Driving assistance system and driving assistance method for lateral guidance of vehicle

Abstract

The invention relates to a driving assistance system for lateral guidance of a vehicle, in particular of a motor vehicle. The driving assistance system comprises an actuating element for the direction indicator, said actuating element being designed to initiate an automatic lateral guidance process when actuated or triggered by the driver when the lateral guidance assistant is activated; and at least one audio output module, which is designed to output a first sound signal when the lateral guidance assistant is activated if the automatic lateral guidance process is executable, and to output a second sound signal, which is different from the first sound signal, if the automatic lateral guidance process is not executable.

Description

Technical Field

[0001] The invention relates to a driver assistance system for lateral guidance of a vehicle, a vehicle having such a driver assistance method, a driver assistance method for lateral guidance of a vehicle, and a storage medium for executing the driver assistance method. The invention relates in particular to an acoustic indication for an activated lateral guidance assistant, such as a lane keeping assistant. Background Art

[0002] Driver assistance systems for automated driving are becoming increasingly important. Automated driving can be achieved using different degrees of automation. Exemplary degrees of automation are assisted driving, semi-automated driving, conditional automated driving, highly automated driving or fully automated driving. The five degrees of automation mentioned above correspond to SAE levels 1 to 5 according to the SAE J3016 (SAE - Society of Automotive Engineers) standard of April 30, 2021. In fully automated driving (SAE level 5), the system can perform all aspects of the dynamic driving task that are also controlled by the human driver in any lane and environmental conditions.

[0003] An example of a driver assistance system is a lane change assistant, which can perform an automatic lane change. The lane change assistant can be activated by the driver and can be triggered when necessary. However, the lane change assistant is subject to certain functional limitations that are not immediately apparent to every driver. For example, if there is no structural separation between the own lane and the oncoming lane, an automatic lane change cannot usually be performed for safety reasons. Additional functional limitations may exist in certain speed ranges and / or when there is reduced free space on the lane.

[0004] It can therefore happen that the lane change assistant is active and is shown as being available in principle, for example, on the instrument panel, but cannot be triggered due to functional limitations. The driver therefore does not immediately know whether the automatic lane change has been successfully triggered and must, for example, look at the instrument panel to correctly classify the situation. This causes inconvenience to the driver, which can lead to a reduced acceptance of such driver assistance systems. In addition, the driver must take his eyes off the road in order to correctly classify the situation, which can impair traffic safety. Summary of the invention

[0005] The object of the present disclosure is to provide a driver assistance system for lateral guidance of a vehicle, a vehicle having such a driver assistance method, a driver assistance method for lateral guidance of a vehicle and a storage medium for executing the driver assistance method, which can clearly display the functional state of the driver assistance system. In addition, the object of the present disclosure is to improve the acceptance of the driver assistance system for lateral guidance and / or the safety in road traffic.

[0006] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are described in the dependent claims.

[0007] According to an independent aspect of the disclosure, a driver assistance system for lateral guidance of a vehicle, in particular a motor vehicle, is described. The driver assistance system comprises an operating element for a direction indicator, wherein the operating element is designed to start an automatic lateral guidance process when the lateral guidance assistant is activated, when the driver operates or triggers it, and at least one audio output module, which is designed to output a first acoustic signal when the lateral guidance assistant is activated if the automatic lateral guidance process is executable, and to output a second acoustic signal different from the first acoustic signal when the automatic lateral guidance process is not executable.

[0008] According to the present invention, an acoustic signal is outputted based on whether the lateral guidance assistant has been successfully triggered. For example, different sounds or sound sequences can be outputted. As a result, the driver hears immediately and without being distracted from the vehicle guidance whether the lateral guidance assistant has been successfully triggered. As a result, the functional status of the driver assistance system can be clearly indicated, whereby the acceptance of the driver assistance system for lateral guidance and / or safety in road traffic can be improved.

[0009] Preferably, at least one audio output module comprises one or more speakers for outputting the first sound signal and the second sound signal.

