Assistance system, vehicle and method for assisting driver of vehicle in event of change in lane section during lateral guidance of vehicle

Abstract

The invention relates to an assistance system (2) for assisting a driver of a vehicle (1) during lateral guidance of the vehicle (1), the assistance system (2) being configured to receive environmental data and digital map data, to perform automated lateral guidance of the vehicle (1) on a lane (12), to provide a hand-free operation during the automated lateral guidance, the invention relates to a method for operating a vehicle (1) in a hand-free operation, in which the driver can move their hands away from the steering wheel of the vehicle (1), receive position data describing the current position of the vehicle (1), check whether the vehicle (1) is in a predetermined deactivation region (17), in which deactivation of the hand-free operation is specified, according to the invention, it is checked whether there is a changing lane section (18) on the lane (12), in which a temporarily changing lane guide is specified, which passes through the deactivation region (17) at least in some regions, and in which the lane guide is guided by the vehicle (1) even if the vehicle (1) is in the deactivation region (17). The release operation is still provided during the travel of the vehicle (1) through the changed lane section (18).

Description

Technical Field

[0001] This invention relates to an assistance system for assisting a driver of a vehicle during lateral guidance. Furthermore, the invention also relates to a vehicle having such an assistance system. Additionally, the invention relates to a method for assisting a driver of a vehicle during lateral guidance. Background Technology

[0002] Lane guidance assistance for vehicles is well known from existing technology. This type of lane guidance assistance, also known as steering and lane guidance assistance or active lane keeping assistance, is specifically used to keep the vehicle within its driving lane, or lane markings. This lane guidance assistance utilizes environmental data from at least one of the vehicle's environmental sensors to identify the boundaries of the driving lane, or lane markings. With the aid of lane guidance assistance, automated steering intervention can be performed to keep the vehicle within its driving lane.

[0003] Furthermore, existing technology provides knowledge of driver assistance systems capable of so-called hands-free operation. Such systems allow the driver to continuously remove both hands from the steering wheel during lateral guidance. Maintaining this capability requires the driver to be attentive, observe traffic conditions, and be prepared to intervene. Driver attention is monitored via a driver monitoring device, such as an in-vehicle camera. In the event of a malfunction in automated lateral guidance, it is assumed that the driver can intervene immediately and steer the vehicle back into its lane independently.

[0004] In current driver assistance systems, hands-free operation is deactivated for safety reasons once the vehicle is within a designated deactivation zone. Such a deactivation zone could be, for example, an emergency lane on a highway, such as a side parking lane. Here, high-precision positioning, for example, based on differential GPS and high-resolution digital map data, is used to identify whether the vehicle is within such a deactivation zone. If the vehicle is within the deactivation zone, hands-free operation is deactivated or cannot be activated.

[0005] Lane demarcation sections with altered lane guidance may exist within lanes where vehicles move through automated lateral guidance. Such altered lane guidance is commonly found at highway construction sites. In the United States, highway construction sites are typically designed to remove existing lane markings and apply new temporary lane markings during construction for altered lane guidance. There, ambiguous lane markings or lane markings superimposed with different colors are generally not present.

[0006] In the United States, hands-free driving assistance systems can also operate in such lane-changing sections, regardless of construction sites. A problem can arise here: in construction sites, at least one driving lane is typically diverted from its initial side parking position. Therefore, a lane that was previously a side parking lane becomes a "normal" driving lane with "normal" lane markings during ongoing construction. It is no longer visually identifiable that this driving lane was originally an emergency parking lane or a side parking lane. Summary of the Invention

[0007] The objective of this invention is to provide a solution for how to more reliably assist the driver in the automated lateral guidance of a vehicle in lane sections with altered lane guidance.

[0008] According to the invention, this task is accomplished by an auxiliary system, vehicle, and method having the features according to the independent claim. Advantageous extensions of the invention are given in the dependent claims.

