method, a road section is determined if a vehicle is traveling on this road section at a speed that is consistent with the predefined speed limit, which results in a relatively high probability of an emergency situation (in particular an emergency driving situation) for the vehicle and, if applicable, other road users in the vicinity of the vehicle. In other words: By applying the method, a road section with a relatively high risk of danger can be identified, because the predefined speed limit corresponds to a driving speed that is too high, which results in a relatively high probability of an accident occurring on this road section if the vehicle is traveling on this road section at a speed that is consistent with the predefined speed limit.

[0009] In a possible embodiment of the method for checking the predetermined speed limit, the predetermined speed limit is evaluated as inappropriate if the road section of the lane is a road section with oncoming vehicles, in particular without a central lane marking, and the width of the lane is less than a predetermined value. When driving on such a road section, there is the possibility of an emergency situation, in particular when two vehicles are driving in opposite directions and have to give way to each other, in which case they drive beyond the respective outer lane markings in order to give way to the respective oncoming vehicle.

[0010] In a further development of the method for checking a predetermined speed limit, the width of the lane (in particular the lane width), the speed of the vehicle passing by and the position of the vehicle passing by (for example also in relation to the lane markings) are determined in order to determine the traffic situation on the road section from the perspective of the plurality of vehicles. With the aid of this information it is determined whether the predetermined speed limit for driving on the road section is inappropriate and thus whether there is a danger potential, in particular for vehicles driving in the opposite direction on the road section.

[0011] In another possible embodiment of the method for checking a predetermined speed limit, the determined lane width, the driving speed and the position of the vehicle passing by are transmitted as information to a computer unit outside the vehicle, which is connected to the respective vehicle in a data-technical manner. In particular, this information is transmitted from vehicles of a fleet (e.g., a fleet of a car manufacturer) traveling on the lane to the computer unit outside the vehicle. The transmitted information is stored and continuously evaluated by means of the computer unit in order to check the speed limit predetermined for the lane (i.e., the road section).

[0012] Furthermore, another possible embodiment of the method for checking a predetermined speed limit provides that the information transmitted by a plurality of vehicles to the computer unit is statistically evaluated by means of a computer unit and a road section with an inappropriate speed limit is identified on which a plurality of vehicles travel at a speed that is lower than the speed limit stored in the digital map by a predetermined value. With the help of this statistical evaluation, it can be determined relatively reliably whether the predetermined speed limit is appropriate or inappropriate, so that a possible danger potential of this road section can be identified.

[0013] In particular, the computer unit is used to determine the causal relationship between a lane whose width is less than a predetermined value and the reduced driving speed of multiple vehicles, so that it can be judged whether the predetermined speed limit is appropriate and whether the possibility of an emergency on this road section is relatively low and has nothing to do with the predetermined speed limit.

[0014] In another possible embodiment of the method for checking a predetermined speed limit, a suitable driving speed is predetermined based on a statistical average of the respective driving speeds of a plurality of vehicles detected on the route.

[0015] By taking an average value for the driving speed suitable for the road section, the probability of an emergency situation occurring on the lane section is relatively low, especially for vehicles traveling in the opposite direction. If the vehicle travels at a suitable driving speed on the road section, the safety on the road section can be greatly improved.

[0016] In a possible development of the method for checking a predetermined speed limit, if it is determined that the speed limit stored in the digital map is inappropriate and, therefore, that there is a relatively high risk of danger for vehicles travelling in the opposite direction, the digital map, in particular the stored speed limit, is replaced by a suitable driving speed. By correcting the digital map (e.g., a digital map of a navigation system), a driving speed that is inappropriate for the route section is no longer output and is therefore no longer stored.

[0017] Furthermore, the present invention also relates to a method for assisting a driver of a vehicle, wherein a suitable driving speed determined based on a method for checking a predetermined speed limit of the vehicle on a lane is output as a speed recommendation to the driver of the vehicle traveling on the road section, in particular displayed, and / or used as a basis for controlling a vehicle assistance system.

[0018] The speed recommendation shows the driver of the corresponding vehicle a suitable speed for driving on the road section, which serves as a directional guide for the driver. In this way, the driver can drive on the road section at a suitable speed, thereby improving his own safety and the safety of vehicles traveling in the opposite direction.

[0019] Alternatively or additionally, the determined suitable driving speed is used as a basis for controlling the assistance system, so that the suitable driving speed is binding on the assistance system and the vehicle travels on the route at the suitable driving speed.

