Method for operating a lane guidance assistance of a vehicle which consider an environmental conditions

Abstract

The invention relates to a method for lane guidance assistance for operating a vehicle, comprising the following steps: receiving environmental data describing the surroundings of the vehicle, identifying a traffic lane boundary which delimits a traffic lane in which the vehicle is currently located, and if the traffic lane boundary is identified for a predetermined shake elimination time, determining that the vehicle is in the traffic lane. If the vehicle is not in the traffic lane, a steering intervention for keeping the vehicle in the traffic lane is automatically carried out, environmental conditions are continuously determined, said environmental conditions describing the current parking location of the vehicle, the weather in the surroundings, the current day time and / or the road type assigned to the traffic lane, and the shake elimination time is adjusted depending on the continuously determined environmental conditions.

Description

Technical Field

[0001] The invention relates to a method for operating a lane guidance assistant for a vehicle. The invention also relates to a lane guidance assistant for a vehicle. Finally, the invention relates to a vehicle having such a lane guidance assistant. Background Art

[0002] Lane guidance assistance for vehicles is well known from the prior art. Such lane guidance assistance, also called steering and lane guidance assistance or active lane keeping assistance, is used in particular to keep the vehicle in a lane or lanes. Such lane guidance assistance uses environmental data from environmental sensors of the vehicle in order to detect lane boundaries or lane markings. If such lane markings are detected with sufficient certainty, the lane guidance assistance can be activated and a steering intervention can be performed in order to keep the vehicle in the lane or lanes. For example, a steering intervention can be performed so that the vehicle is kept centered in the lane.

[0003] In the known prior art, the availability of lane guidance assistance is related to various conditions. For example, a so-called debounce time can be set, which specifies that the lane boundary or lane marking must be reliably identified within a predetermined time. It is also known that if the presence or recognition of lane markings by existing environmental sensors changes frequently, the debounce time is adjusted. For example, lane markings can be recognized and disappear multiple times within a certain time period, such as 30 seconds. The increase in the debounce time is used to provide continuous availability of lane guidance assistance and avoid frequent state changes.

[0004] On the one hand, the technical problem caused by the described prior art is the disadvantage that the usability of lane guidance assistance is reduced overall, because the debounce time temporarily prevents the activation of the function. On the other hand, the prior art does not take into account the current situation or parameters that have an impact on the function of lane guidance assistance. Therefore, it is not possible to achieve an optimal setting of the debounce time and it is also not possible to achieve the best possible usability of the function while maintaining the continuity of the function state. Summary of the invention

[0005] The object of the present invention is to show how a lane guidance assistant of the type mentioned in the introduction can be improved in such a way that the usability is increased and at the same time the reliability of the solution is improved.

[0006] This object is achieved according to the invention by a method, a lane guidance assistant and a vehicle having the features according to the independent claims. Advantageous developments of the invention are given in the dependent claims.

[0007] The method according to the invention is used for operating a lane guidance assistance for a vehicle. The method comprises receiving environmental data describing the surroundings of the vehicle. In addition, the method comprises identifying a lane boundary, which delimits the lane in which the vehicle is currently located. The method also comprises automatically performing a steering intervention for keeping the vehicle in the lane if the lane boundary is identified for a predetermined debounce time. In addition, the method comprises continuously determining environmental conditions, wherein the environmental conditions describe the current location of the vehicle, the weather in the surroundings, the current time of day and / or the type of road assigned to the lane. The method also comprises adjusting the debounce time depending on the continuously determined environmental conditions.

[0008] Lane guidance assistance is used to assist the driver of a vehicle in steering tasks. In particular, lane guidance assistance is used to keep the vehicle in the lane or the current lane. Lane guidance assistance may also be referred to as steering and lane guidance assistance, active lane keeping assistance or steering assistance. Lane guidance assistance may have at least one environmental sensor, with the aid of which environmental data may be provided. The environmental data describes the surroundings or environment of the vehicle. The environmental sensor may be, for example, a camera. In the case of a camera, the environmental data may be image data.

[0009] Lane boundaries can be identified in the environmental data. In particular, lane boundaries of the lane in which the vehicle is currently located can be identified. In addition, it can be provided that lane boundaries of other lanes or adjacent lanes are identified. Lane boundaries can in particular be lane markings, such as solid or dashed lines or broken lines. Lane boundaries can also be building boundaries, such as walls, guardrails, curbstones, etc. In addition, green belts, gravel beds, etc. can be detected as lane boundaries.

[0010] If the lane boundary is reliably identified with a predetermined probability or with a predetermined certainty for the debounce time period, the lane guidance assistance function can be activated. This means that a steering intervention or a superimposed steering torque is provided with the help of the lane guidance assistance in order to keep the vehicle in the lane or lane. The lane guidance assistance can be directly involved in the driving process, for example, by an active steering system. However, the steering torque or the steering intervention provided by the lane guidance assistance can be controlled by the driver at any time by operating the steering wheel.

