Method and device for automatically performing lateral guidance maneuver

Abstract

The invention relates to a device for carrying out a lateral guidance maneuver of a vehicle, wherein the lateral guidance of the vehicle is at least automatically carried out. The device is configured to determine a maneuvering speed for carrying out a lateral guidance maneuver and a limit speed exceeding the maneuvering speed. The device is further designed to ascertain a speed request for the longitudinal speed, which is caused by the driver of the vehicle, during the execution of the lateral guidance maneuver. Furthermore, the device is designed to adjust the longitudinal speed of the vehicle during the execution of the lateral guidance maneuver as a function of the maneuver speed, the limit speed and the speed request.

Description

Field of the Invention

[0001] The present invention relates to a method and a corresponding device for automatically performing a lateral guidance maneuver of a motor vehicle. Background Art

[0002] A vehicle may have an autonomous driving function, which is designed to longitudinally and / or laterally guide the vehicle at least partially or fully automatically. Here, it may be advantageous for the vehicle driver to participate in the operation of the autonomous driving function, in particular to improve the safety and / or comfort of the driving function. Summary of the Invention

[0003] The technical task addressed in this document is to enable the vehicle driver to be incorporated into the longitudinal guidance of the vehicle, thereby improving the comfort and / or safety when performing an automatic lateral guidance maneuver.

[0004] This task is solved by each independent claim. Advantageous embodiments are described in particular in the dependent claims. It should be noted that the additional features of the claims dependent on an independent claim may form an independent invention that is independent of the features of the independent claim or only in combination with some of the features of the independent claim, and that does not depend on the combination of all features of the independent claim, and may be the subject of an independent claim, a divisional application, or a later application. This also applies to the technical teachings described in the specification, which may form an invention independent of the features of the independent patent claims.

[0005] According to one aspect, a device for performing a lateral guidance maneuver of a (motor) vehicle is described. During the performance of a lateral guidance maneuver, at least the lateral guidance of the vehicle can be caused automatically. Exemplary lateral guidance maneuvers are driving through a curve, entering or exiting a roundabout, turning onto another lane (e.g., at an intersection), etc.

[0006] The device is configured to determine a maneuver speed for performing the lateral guidance maneuver and a limit speed that exceeds the maneuver speed. To this end, the radius of a curve traversed in the context of the lateral guidance maneuver can be determined. For example, the radius can be determined based on sensor data from one or more environmental sensors of the vehicle. Alternatively or additionally, the radius can be determined based on a digital map of the road network on which the vehicle is traveling. The limit speed can then be determined based on the radius of the curve (e.g., taking into account the maximum allowable lateral acceleration of the vehicle). The limit speed can be the longitudinal speed at which the lateral guidance maneuver can be performed in a (just) safe manner.

[0007] The maneuver speed can be determined based on the limit speed, in particular such that the maneuver speed is less than the limit speed by 10% or more, or less than 20% or more. The maneuver speed can be the longitudinal speed at which the lateral guidance maneuver can be performed in a comfortable manner.

[0008] The device is also set up to determine a speed request for the longitudinal speed of the vehicle, which is caused by the driver of the vehicle when performing a lateral guidance maneuver. The speed request can be determined, for example, based on the actuation of control elements of the vehicle, in particular the accelerator pedal or the handgrip, in particular based on the deflection. Thus, the driver is enabled to make a request regarding the longitudinal speed of the vehicle by actuating the control element.

[0009] Furthermore, the device is set up to adjust the longitudinal speed of the vehicle when performing a lateral guidance maneuver, based on the maneuver speed, the limit speed, and the speed request. By taking into account different speed parameters when adjusting the longitudinal speed of the lateral guidance maneuver, the comfort and safety of the vehicle can be increased.