[0010] The term "activated transverse guidance assistant" refers to the general or principle activation or availability of a transverse guidance assistant, for example due to a user input of the driver, such as pressing a button or actuating a control lever. In other words, an activated transverse guidance assistant can correspond to an on-state of the transverse guidance assistant. In this activated state of the transverse guidance assistant, the driver can actuate an operating element, whereupon an automatic transverse guidance process ideally starts. The term "inactivated transverse guidance assistant" therefore refers to a deactivated state of the transverse guidance assistant, for example due to a user input of the driver, such as pressing a button or actuating a control lever. In this inactivated state of the transverse guidance assistant, the driver can actuate an operating element, whereupon an automatic transverse guidance process does not start, but the direction indicator is activated.

[0011] The driver can thus activate the lateral guidance assistant and trigger it when necessary. However, in certain situations, an automatic lateral guidance process may not be possible. In particular, the lateral guidance assistant may be subject to functional limitations, which result in the fact that an automatic lateral guidance process cannot be carried out even when the lateral guidance assistant is activated. For example, in the case of no structural separation between the own lane and the oncoming lane, an automatic lane change is generally not possible for safety reasons. Additional functional limitations may exist in certain speed ranges and / or in the case of reduced free space on the lanes.

[0012] Preferably, if the automatic lateral guidance process is not executable, the direction indicator is triggered and the second sound signal is output when the lateral guidance assistant is activated. In other words, when the driver fails to successfully trigger the automatic lateral guidance process, the direction indicator can be activated instead of the automatic lateral guidance process.

[0013] Preferably, at least one acoustic output module is designed to output a second acoustic signal for indicating activation of the turn signal indicator when the driver actuates the control element if the transverse guidance assistant is inactive. In other words, the same acoustic signal is output when the transverse guidance assistant is inactive and the turn signal indicator is actuated and when the transverse guidance assistant is active and the triggering of the automatic transverse guidance process fails. The driver can thus hear, without being distracted from the guidance of the vehicle, whether the automatic transverse guidance process or only the turn signal indicator has been activated when the transverse guidance assistant is active.

[0014] Preferably, the second sound signal is a turn signal sound, in particular a standard turn signal sound. In this case, if only the turn indicator is triggered with or without the lateral guidance assistant activated, the driver receives an acoustic indication in the form of a turn signal sound (i.e., the second sound signal), and if the automatic lateral guidance process and the turn indicator are triggered with the lateral guidance assistant activated, the driver receives a modified turn signal sound (i.e., the first sound signal).

[0015] An operating element, such as a turn signal lever, has multiple functions, namely activating the turn indicator and triggering an automatic transverse guidance process. In particular, the automatic transverse guidance process can be triggered by a turn signal lever that is not specifically provided for a transverse guidance assistant. Depending on whether the transverse guidance assistant is activated or inactive and whether the automatic transverse guidance process can be executed when the transverse guidance assistant is activated, it is determined which of the multiple functions is to be executed depending on the operation of the operating element.

[0016] Preferably, the first sound signal comprises a first sound signal portion and a second sound signal portion different from the first sound signal portion. The at least one audio output module can be designed to output the first sound signal portion during a preparation phase of the automatic lateral guidance process and to output the second sound signal portion during the actual execution of the automatic lateral guidance process or the automatic lateral guidance.

[0017] For example, the preparation phase may be a search phase for a gap in the automatic lane change. The execution of the automatic lateral guidance process may correspond to the actual execution of the lane change. Thus, the driver can easily see in which phase the automatic lateral guidance process is currently located.

[0018] Preferably, at least one audio output module is designed to output the first sound signal until the automatic lateral guidance process ends. Thus, the driver can hear when the automatic lateral guidance process is active and when the automatic lateral guidance process ends or starts.

[0019] Preferably, the first sound signal is longer or shorter than the second sound signal.

[0020] Additionally or alternatively, the first sound signal may be louder or quieter than the second sound signal.

[0021] Additionally or alternatively, the first sound signal and the second sound signal may at least partially have different sound sequences.

[0022] Additionally or alternatively, the first sound signal may be a sub-sound sequence of the second sound signal. Alternatively, the first sound signal may correspond to the second sound signal with one or more additional sounds.

[0023] Additionally or alternatively, the first sound signal may be oriented in a first spatial direction and the second sound signal may be oriented in a second spatial direction different from the first spatial direction. For example, the first sound signal may come from the front in the vehicle and the second sound signal may come from the rear in the vehicle, so that the driver can distinguish the first sound signal from the second sound signal.