[0009] The assistance system according to the invention is used to assist the driver of a vehicle during lateral guidance. Here, the assistance system is configured to receive environmental data and digital map data, wherein the environmental data and digital map data describe the vehicle's surrounding environment. Furthermore, the assistance system is configured to perform automated lateral guidance of the vehicle within a lane based on the environmental data and / or map data. Furthermore, the assistance system is configured to provide hands-free operation during automated lateral guidance, whereby the driver can continuously remove their hands from the steering wheel of the vehicle. Furthermore, the assistance system is configured to receive location data describing the current position of the vehicle. Furthermore, the assistance system is configured to check whether the vehicle is within a predetermined detour area based on the location data and digital map data, where a hands-free operation detour is pre-defined. Furthermore, the assistance system is configured to check whether there is a lane-changing segment within the lane based on the environmental data and / or map data, wherein a temporary lane-changing guidance is pre-defined within the lane-changing segment, which guides at least regionally through the detour area. Furthermore, the assistance system is configured to continue providing hands-free operation while the vehicle is traveling through the lane-changing segment, even if the vehicle is within the detour area.

[0010] The assistance system should assist the driver when guiding the vehicle laterally. Specifically, it should provide lane guidance assistance or automated lane guidance functionality. Here, it can also assist the driver during steering. In particular, the assistance system can intervene during steering to keep the vehicle within the driving lane or the current lane.

[0011] The assistance system may include a computing device, which may consist of at least one processor, at least one electronic controller, etc. With the aid of the computing device, environmental data can be received from at least one environmental sensor of the assistance system. This environmental data can describe the vehicle's surrounding environment, or vehicle environment. The environmental sensor may be, for example, a camera. In this case, the environmental data may be image data. From this environmental data, the corresponding driving lane currently occupied by the vehicle can be identified. Furthermore, based on the environmental data, the driving lane boundary of the corresponding driving lane can be identified. The driving lane boundary can be, in particular, lane markings, such as solid lines, dashed lines, or discontinuous lines. The driving lane boundary can also be a building boundary, such as a wall, guardrail, etc.

[0012] Furthermore, satellite-supported position data can be received with the aid of a computing device or an auxiliary system, provided, for example, by a corresponding receiver for a satellite-supported positioning system. This receiver can, for example, receive position data from a Global Navigation Satellite System. In particular, a so-called Differential Global Positioning System (GNSS) is used, which can improve positioning accuracy by transmitting correction data.

[0013] Furthermore, digital map data describing the vehicle's surroundings can be received using a computing device or an auxiliary system. In particular, high-resolution map data, or high-definition maps, can be used as digital map data to determine the vehicle's current location. This high-resolution map data can be stored in the auxiliary system's memory or storage device and / or received from an external device.

[0014] Then, the vehicle's current position relative to the lane can be determined based on satellite-supported location data and digital map data. In particular, the vehicle's position can be determined precisely within the lane. This especially means determining which lane the vehicle is currently in when there are multiple lanes.

[0015] Furthermore, the system is configured to enable hands-free operation when the vehicle is automatically guided laterally with the aid of an assistance system. During this hands-free operation, the driver can continuously remove both hands from the steering wheel during automated lateral guidance. Specifically, the system monitors the driver's attention to maintain hands-free operation. For this purpose, data from a driver monitoring device or an in-vehicle camera can be considered, describing the driver's current gaze direction and / or head position. Additionally, data from the driver monitoring device can describe whether the driver's eyes are closed or open, or the degree to which the driver's eyes are open. Based on the data from the driver monitoring device, it can be checked whether the driver is focused or whether the driver's attention is directed towards traffic conditions. If this is met, hands-free operation can, in principle, be maintained.

[0016] Based on location data and digital map data, it is possible to check whether a vehicle is within a predetermined parking area. The parking area can, in particular, be a section of a lane where, according to existing technology, hands-free operation is not provided or is disabled once the vehicle is within or has passed through the parking area. In known hands-free operations, if the vehicle is within the parking area, for example, active hands-free operation is disabled or cannot be activated.