[0011] It can be provided that the function of the lane guidance assistance is only activated if a lane boundary or a lane marking is recognized with a predetermined certainty or probability for the duration of a predetermined debounce time. According to the invention, it is now possible to adapt the debounce time to the current environmental conditions. These environmental conditions can, on the one hand, describe the current stop or country in which the vehicle is currently located. In addition, the environmental conditions can describe the weather in the vehicle's surroundings or weather conditions in the vehicle's environment. Alternatively or additionally, the environmental conditions can describe the current time of day or lighting conditions in the vehicle's surroundings. In addition, the environmental conditions can describe the road type of the road on which the lane is located.

[0012] It is possible to provide for a continuous or continuous detection of environmental conditions. For example, environmental conditions can be detected at predetermined points in time or in predetermined time intervals. Thus, the debounce time can also be adapted to changing environmental conditions. The debounce time can be adjusted based on these environmental conditions. In this way, continuous availability of the lane guidance assistance can be achieved and frequent state changes between the operating state and the standby state of the lane guidance assistance can be avoided. Overall, user satisfaction and customer acceptance can thus be increased.

[0013] Preferably, a country-specific presetting for the debounce time is determined based on the current stop location of the vehicle, and the debounce time is adjusted based on the country-specific presetting. It is therefore preferably provided that the environmental conditions describe the current stop location or position of the vehicle. In particular, the environmental conditions can describe in which country the vehicle is currently located or traveling. It can be provided in particular that different debounce times are stored for different countries or regions and can be called accordingly. For example, customer requirements and conditions in different countries may require a debounce time that is adapted to the country. For example, a debounce time that is shorter than the debounce time presetting according to the standard can be set for countries such as China or the United States. If stable recognition of lane markings and suitable roads are obtained, the lane guidance assist or steering assist device can already transition to an actively adjusted state earlier. In general, the different requirements of customers in different countries, the state of road construction, etc. can therefore be taken into account.

[0014] In another embodiment, the reliability of the identification of lane boundaries based on environmental data is determined depending on the weather and / or the current time of day. In addition, the debounce time is preferably adjusted depending on the reliability of the identification. Based on the weather or weather data, it can be determined whether the identification of lane boundaries or lane markings by at least one environmental sensor is restricted due to weather conditions. This can be the case, for example, in rain, snow, fog, etc. For example, the identification of lane boundaries by means of environmental sensors may be jeopardized by precipitation. It can also be provided that precipitation, such as snow and / or ice, has already deposited on the roadway and, therefore, the identification of the lane or lane boundaries is impossible or can only be achieved in a very limited manner. In addition, reflections occur on the wet road surface, which also jeopardize the identification of lane markings by means of environmental sensors.

[0015] Based on the current time of day, in particular the lighting conditions in the surroundings can be detected. The lighting conditions or brightness in the surroundings can also influence the recognition of lane boundaries with the aid of environmental sensors. For example, the recognition of lane boundaries can be seriously impaired at dusk and at night. Strong sunlight can also significantly deteriorate the recognition of lane boundaries. In general, based on weather data and / or the current time of day, it can be determined whether the recognition of lane boundaries with the aid of environmental sensors is impaired compared to a defined normal state. This can then be taken into account when adjusting the debounce time.

[0016] In particular, it is provided that the debounce time is increased if the reliability of the recognition is below a predetermined average value. In the case of bad weather according to the environmental data or sensor data of at least one environmental sensor or received from a weather forecast, the debounce time is increased. There is a risk of unstable recognition of lanes or lane boundaries and thus of altered functional states and of incorrect control of the vehicle due to insufficient environmental data. This applies in the same way to driving at dusk or at night.

[0017] It is also advantageous to increase the debounce time if the road type corresponds to a motorway. It is therefore preferably provided that the debounce time is shortened on motorways, since stable and well-visible lane markings or lane boundaries can be assumed here. The same applies to the road types: motorways, federal highways, etc. In principle, the construction state of the road and the presence of customary or known lane markings or lane boundaries can be taken into account. For example, digital map data or environmental data from other vehicles that describe the quality of the lane markings can be taken into account. Furthermore, the time when the road was built or whether the road was renovated can be taken into account. The debounce time can thus be ideally adapted to the current road type.

[0018] In another embodiment, the environmental conditions are determined based on environmental data, based on satellite-supported position data, based on digital map data and / or based on weather data. In order to be able to determine the environmental conditions, environmental data or sensor data of at least one environmental sensor can be directly taken into account. Thus, for example, it can be detected whether there is precipitation around the vehicle. In addition, it can be determined whether precipitation is deposited on the road surface. In order to determine the current weather or weather data, weather data can also be received from corresponding transmission stations, back ends, etc. In order to determine the current time of day, clock data and / or data from light sensors, etc. can be taken into account. In order to be able to determine the current position or current stop of the vehicle, digital map data and / or satellite-supported positioning systems can be used. In this way, the environmental conditions can be determined in a reliable manner.