[0024] Preferably, the automatic lateral guidance process is selected from the group consisting of or consisting of an automatic lane change and an automatic turning process.

[0025] According to a further independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is provided. The vehicle comprises a driver assistance system according to an embodiment of the present disclosure.

[0026] The term vehicle includes passenger cars, trucks, buses, motor homes, motorcycles, etc., which are used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0027] The driver assistance system is designed for automated driving which includes or consists of automated lateral guidance.

[0028] Within the scope of this document, the term "automatic driving" is understood to mean driving with automatic longitudinal guidance and / or lateral guidance. Automatic driving can be, for example, longer driving on the highway or time-limited driving within a parking area. The term "automatic driving" includes automated driving with any degree of automation. Exemplary degrees of automation are assisted driving, semi-automatic driving, conditional automated driving, highly automated driving or fully automated driving (with a correspondingly increasing degree of automation). The five degrees of automation mentioned above correspond to SAE levels 1 to 5 according to the SAE J3016 (SAE - Society of Automotive Engineers) standard of April 30, 2021.

[0029] In assisted driving (SAE level 1), the system performs longitudinal or lateral guidance in certain driving situations. In semi-automated driving (SAE level 2), the system assumes longitudinal and lateral guidance in certain driving situations, wherein the driver must constantly monitor the system as in assisted driving. In conditional automated driving (SAE level 3), the system assumes longitudinal and lateral guidance in certain driving situations without the driver having to constantly monitor the system; however, the driver must be able to assume control of the vehicle for a certain period of time and upon request of the system. In highly automated driving (SAE level 4), the system assumes control of the vehicle in certain driving situations even when the driver does not react to a request for intervention, so that the driver is no longer available as a backup. In fully automated driving (SAE level 5), the system can perform all aspects of the dynamic driving task that are also controlled by the human driver, in any lane conditions and environmental conditions.

[0030] Furthermore, within the scope of this document, the term "at least semi-automated driving or maneuvering" is also understood to mean semi-automated driving, conditionally automated driving, highly automated driving, fully automated driving. In other words, the term "at least semi-automated driving" is understood to mean a degree of automation starting from SAE Level 2 (inclusive).

[0031] The driver assistance system of the present disclosure corresponds to a degree of automation in which automatic lateral guidance can be achieved based on the user input of the driver. This degree of automation can be SAE level 2, for example.

[0032] According to another independent aspect of the present disclosure, a driving assistance method for a vehicle, in particular a motor vehicle, is described. The driving assistance method includes: detecting a driver's manipulation of an operating element of a direction indicator; if a lateral guidance assistant is activated and in response to the manipulation of the operating element, if an automatic lateral guidance process is executable, then outputting a first sound signal, or if the automatic lateral guidance process is not executable, then outputting a second sound signal different from the first sound signal; and if the lateral guidance assistant is not activated and in response to the manipulation of the operating element, then outputting a second sound signal to indicate the activation of the direction indicator.

[0033] The driving assistance method may implement aspects of the driving assistance system described in this document for a vehicle.

[0034] According to a further independent aspect of the present disclosure, a software (SW) program is described. The software program can be designed to be executed on one or more processors and thereby to execute the driving assistance method described in this document for a vehicle.

[0035] According to another independent aspect of the present disclosure, a storage medium is described. The storage medium may include a software program designed to be executed on one or more processors and thereby execute the driving assistance method described in this document for a vehicle.

[0036] According to a further independent aspect of the present disclosure, software with a program code is described. The software is designed to execute a driving assistance method for a vehicle when the software is executed on one or more software-controlled devices.

[0037] According to another independent aspect of the present disclosure, a driver monitoring system is described. The system should include one or more processors; and at least one memory, the memory is connected to the one or more processors and contains instructions, the instructions can be executed by the one or more processors to perform the driving assistance method described in this document for a vehicle.

[0038] A processor or processor module is a programmable computing unit, ie a machine or electronic circuit that controls other elements according to given commands and carries out an algorithm (process) therein. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Embodiments of the present disclosure are shown in the accompanying drawings and described in detail below.