[0010] The longitudinal speed of the vehicle can be limited to the limit speed when performing a lateral guidance maneuver, and / or the lateral guidance maneuver can be performed at the limit speed if the speed request exceeds the limit speed. If the speed request exceeds the limit speed, automatic longitudinal guidance of the vehicle at the limit speed can thus be achieved. Thus, a particularly comfortable and safe execution of the lateral guidance maneuver can be caused.

[0011] Alternatively or additionally, the device can be set up to use the maneuver speed as the longitudinal speed of the vehicle when performing a lateral guidance maneuver if, in particular as long as, the speed request is less than the maneuver speed. If the speed request is below the maneuver speed, automatic longitudinal guidance of the vehicle at the maneuver speed can thus be caused. Thus, a particularly comfortable and safe execution of the lateral guidance maneuver can be caused.

[0012] Alternatively or additionally, the device can be set up to adjust the longitudinal speed of the vehicle when performing a lateral guidance maneuver based on the speed request if the speed request lies between the maneuver speed and the limit speed. Thus, if the speed request lies between the maneuver speed and the limit speed, manual longitudinal guidance of the vehicle can be caused by the driver. Thus, a particularly comfortable and safe execution of the lateral guidance maneuver can be caused.

[0013] The speed request adjusted by the driver can change during the execution of the lateral guidance maneuver. During the lateral guidance maneuver, it can be repeatedly checked whether the corresponding speed request is less than the maneuver speed, lies between the maneuver speed and the limit speed, or is greater than the limit speed. The longitudinal speed of the vehicle can then be adjusted in accordance with the above rules. Thus, a particularly comfortable and safe execution of the lateral guidance maneuver can be caused.

[0014] The device can be set to determine whether the driver has aborted the automatic execution of a lateral guidance maneuver, in particular by operating a control element for determining a speed request. For example, if the speed request exceeds the limit speed by at least an offset value (e.g., by 10% or more of the limit speed), and / or if the time gradient of the (time-varying) speed request (i.e., the time gradient of the time change of the speed request) reaches or exceeds a gradient threshold, it can be determined that the driver has aborted the automatic execution of the lateral guidance maneuver.

[0015] If it is determined that the driver has not aborted the automatic execution of the lateral guidance maneuver, the longitudinal speed of the vehicle during the automatic execution of the lateral guidance maneuver can be adjusted based on the maneuver speed, the limit speed, and the speed request (as described herein). On the other hand, if it is determined that the driver has aborted the automatic execution of the lateral guidance maneuver, the longitudinal and lateral guidance of the vehicle can be handed over to the driver (e.g., by issuing a prompt to the driver). Thus, particularly safe operation of the vehicle can be achieved.

[0016] The device can be set to recognize whether the driver releases the automatic execution of a lateral guidance maneuver, in particular the automatic execution of a turning maneuver (at a preceding position, e.g., at an intersection), by operating a control element for determining a speed request. Here, the speed request can also be caused by operating the control element.

[0017] Then it can be caused that the vehicle can accelerate (starting from a standstill) to a determined value of the longitudinal speed in order to automatically execute the lateral guidance maneuver. The determined value of the longitudinal speed of the vehicle can depend on the maneuver speed, the limit speed, and the speed request (as described herein). Thus, a particularly comfortable and safe automatic turning maneuver can be achieved.

[0018] According to another aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described, which includes the device described herein.

[0019] According to another aspect, a method for performing a lateral guidance maneuver of a vehicle is described, in which at least the lateral guidance of the vehicle is automatically caused during the lateral guidance maneuver. The method includes determining a maneuver speed for performing the lateral guidance maneuver and a limit speed exceeding the maneuver speed. The method also includes determining a speed request for the longitudinal speed during the execution of the lateral guidance maneuver caused by the driver of the vehicle (by means of a control element). The method also includes adjusting the longitudinal speed of the vehicle during the execution of the lateral guidance maneuver based on the maneuver speed, the limit speed, and the speed request.

[0020] According to another aspect, a software (SW) program is described. The SW program can be set to be executed on a processor (e.g., on a vehicle controller) and thereby execute the method described in this document.