[0019] The lane guidance assistant for a vehicle according to the invention is arranged to receive environmental data describing the vehicle's surroundings. In addition, the lane guidance assistant is also arranged to identify a lane boundary that delimits a lane in which the vehicle is currently located. In addition, the lane guidance assistant is arranged to perform an automatic steering intervention for keeping the vehicle in the lane if a lane boundary is identified for a predetermined debounce time. In addition, the lane guidance assistant is arranged to continuously determine environmental conditions, wherein the environmental conditions describe the current resting place of the vehicle, the weather in the surroundings, the current time of day and / or the type of road assigned to the lane. In addition, the lane guidance assistant is also arranged to adjust the debounce time according to the continuously determined environmental conditions.

[0020] The environmental data can be provided by means of at least one environmental sensor of the vehicle or the lane guidance assistant. For example, the environmental sensor can be designed as a camera. In addition, it can be provided that the environmental sensor is designed as an optical sensor, an infrared sensor or a lidar sensor. The lane guidance assistant can also have a corresponding computing device, which can be formed, for example, by an electronic control unit of the vehicle. A corresponding program or computer program can be run on the computing device. In this way, the lane boundary can be determined based on the environmental data.

[0021] Furthermore, the lane guidance assistant can have a receiver for receiving weather data, for receiving data from a backend, etc. Furthermore, it can be provided that the lane guidance assistant has a satellite-supported positioning system. The ambient conditions can then be determined with the aid of a computing device and the debounce time can be adjusted as a function of the ambient conditions determined continuously.

[0022] Furthermore, the lane guidance assistant may have a corresponding actuator, by means of which a steering intervention may be carried out or an additional steering torque may be provided.

[0023] The vehicle according to the invention comprises a lane guidance aid according to the invention. The vehicle is designed in particular as a passenger car.

[0024] The preferred specific embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the lane guidance assistant according to the invention and to the vehicle according to the invention.

[0025] Further features of the invention are derived from the claims, the drawings and the description of the drawings. The features and feature combinations mentioned above in the description and the features and feature combinations mentioned below in the description of the drawings and / or shown individually in the drawings can be used not only in the respectively given combination but also in other combinations or individually without leaving the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will now be described in more detail according to preferred embodiments and with reference to the accompanying drawings. The accompanying drawings show:

[0027] Figure 1 : Schematic diagram of a vehicle with lane guidance assistance; and

[0028] Figure 2 :Based on the road Figure 1 of vehicles. DETAILED DESCRIPTION

[0029] Figure 1 A vehicle 1, which is in the present case designed as a passenger car, is shown in a top view. Vehicle 1 comprises a lane guidance assistant 2, by means of which vehicle 1 can be kept in lane 6 or in a lane. Lane guidance assistant 2 comprises a computing device 3, which can be formed, for example, by at least one electronic control unit of vehicle 1.

[0030] The lane guidance assistant 2 also includes at least one environment sensor 4. In the example shown, the lane guidance assistant 2 includes an environment sensor 4, which is in the present case designed as a camera. With the aid of the environment sensor 4, environment data or image data describing the surroundings 5 ​​of the vehicle 1 can be provided. In addition, the lane guidance assistant 2 includes a receiving device 7, with the aid of which, for example, weather data can be received. In addition, data can be received from a backend, from the Internet, from a radio station, etc. with the aid of the receiving device 7. In addition, data can be received from a satellite-supported positioning system with the aid of the receiving device 7. Instead of the exemplary receiving device 7, a plurality of separate receiving devices can also be used.

[0031] The computing device 3 is also configured to control a steering system 8, which is only schematically shown here, of the vehicle 1. By controlling the steering system 8, a steering torque or a steering intervention can be generated in order to keep the vehicle 1 in the lane 6 or lane. By controlling the steering system 8, a steering wheel 9 of the vehicle 1 can be steered and thus the lateral guidance of the vehicle 1 can be influenced.

[0032] Figure 2 The schematic diagram of a vehicle 1 located on a lane 6 is shown. The lane 6 is assigned to a road 10. The lane 6 is delimited by lane boundaries 11. Lane boundaries 11 are corresponding lane markings applied to the lane surface. These lane boundaries 11 or lane markings can be identified by means of a computing device 3 based on environmental data provided by environmental sensors 4.

[0033] If these lane boundaries 11 are detected with a predetermined probability or certainty for a predetermined debounce time, the function of lane guidance assistant 2 can be activated. For this purpose, lane guidance assistant 2 performs a corresponding steering intervention in steering system 8 so that vehicle 1 is guided, for example, centrally in lane 6 .