[0040] Figure 1 A vehicle with a driving assistance system according to an embodiment of the present disclosure is schematically shown.

[0041] Figure 2Aschematically shows a detailed view of a driving assistance system according to an embodiment of the present disclosure,

[0042] Figure 2B Schematically shows different sound signals according to an embodiment of the present disclosure,

[0043] Figure 3 Schematically illustrates an executable lane change according to an embodiment of the present disclosure,

[0044] Figure 4 schematically illustrates an unexecutable lane change according to an embodiment of the present disclosure, and

[0045] Figure 5 A flowchart of a driving assistance method according to an embodiment of the present disclosure is shown.

[0046] Unless otherwise indicated, the same reference numerals are used subsequently for identical and identically acting elements. DETAILED DESCRIPTION

[0047] Figure 1 A vehicle 10 having a driving assistance system 100 according to an embodiment of the present disclosure is schematically shown.

[0048] The driving assistance system 100 is designed for automatic driving. In the automatic driving according to the embodiment of the present disclosure, the lateral guidance (and optionally the longitudinal guidance) of the vehicle 10 is automatically performed. Therefore, the driving assistance system 100 assumes the vehicle guidance. To this end, the driving assistance system 100 controls the steering device 26 and optionally controls the drive 20, the transmission 22 and the hydraulic service brake 24 via an intermediate unit not shown.

[0049] In order to plan and execute the automated driving, the driver assistance system 100 receives environmental information from an environmental sensor system that observes the vehicle environment. In particular, the vehicle may include at least one environmental sensor 12, which is designed to receive environmental data describing the vehicle environment. The at least one environmental sensor 12 may include, for example, one or more laser radar (LiDAR) systems, one or more radar systems, one or more laser scanners, one or more ultrasonic sensors and / or one or more cameras.

[0050] Figure 2A A detailed view of a driving assistance system 100 according to an embodiment of the present disclosure is schematically shown. Figure 2B Different sound signals TI, T2 according to embodiments of the present disclosure are schematically shown.

[0051] The driving assistance system 100 of the present disclosure includes (or is) the lateral guidance assistant 16 , or can implement the function of the lateral guidance assistant 16 by executing the automatic driving.

[0052] The driver assistance system 100 includes an operating element 110 for the direction indicator 14, wherein the operating element 110 is designed to start an automatic lateral guidance process when the lateral guidance assistant 16 is activated; and at least one audio output module 120, which is designed to output a first sound signal TI when the lateral guidance assistant 16 is activated if the automatic lateral guidance process is executable, and to output a second sound signal T2 different from the first sound signal T1 if the automatic lateral guidance process is not executable.

[0053] The operating element 110 may be a turn signal lever and has multiple functions, namely activating the turn indicator 14 and initiating an automatic transverse guidance process.

[0054] At least one audio output module 120 may include one or more speakers 122 for outputting the first sound signal TI and the second sound signal T2. At least one audio output module 120 may also include a control module 124, which is designed to control the audio output of at least one audio output module 120, especially the output of the first sound signal TI and the second sound signal T2.

[0055] The lateral guidance assistant 16 can be activated by the driver and, if necessary, triggered by operating the confirmation element 110. If the driver activates the confirmation element 110 when the lateral guidance assistant 16 is activated and the automatic lateral guidance process is executable, the at least one audio output module 120 outputs a first acoustic signal TI. If the driver activates the confirmation element 110 when the lateral guidance assistant 16 is activated and the automatic lateral guidance process is not executable, the at least one audio output module 120 outputs a second acoustic signal T2. If the driver operates the confirmation element 110 when the lateral guidance assistant 16 is not activated, the at least one audio output module 120 outputs a second acoustic signal T2 for indicating the activation of the direction indicator 14.

[0056] Thus, the same acoustic signal T2 can be output when the lateral guidance assistant 16 is not activated and the direction indicator 14 is actuated and when the lateral guidance assistant 16 is activated and the triggering of the automatic lateral guidance process fails. Thus, the driver hears, without being distracted from the vehicle guidance, whether the automatic lateral guidance process or only the direction indicator 14 has been activated when the lateral guidance assistant 16 is activated.