[0020] In particular, the appropriate driving speed as a speed recommendation is used as a basis in the automatic driving assistance system or the assistance system of the corresponding vehicle traveling on the lane. If the vehicle is traveling on the road section in the automatic driving mode or when the system of speed control distance is activated, the appropriate driving speed is predefined as the set speed, i.e. the target speed. For example, when the system of speed control distance is activated, the driving speed set by the driver will be ignored due to the speed recommendation unless the set driving speed is consistent with the appropriate driving speed or is lower than the appropriate driving speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The embodiments of the present invention are explained in more detail below with reference to the accompanying drawings, wherein:

[0022] Figure 1 A section of a roadway is schematically shown, on which two vehicles are traveling in opposite directions, traveling at a speed that is inappropriate for the section but complies with a predefined speed limit;

[0023] Figure 2 The section of the roadway on which two vehicles are passing each other after a correction to the predefined speed limit is shown schematically. DETAILED DESCRIPTION

[0024] In all the figures, corresponding parts are provided with the same reference numerals.

[0025] Figure 1 A section S of a lane F is shown, which is bounded only on two sides by lane markings M and lacks a central lane marking M. Two vehicles 1, 2 are traveling on the section S, traveling in opposite directions, wherein the vehicles 1, 2 are traveling on the section S at a speed that substantially corresponds to the speed limit of 70 km / h specified by the traffic sign 3.

[0026] The road section S, ie the lane F, has a width b which is smaller than a predetermined value, so that the road section S is implemented as an extremely narrow lane F for two-way traffic (ie there are oncoming vehicles). Figure 1 In the embodiment shown in FIG. 1 , a region B of the lane F is indicated by a dotted line. In this region B, the vehicles 1 and 2 traveling on the lane F usually reduce their traveling speeds.

[0027] It is generally known that there are numerous influencing factors, due to which certain road sections S must be driven at a lower speed than the permissible driving speed for the curve and / or the predefined speed limit.

[0028] A method is described below, by which a predefined speed limit for vehicles 1 , 2 on lane F is checked.

[0029] Figure 1 and Figure 2 Such a roadway F shown is in particular a country road, wherein, due to the narrow width b of the roadway F, there is no central lane marking M to separate the oncoming lane.

[0030] The vehicles 1 and 2 traveling in opposite directions drive out of their respective outer lane markings M and thus partially leave the lane F to be able to pass each other. Here, the vehicles 1 and 2 greatly reduce their current driving speeds relative to the predefined speed limit of 70 km / m.

[0031] When two vehicles 1 and 2 are traveling in opposite directions on such a lane F and must slow down to pass each other, if the drivers of the vehicles 1 and 2 are not familiar with the local conditions and / or have relatively short driving experience, they are basically guided by the predetermined speed limit shown on the traffic sign 3, and there is a risk of underestimating the braking distance.

[0032] On the contrary, when driving on the lane F, a driver who is familiar with the local conditions usually selects a speed curve that is adapted to the width b of the lane F, and the speed curve takes into account the critical section S where the vehicles 1 and 2 are traveling in opposite directions.

[0033] The method provides in particular for checking a predefined speed limit so as to benefit from the experience of drivers familiar with the local situation, wherein observed and learned driving behavior in relation to the road section S is provided as an instruction or speed recommendation to vehicles 1 , 2 which, for example, belong to a convoy.

[0034] The presence of a critical state is inferred from the driving behavior of the plurality of vehicles 1 , 2 as a function of the driving speed on a relatively narrow lane F, in particular a lane with a width b below a predefined value.

[0035] For this purpose, the width b of the roadway F is determined with the aid of signals detected by sensors of the surroundings sensor system of vehicle 1 , which width b is significantly smaller than the width b of two-way traffic.

[0036] Furthermore, the driving speed of the oncoming vehicles 1 , 2 and the position of the oncoming vehicles 1 , 2 , in particular with respect to the road marking M, are determined.

[0037] For evaluation purposes, the determined width b of the lane F, the determined driving speeds and the detected positions of the oncoming vehicles 1 , 2 are transmitted as information to a vehicle-external computer unit (not shown in detail) which is connected to the vehicle 1 in a data-technical manner.

[0038] In particular, events such as running off the lane marking M, in which the respective vehicle 1 , 2 at least partially leaves the lane F, indicate that particular caution is required on the road section S and that a predefined speed limit of, for example, 70 km / h is not appropriate for this road section S in both directions of travel.

[0039] In order to obtain a statistically significant sample, a plurality of vehicles 1 , 2 travelling on a road section S are observed, in particular a plurality of vehicles 1 , 2 belonging to the same fleet.

[0040] In particular, the determined width b of the lane F is also transmitted as information to the computer unit in order to check the causal relationship between the reduction in the driving speed of the vehicles 1, 2 and the relatively unusually narrow lane F. In the computer unit (the so-called backend), the causal relationship between the narrow lane F, the vehicles 1 and 2 leaving the lane F in order to pass each other relatively, and the associated reduction in the current driving speed on each road section S is statistically determined based on a relatively large sample.