[0021] According to another aspect, a storage medium is described. The storage medium may include an SW program configured to be executed on a processor and thereby perform the methods described herein.

[0022] It should be noted that the methods, devices, and systems described herein can be used not only alone but also in combination with other methods, devices, and systems described herein. In addition, any aspects of the methods, devices, and systems described herein can be combined in various ways. In particular, the features of the claims can be combined in various ways. In addition, the features listed in parentheses should be understood as optional features. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be described in more detail hereinafter based on embodiments. The drawings show:

[0024] Figure 1 Exemplary components of a vehicle are shown;

[0025] Figure 2 An exemplary driving situation with a lateral guidance maneuver is shown;

[0026] Figure 3 An exemplary relationship between a driver's speed request and the longitudinal speed of the vehicle is shown;

[0027] Figure 4 A flowchart of an exemplary method for controlling the longitudinal guidance of a vehicle in the context of an automatic lateral guidance maneuver is shown. DETAILED DESCRIPTION

[0028] As described at the beginning, this document aims to improve the comfort and / or safety of the automatic lateral guidance maneuvers of a vehicle. In this context, Figure 1 An exemplary vehicle 100 is shown, which includes one or more environmental sensors 102, each of which is configured to detect sensor data (i.e., environmental data) related to the environment of the vehicle 100. Exemplary environmental sensors 102 are radar sensors, lidar sensors, cameras, and / or ultrasonic sensors.

[0029] The (control) device 101 of the vehicle 100 is configured to create an environmental model of the environment based on the environmental data. In addition, one or more longitudinal and / or lateral guidance actuators 103 can be operated based on the environmental data and / or the environmental model in order to provide an autonomous driving function for the automatic longitudinal and / or lateral guidance of the vehicle 100. Exemplary actuators 103 are drive motors, braking devices, and / or steering devices.

[0030] In the scope of the driving function, the longitudinal and lateral guidance of the vehicle 100 can be automatically caused. Here, it may be advantageous, if necessary, for the driver of the vehicle 100 to be incorporated into the vehicle guidance when needed, for example, to decide at an intersection whether the vehicle 100 can drive into the intersection.

[0031] Figure 2 An exemplary driving situation is shown, in which the vehicle 100 is located at an intersection 200 with another lane and wants to turn into another lane. The vehicle 100 may have been automatically guided (longitudinally and / or laterally) to the stop line at the intersection 200 in the scope of the autonomous driving function. In addition, it can be automatically caused that the vehicle 100 stops at the stop line. Now the task of the driver is to evaluate the traffic situation, in particular to check whether the vehicle 100 has to give way to other traffic participants at the intersection 200.

[0032] If the driver recognizes that the intersection 200 is free, the driver can operate the control element 104 of the vehicle 100 to inform the vehicle 100 that it can perform an automatic turning maneuver. In response to the operation of the control element 104, the turning maneuver can be automatically caused by the autonomous driving function to be performed by the vehicle 100. For this purpose, the vehicle 100 can accelerate from a stationary state to a determined maneuver speed. In addition, the vehicle 100 can be automatically steered.

[0033] The control element 104 of the vehicle 100 can be designed such that the driver of the vehicle 100 can accelerate the vehicle 100 and / or determine the driving speed of the vehicle 100 during manual driving operation. The control element 104 can be, for example, an accelerator pedal or a lever. The driver operates the control element 104 relatively briefly (e.g., pulsatingly), which is sufficient to cause the vehicle 100 to start from a stationary state in order to perform an automatic lateral guidance maneuver.

[0034] On the other hand, it may be advantageous to enable the driver of the vehicle 100 to influence the longitudinal speed of the vehicle 100 by means of the control element 104 during the execution of an automatic lateral guidance maneuver. In particular, it should be possible for the driver to increase the longitudinal speed of the vehicle 100 beyond the maneuver speed determined by the driving function by operating the control element 104 in order to increase the comfort of the automatic lateral guidance maneuver.