[0057] An automated lateral guidance process may be, for example, an automated lane change or an automated turning process.

[0058] The second sound signal T2 can be a standard turn signal sound. In this case, if only the direction indicator 14 has been triggered when the lateral guidance assistant 16 is activated or not activated, the driver gets a sound indication in the form of a turn signal sound (i.e., the second sound signal T2), and if the automatic lateral guidance process and the direction indicator 14 have been triggered when the lateral guidance assistant 6 is activated, the driver gets a modified turn signal sound (i.e., the first sound signal TI).

[0059] In some embodiments, the first sound signal TI includes a first sound signal portion and a second sound signal portion different from the first sound signal portion. At least one audio output module 120 can be configured to output the first sound signal portion during a preparation phase of the automatic lateral guidance process and output the second sound signal portion during the execution of the automatic lateral guidance or during the automatic lateral guidance.

[0060] The preparation phase can be, for example, a search phase for a gap in the automatic lane change. The execution of the automatic lateral guidance process can correspond to the actual execution of the lane change. Thus, the driver can easily see in which phase the automatic lateral guidance process is currently located.

[0061] The first sound signal TI and the second sound signal T2 are configured differently so that the driver can distinguish the two sound signals from each other. For example, the first sound signal TI can be longer or shorter than the second sound signal T2. Supplementarily or alternatively, the first sound signal TI can be louder or quieter than the second sound signal T2. Supplementarily or alternatively, the first sound signal TI and the second sound signal T2 can have different sound sequences at least in part. Supplementarily or alternatively, the first sound signal TI can be a sub-sound sequence of the second sound signal T2. Alternatively, the first sound signal TI can correspond to the second sound signal T2 with one or more additional sounds. Supplementarily or alternatively, the first sound signal TI can be oriented along a first spatial direction and the second sound signal T2 can be oriented along a second spatial direction different from the first spatial direction. For example, the first sound signal TI may come from the front in the vehicle, and the second sound signal T2 may come from the rear in the vehicle, so that the driver can distinguish the first sound signal T1 from the second sound signal T2.

[0062] Figure 3 An executable lane change according to an embodiment of the present disclosure is schematically illustrated. Figure 4 An unexecutable lane change according to an embodiment of the present disclosure is schematically illustrated.

[0063] The lateral guidance assistant can be activated by the driver and triggered when required. However, in certain situations, an automatic lateral guidance process may not be possible. In particular, the lateral guidance assistant may be subject to functional limitations, which result in an automatic lateral guidance process not being able to be carried out even with the lateral guidance assistant activated. For example, an automatic lane change from own lane A to adjacent lane B is generally not possible for safety reasons if there is no structural separation between own lane A and oncoming lane C.

[0064] exist Figure 3 In the example of , there is a structural separation 300 between the own lane A and the oncoming lane C, so that a lane change can be performed. Figure 4 In contrast, in the example of FIG. 3 , there is no structural separation 300 between the own lane A and the oncoming lane C, so that lane change is not possible.

[0065] In certain speed ranges and / or in the case of reduced free space on the lane, further functional limitations may exist which do not allow the execution of an automated lane change even when the lane change assistant is activated.

[0066] Figure 5 A flow chart of a driving assistance method 500 according to an embodiment of the present disclosure is shown. The driving assistance method 500 may be implemented by corresponding software, which may be executed by one or more processors (eg, CPU).

[0067] The driving assistance method 500 includes, in frame 510, detecting the driver's manipulation of the steering element of the direction indicator. If it is determined in frame 520 that the lateral guidance assistant is activated and in response to the manipulation of the steering element in frame 510, the driving assistance method 500 includes, in frame 530, outputting a first sound signal if the automatic lateral guidance process is executable, or outputting a second sound signal different from the first sound signal if the automatic lateral guidance process is not executable. If it is determined in frame 520 that the lateral guidance assistant is not activated and in response to the manipulation of the steering element in frame 510, the driving assistance method 500 includes, in frame 540, outputting a second sound signal to indicate the activation of the direction indicator.