[0041] In this case, in particular, information transmitted by a plurality of vehicles 1, 2 to the computer unit is statistically evaluated with the aid of a computer unit, and a road section S with an inappropriate speed limit is identified, on which a plurality of vehicles 1, 2 travel at a speed that is lower than a predetermined speed limit by a predetermined value, which is also stored in a digital map of the vehicles 1, 2.

[0042] In order to establish a causal relationship, it is necessary to consider the pre-defined speed limit and, for example, a reasonable curve speed based on a curve. In particular, it is determined that, on a statistical average, the speed at which the driver travels on the road section S is significantly lower than the required speed of the route (such as a curve) and related to the pre-defined speed limit.

[0043] In particular, a suitable driving speed for driving on the road section S is determined by taking a statistical average of the respective driving speeds of the plurality of vehicles 1 , 2 detected on the road section.

[0044] If the pre-set speed limit is proved to be inappropriate by the size of the sampling and the significant reduction in the driving speed of the plurality of vehicles 1, 2, the determined suitable driving speed for driving on the road section is stored in the digital map as a speed suggestion. Here, the pre-set speed limit stored in the digital map is corrected with the determined suitable driving speed.

[0045] The speed recommendation based on the appropriate driving speed is then displayed as a speed recommendation for vehicles 1, 2 traveling on lane F, so as to assist the drivers of the corresponding vehicles 1, 2, and / or the speed recommendation is used as a basis for controlling an assistance system of vehicles 1, 2, such as an automated driving assistance system or an assistance system that controls distance based on speed.

[0046] By determining the appropriate driving speed for driving on the road section S, the driver of the respective vehicle 1 , 2 is informed of the speed selection suitable for the current situation, especially on a relatively narrow lane F, and can thus increase the driver's trust in the respective assistance system.

[0047] Therefore, when the speed of vehicles 1, 2 is adjusted based on the speed recommendation, the drivers of the corresponding vehicles 1, 2 can drive the vehicles in unfamiliar areas in a manner that reduces the possibility of dangerous situations such as excessive speed and driving off the road marking M to avoid vehicles 1, 2 traveling in the opposite direction.

Claims

1. A method for checking a predetermined speed limit for a vehicle (1, 2) on a lane (F), It is characterized in that - determining a situationally appropriate driving speed for driving on the section (S) of said lane (F), and If the appropriate driving speed is lower than a predefined speed limit stored in the digital map, the predefined speed limit is evaluated as inappropriate and replaced in the digital map by the appropriate driving speed.

2. The method according to claim 1, It is characterized in that If the section (S) of the lane (F) is a section with oncoming traffic and the width (b) of the lane (F) is smaller than a predetermined value, the predetermined speed limit is evaluated as inappropriate.

3. The method according to claim 1 or 2, It is characterized in that The width (b) of the lane (F), the speed of the oppositely passing vehicles (1, 2) and the position of the oppositely passing vehicles (1, 2) are determined so as to evaluate the traffic conditions on the road section (S) from a plurality of vehicles (1, 2).

4. The method according to claim 3, It is characterized in that The determined width (b) of the lane (F), the driving speed and the position of the oppositely passing vehicles (1, 2) are transmitted as information to a computer unit outside the vehicle, which is connected to the corresponding vehicle (1, 2) in a data-technical manner.

5. The method according to claim 4, It is characterized in that The computer unit statistically evaluates the information transmitted to the computer unit by a plurality of vehicles (1, 2) and identifies road sections (S) with inappropriate speed limits on which a plurality of vehicles (1, 2) travel at speeds that are lower than a speed limit stored in a digital map by a predetermined value.

6. The method according to claim 4, It is characterized in that The computer unit is used to determine a causal relationship between the lane (F) having a width (b) less than a predetermined value and a reduction in the driving speed of the plurality of vehicles (1, 2).

7. The method according to claim 5, It is characterized in that The computer unit is used to determine a causal relationship between the lane (F) having a width (b) less than a predetermined value and a reduction in the driving speed of the plurality of vehicles (1, 2).

8. The method according to claim 1 or 2, It is characterized in that The suitable driving speed is predetermined based on a statistical average of the respective driving speeds of a plurality of vehicles (1, 2) detected on the route (S).

9. A method for assisting a driver of a vehicle (1, 2), wherein: The suitable driving speed determined by the method according to any one of claims 1 to 8 is output as a speed recommendation to the driver of the vehicle (1, 2) traveling on the lane (F) and / or used as a basis for controlling an assistance system of the vehicle (1, 2).

10. The method according to claim 9, It is characterized in that In an automated driving assistance system or a speed-dependent distance control assistance system of a corresponding vehicle (1, 2) traveling in a lane (F), a suitable driving speed is used as a speed recommendation as a basis.

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