[0035] Figure 3An exemplary relationship 300 between the longitudinal speed 310 of a vehicle 100 and the speed request 320 of a driver (caused by the control element 104) during the execution of an automatic lateral guidance maneuver is shown. As has been further described above, a maneuver speed 311 may have been determined by an autonomous driving function for performing the automatic lateral guidance maneuver. In addition, a limit speed 312 that should not be exceeded during the execution of the automatic lateral guidance maneuver may have been determined by the driving function. The maneuver speed 311 and / or the limit speed 312 may depend on the curve radius r of the curve traveled in the context of the automatic lateral guidance maneuver. The maneuver speed 311 is generally smaller than the limit speed 312 (e.g., 10% or more smaller, or 20% or more smaller).

[0036] The driver can issue a speed request 320 (for the longitudinal speed) to the vehicle 100 (e.g., by deflection of the control element 104). The speed request 320 can be taken into account during the execution of the automatic lateral guidance maneuver according to a predetermined relationship 300. In particular, the longitudinal acceleration and / or the driving speed of the vehicle 100 can depend on the speed request 320 according to the predetermined relationship 300 during the execution of the automatic lateral guidance maneuver.

[0037] By Figure 3 caused by the relationship 300 shown in, as long as the speed request 320 is less than or equal to the maneuver speed 311 (i.e., at most the first request value 321 of the speed request 320), the maneuver speed 311 is used during the execution of the automatic lateral guidance maneuver. Between the first request value 321 of the speed request 320 and a second request value 322 that exceeds this first request value, the longitudinal speed 310 can be adapted according to the respective request value until the limit speed 312 is reached (when the second request value 322 is reached). Thus, the driver is enabled to change the longitudinal speed 310 of the vehicle 100 during the execution of the automatic lateral guidance maneuver between the maneuver speed 311 and the limit speed 312 by issuing a corresponding speed request 320. Thus, the comfort of the automatic lateral guidance maneuver can be improved.

[0038] If the speed request 320 exceeds the second request value 322 (and the driver thus requests a longitudinal speed 310 that exceeds the limit speed 312), the increased request 320 can be ignored so that the longitudinal speed 310 remains limited to the limit speed 312. Thus, the safe execution of the automatic lateral guidance maneuver can be ensured.

[0039] Furthermore, it is possible to enable the driver of the vehicle 100 to abort the execution of the automatic lateral guidance maneuver. For example, it can be recognized that a speed request 320 caused by the driver (via the control element 104) reaches or exceeds a third request value 323 (greater than the second request value 322). Alternatively or additionally, it can be recognized that the temporal gradient of the deflection of the control element 104 and / or the temporal gradient of the change of the speed request 320 reaches or exceeds a determined gradient threshold. In response thereto, an abort of the automatic lateral guidance maneuver can be caused, such that the longitudinal and lateral guidance of the vehicle is handed over to the driver. This handover can be communicated to the driver via the user interface (acoustic and / or optical and / or tactile) of the vehicle 100. Furthermore, a (possibly smooth) transition from the automatic longitudinal and / or lateral guidance of the vehicle 100 to the manual longitudinal and / or lateral guidance can be achieved.

[0040] As explained at the beginning, the curve can be traversed with a determined longitudinal speed and laterally guided by means of the driver assistance system. In a turning situation, the driver can incorporate the right-of-way decision (for example by accelerating pedal actuation). Furthermore, the driver is enabled to cause an acceleration of the vehicle 100 by accelerating pedal actuation. In the case where the speed is too high due to the driver's expectation, it may be necessary to cause a lane departure (for example if the lateral acceleration limit speed from ECE R79 is exceeded)

[0041] As described in this document, the autonomous driving function can use the comfort-oriented maneuver speed 311 for traversing a curve or for a turning maneuver, which does not fully utilize the permitted lateral acceleration potential of the vehicle 100. The driver's accelerating pedal actuation (for example, during the actuation of continuing to drive) may cause the limit speed 312 of the vehicle to be exceeded due to the increased speed used. The limit speed 312 can be determined, for example, as v = sqrt(a y * r). That is a y According to ECE R79, the maximum can be 3.0 m / s 2 , where r can be the radius of the curve or also the trajectory during a turning maneuver. Furthermore, the operator sqrt() represents the square root.