[0068] According to the present invention, a sound signal is output based on whether the lateral guidance assistant has been successfully triggered. For example, different sounds or sound sequences can be output. Therefore, the driver hears directly and without being distracted from the vehicle guidance whether the lateral guidance assistant has been successfully triggered. Therefore, the functional status of the driver assistance system can be clearly indicated, whereby the acceptance of the driver assistance system for lateral guidance and safety in road traffic can be improved.

[0069] Although the present invention has been described and explained in detail by preferred embodiments, the present invention is not limited to the disclosed examples, and those skilled in the art can derive other variants therefrom without departing from the scope of protection of the present invention. It is therefore clear that there are multiple possibilities for variation. It is also clear that the exemplary embodiments mentioned actually represent only examples that should not be understood in any way as limiting the scope of protection, application possibilities or configuration of the present invention. On the contrary, the above description and the description of the drawings enable those skilled in the art to implement the exemplary embodiments, wherein those skilled in the art can, for example, make various changes to the functions or arrangements of the various elements mentioned in the exemplary embodiments with an understanding of the disclosed inventive concept, without departing from the scope of protection, which is defined by the claims and their legal equivalents, such as the elaboration in the specification.

Claims

1. A driving assistance system (100) for lateral guidance of a vehicle (10), comprising: an operating element (110) for a direction indicator (14), wherein the operating element (110) is designed to initiate an automatic transverse guidance process when the transverse guidance assistant (16) is activated and is operated by the driver; and At least one acoustic output module (120) is designed to output a first acoustic signal (T1) when a lateral guidance assistant (16) is activated if the automatic lateral guidance process is executable, and to output a second acoustic signal (T2) different from the first acoustic signal (T1) if the automatic lateral guidance process is not executable.

2. The driving assistance system (100) according to claim 1, wherein: The at least one acoustic output module (120) is designed to output the second acoustic signal (T2) for indicating activation of the direction indicator (14) when the driver actuates the operating element (110) if the transverse guidance assistant (16) is inactive.

3. The driving assistance system (100) according to claim 1 or 2, wherein: - the second sound signal (T2) is a standard turn signal sound; and / or - The confirmation element (110) is a turn signal lever with multiple functions.

4. The driving assistance system (100) according to any one of claims 1 to 3, wherein: The first sound signal (T1) includes a first sound signal portion and a second sound signal portion different from the first sound signal portion, and wherein the at least one audio output module (120) is designed to output the first sound signal portion during a preparation phase of the automatic lateral guidance process and to output the second sound signal portion during execution of the automatic lateral guidance process.

5. The driving assistance system (100) according to any one of claims 1 to 4, wherein: The at least one audio output module (120) is designed to output the first sound signal (T1) until the automatic lateral guidance process is completed.

6. The driving assistance system (100) according to any one of claims 1 to 5, wherein: - the first sound signal (T1) is longer or shorter than the second sound signal (T2); and / or - the first sound signal (T1) is louder or quieter than the second sound signal (T2); and / or - the first sound signal (T1) and the second sound signal (T2) have at least partially different sound sequences; and / or - the first sound signal (T1) is a sub-sound sequence of the second sound signal (T2), or corresponds to the second sound signal (T2) with one or more additional sounds; and / or - the first sound signal (T1) is oriented in a first spatial direction and the second sound signal (T2) is oriented in a second spatial direction different from the first spatial direction.

7. The driving assistance system (100) according to any one of claims 1 to 6, wherein: The automatic lateral guidance process is selected from the group consisting of an automatic lane change and an automatic turning process.

8. A vehicle (10), in particular a motor vehicle, comprising a driver assistance system (100) according to any one of claims 1 to 7.

9. A driving assistance method (500) for a vehicle, comprising: detecting (510) a driver's manipulation of a manipulation element for a direction indicator; If the lateral guidance assistant is active and in response to an actuation of the actuating element, If the automatic lateral guidance process is executable, then outputting (530) a first sound signal, or If the automatic lateral guidance process is not executable, outputting (530) a second sound signal different from the first sound signal; If said automatic lateral guidance process is not executable; and If the lateral guidance assistant is inactive and in response to an actuation of the operating element: The second sound signal is output (540) to indicate activation of the direction indicator.

10. A storage medium comprising a software program, wherein the software program is designed to be executed on one or more processors and thereby to perform the driving assistance method (500) according to claim 9.

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