[0034] Furthermore, it is provided that the environmental conditions are detected by means of the computing device 3 and that the debounce time is adjusted as a function of the detected environmental conditions. In this case, it is provided in particular that the environmental conditions are determined continuously or at defined points in time and that the debounce time is then adjusted if necessary. In this way, it is possible to respond to changing surrounding conditions or environmental conditions and thus avoid frequent state changes between an operating state and a standby state of the lane guidance assistant 2.

[0035] On the one hand, the environmental conditions can describe the current stop or position of the vehicle 1. The current stop can be determined based on satellite-supported position data and / or digital map data. In addition, the environmental conditions can describe the weather in the surroundings 5 ​​of the vehicle 1. The weather in the surroundings 5 ​​can be determined based on environmental data from environmental sensors 4 or based on weather data received with the aid of a receiving device 7. In addition, the environmental conditions can describe the current time of day or the lighting conditions in the surroundings 5. These data about the current time of day or lighting can also be determined with the aid of environmental sensors 4 or based on time data or the like. Finally, the environmental conditions can describe the road type of the road 10 to which the lane 6 is assigned. The debounce time can then be adjusted based on the determined environmental conditions. This means in particular that the debounce time can be increased or reduced.

[0036] An example of adjusting the debounce time according to environmental conditions is described below: Assume that vehicle 1 is currently in China. Due to the high requirements of the Chinese market for the availability of assistance systems, the debounce time for activating lane guidance assistance 2 in this vehicle 1 is reduced by half based on the standard value for the debounce time. This results in faster activation of lane guidance assistance 2 after identifying the lane boundary 11 and thus improves availability. Rainfall occurs during the driving of vehicle 1. This weather condition is identified with the help of lane guidance assistance 2 and thus leads to an increase in the debounce time. For example, the debounce time can be doubled based on the identified rainfall. After a certain period of time, it is close to dusk and the rain stops. Due to dusk, the debounce time is doubled again. Therefore, the debounce time is adjusted as follows: standard value * 0.5 (country) * 2 (rainfall) * 2 (dusk). Subsequently, the driver drives onto the highway, which is again identified by lane guidance assistance 2 and causes the debounce time to be halved: standard value * 0.5 (country) * 2 (rainfall) * 2 (dusk) * 0.5 (highway).

[0037] Taking these factors into account can achieve an improved usability of the steering assistant or lane guidance assistant 2 , which is adapted to the prevailing requirements of the market in a particular country and simultaneously allows a dynamic adaptation to given conditions.

Claims

1. A method for operating a lane guidance assistant (2) of a vehicle (1), comprising the following steps: - receiving environmental data describing the surroundings (5) of the vehicle (1), - identifying a lane boundary (11) which delimits the lane (6) in which the vehicle (1) is currently located, and - automatically performing a steering intervention for keeping the vehicle (1) in the lane (6) if the lane boundary (11) is detected for a predetermined debounce time, It is characterized in that - continuously determining environmental conditions, wherein the environmental conditions describe the current location of the vehicle (1), the weather in the surroundings, the current time of day and / or the type of road assigned to the lane (6), and - adjusting the debounce time depending on the environmental conditions that are continuously determined.

2. The method according to claim 1, It is characterized in that A country-specific precondition for the debounce time is determined as a function of the current location of the vehicle (1), and the debounce time is adjusted as a function of the country-specific precondition.

3. The method according to claim 1 or 2, It is characterized in that The reliability of the recognition of the lane boundary (11) based on the environmental data is determined based on the weather and / or the current time of day, and the debounce time is adjusted depending on the reliability of the recognition.

4. The method according to claim 3, It is characterized in that If the reliability of the identification is less than a predetermined average value, the debounce time is increased.

5. The method according to any one of the preceding claims, It is characterized in that If the road type corresponds to a highway, the debounce time is increased.

6. The method according to any one of the preceding claims, It is characterized in that The environmental conditions are determined based on the environmental data, satellite-supported position data, digital map data and / or weather data.

7. A lane guidance aid (2) for a vehicle (1), wherein the lane guidance aid (2) is configured to: - receiving environmental data describing the surroundings (5) of the vehicle (1), - identifying a lane boundary (11) which delimits the lane (6) in which the vehicle (1) is currently located, and - if the lane boundary (11) is detected for a predetermined debounce time, a steering intervention is performed to keep the vehicle (1) in the lane (6), It is characterized in that The lane guidance assistant (2) is further configured to: - continuously determining environmental conditions, wherein the environmental conditions describe the current location of the vehicle (1), the weather in the surroundings (5), the current time of day and / or the type of road assigned to the lane, and - adjusting the debounce time depending on the environmental conditions that are continuously determined.

8. A vehicle (1), in particular a passenger car, comprising a lane guidance aid (2) according to claim 7.

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