[0042] In order for the maximum permitted limit speed 312 not to be exceeded even in the case of accelerator pedal actuation and thus to ensure the availability of lateral guidance, the longitudinal speed 310 can be limited by restricting the driver's desired acceleration. Here, the longitudinal speed 310 can be limited to a value 312 that results in compliance with the maximum permitted lateral acceleration. The driver's desired acceleration can only be plausibility-checked and, if necessary, restricted if the accelerator pedal position is not evaluated as an abort expectation of the assistance system. An exemplary scenario is a right-turn situation with a stop sign. The vehicle 100 stops at the stop line with the activated longitudinal and lateral guidance assistance system, and the driver confirms continued driving by means of accelerator pedal actuation. In order to follow the planned turning path (e.g., radius r = 15 m), the system determines a comfortable cornering speed 311 (e.g., 20 km / h). After starting, the system can independently accelerate to this speed 311. However, the driver continuously and strongly actuates the pedal such that this cornering speed 311 would be significantly exceeded, whereby the lateral guidance can be degraded during the turning process. By the measures described herein, it can be caused that the acceleration desired by the driver is restricted such that the cornering limit speed 312 (e.g., 23 km / h) is not exceeded.

[0043] Figure 4 The flowchart shows a (possibly computer-implemented) method 400 for performing a lateral guidance maneuver of the vehicle 100, wherein at least the lateral guidance of the vehicle 100 is automatically caused during the lateral guidance maneuver. The lateral guidance maneuver can be, for example, driving through a curve or a turning maneuver.

[0044] The method 400 includes determining 401 a maneuver speed 311 for performing the lateral guidance maneuver and a limit speed 312 that exceeds the maneuver speed 311. For example, the limit speed 312 can be determined based on the radius of the curve to be traversed in the context of the lateral guidance maneuver. The maneuver speed 311 can be lower than the limit speed 312 by a determined value.

[0045] The method 400 further includes determining 402a a speed request 320 caused by the driver of the vehicle 100 for the longitudinal speed 310 (e.g., based on the deflection of a control element 104, such as an accelerator pedal or a handle) during the performance of the lateral guidance maneuver.

[0046] Furthermore, the method 400 includes adjusting 403 the longitudinal speed 310 of the vehicle 100 during the performance of the lateral guidance maneuver based on the maneuver speed 311, the limit speed 312, and the speed request 320. Here, as long as the speed request 320 is less than the maneuver speed 311, the longitudinal speed 310 can be automatically adjusted to the maneuver speed 311. On the other hand, if the speed request 320 is greater than the limit speed 312, the longitudinal speed 310 can be limited to the limit speed 312. Automatic longitudinal guidance is performed in both cases.

[0047] On the other hand, the driver of the vehicle 100 is enabled to (manually) adjust the longitudinal speed of the vehicle 100 between the maneuvering speed 311 and the limit speed 312 by causing a corresponding speed request 320.

[0048] The measures described herein can improve the comfort and safety of the driving functions for performing automatic lateral guidance maneuvers.

[0049] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the drawings merely illustrate the principles of the proposed methods, devices, and systems in an exemplary manner.

Claims

1. A device (101) for performing a lateral guidance maneuver of a vehicle (100), in which at least the lateral guidance of the vehicle (100) is caused automatically; wherein the device (101) is arranged to: - Determine a maneuver speed (311) for performing the lateral guidance maneuver and a limit speed (312) that exceeds the maneuver speed (311); - Determine a speed request (320) for the longitudinal speed (310) during the execution of the lateral guidance maneuver, which is caused by the driver of the vehicle (100); and - Adjust the longitudinal speed (310) of the vehicle (100) during the execution of the lateral guidance maneuver based on the maneuver speed (311), the limit speed (312), and the speed request (320).

2. The device (101) according to claim 1, wherein the device (101) is arranged to limit the longitudinal speed (310) of the vehicle (100) to the limit speed (312) during the execution of the lateral guidance maneuver, and if the speed request (320) exceeds the limit speed (312), then perform the lateral guidance maneuver especially at the limit speed (312).

3. The device (101) according to any one of the preceding claims, wherein the device (101) is arranged to use the maneuver speed (311) as the longitudinal speed (310) of the vehicle (100) during the execution of the lateral guidance maneuver if, especially as long as, the speed request (320) is less than the maneuver speed (311).

4. The device (101) according to any one of the preceding claims, wherein the device (101) is arranged to adjust the longitudinal speed (310) of the vehicle (100) during the execution of the lateral guidance maneuver based on the speed request (320) if the speed request (320) is between the maneuver speed (311) and the limit speed (312).

5. The device (101) according to any one of the preceding claims, wherein the device (101) is arranged to determine the speed request (320) based on the manipulation of a control element (104) of the vehicle (100), especially the acceleration pedal or the driving handle, especially based on the deflection.

6. The device (101) according to any one of the preceding claims, wherein the device (101) is arranged to - Determine the radius of a curve traversed in the context of the lateral guidance maneuver; and - Determine the limit speed (312) based on the radius of the curve.

7. The device (101) according to any one of the preceding claims, wherein the device (101) is arranged to determine the maneuver speed (311) based on the limit speed (312), especially such that the maneuver speed (311) is 10% or more lower or 20% or more lower than the limit speed (312).

8. The device (101) according to any one of the preceding claims, wherein the device (101) is arranged to - determine whether the driver aborts the automatic execution of the lateral guidance maneuver, in particular by operating a control element (104) for determining the speed request (320); - if it is determined that the driver has not aborted the automatic execution of the lateral guidance maneuver, adjust the longitudinal speed (310) of the vehicle (100) during the automatic execution of the lateral guidance maneuver according to the maneuver speed (311), the limit speed (312) and the speed request (320); and - if it is determined that the driver has aborted the automatic execution of the lateral guidance maneuver, hand over the longitudinal and lateral guidance of the vehicle (100) to the driver.

9. The device (101) according to claim 8, wherein the device (101) is arranged to determine that the driver has aborted the automatic execution of the lateral guidance maneuver when the following occurs: - the speed request (320) exceeds the limit speed (312) by at least one offset value; and / or - the time gradient of the change in the speed request (320) reaches or exceeds a gradient threshold.

10. The device (101) according to any one of the preceding claims, wherein the device (101) is arranged to - recognize that the driver releases the automatic execution of the lateral guidance maneuver, in particular the automatic execution of a turning maneuver in the leading position, by operating a control element (104) for determining the speed request (320); And - in response to the recognition, cause the vehicle (100) to accelerate to a determined value of the longitudinal speed (310) for the automatic execution of the lateral guidance maneuver; wherein the determined value of the longitudinal speed (310) of the vehicle (100) depends on the maneuver speed (311), the limit speed (312) and the speed request (320).

11. A method (400) for performing a lateral guidance maneuver of a vehicle (100), in which at least the lateral guidance of the vehicle (100) is automatically caused; Wherein the method (400) comprises: - obtaining (401) a maneuver speed (311) for performing the lateral guidance maneuver and a limit speed (312) exceeding the maneuver speed (311); - obtaining (402) a speed request (320) for the longitudinal speed (310) during the execution of the lateral guidance maneuver caused by the driver of the vehicle (100); And - adjusting (403) the longitudinal speed (310) of the vehicle (100) during the execution of the lateral guidance maneuver according to the maneuver speed (311), the limit speed (312) and the speed request (320).

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