[0017] According to the present invention, a computing device is used to check whether there is a lane change segment in the lane. In the lane change segment, a temporary lane change guide is pre-defined, which guides at least partially through a stop area. Therefore, in the lane change segment, the current lane guide deviates from the normally pre-defined direction of the driving lane, and here, the changed direction of at least one driving lane can be guided at least partially through the stop area.

[0018] Such altered lane guidance or lane sections may occur, for example, at construction sites, when lanes are congested, obstructed, or partially closed. An altered lane section should currently be understood as follows: the altered lane guidance at least partially and / or at least regionally guides through a stop area. In other words, in an altered lane section, lane guidance temporarily guides through an area that would have previously corresponded to a stop area when the lane guidance was unchanged.

[0019] If the vehicle is now identified as being in at least a designated lane section of a restricted area, but hands-free operation is still possible with the help of an assistance system, this is the case, for example, in a construction site area where lane guidance passes through a side parking lane. In such traffic conditions, hands-free operation can typically be maintained or activated.

[0020] Therefore, according to the present invention, an exception to hands-free operation can be implemented in a stopped area. This exception applies particularly only when the stopped area is located in a lane-changing section. That is, if lane-changing guidance is the reason for passing through the stopped area, hands-free operation can continue to be provided by means of the assistance system. In this case, hands-free operation can be activated by the vehicle driver through corresponding operation input. Furthermore, it is configured that the activated hands-free operation remains activated when passing through a lane-changing section.

[0021] As explained at the beginning, for example in the United States, this might typically involve removing existing lane markings and applying new temporary lane markings for lane change guidance. If the lane change guidance involves a side parking lane, high-precision positioning identifies the vehicle as being in the side parking lane and disengages hands-free driving. However, in lane change sections or construction sites, the original side parking lane may have been temporarily converted to a "normal" lane during construction. Therefore, even if road conditions are optimal at the construction site, hands-free driving will be disengaged. Furthermore, the disengagement of hands-free driving is often imperceptible to the driver. According to the present invention, lane change sections are now identified and the restriction on hands-free driving in the side parking lane is temporarily lifted. Overall, this allows for more reliable driver assistance when lateral guidance is automatically implemented in lane change sections.

[0022] Preferably, the driver assistance system is configured to deactivate hands-free operation while the vehicle is passing through the stop zone if the vehicle is outside the changed lane section. Therefore, once the vehicle is within the stop zone outside the changed lane section, hands-free operation can be deactivated. That is, the restriction on hands-free operation in the stop zone is lifted only when the vehicle is also within the changed lane section. This ensures reliable operation of the driver assistance system.

[0023] Furthermore, it is advantageous that the driver assistance system is configured to identify side parking lanes as stopping areas. Such side parking lanes (also known as breakdown lanes or emergency stopping lanes) are, for example, located beside the lane and separated from the driving lane by a solid line or solid lane markings. Side parking lanes can be identified based on digital map data. Alternatively, they can be identified based on environmental data, such as camera image data. Furthermore, enclosed areas within the lane can be identified as stopping areas.

[0024] In one implementation, the assistance system is configured to identify construction sites on the lanes as lane-changing sections. These lane-changing sections typically occur within areas of construction sites on the lanes. The direction of each lane can be temporarily altered within a construction site area. Alternative lane marking colors can be used, such as yellow lane markings in Germany, to identify lane-changing directions. However, it is also possible to remove the existing lane markings and identify lane-changing directions only with new lane markings.

[0025] Furthermore, the assistance system is configured to identify construction sites based on the direction of lane markings, the color of lane markings, traffic signs, and / or information from map data. For example, environmental data or image data can be analyzed and evaluated, and lane markings in the image data can be identified. Alternating lane guidance can be identified, for example, based on the direction or changes in direction of lane markings. Lane markings identified based on environmental data can also be compared with lane markings stored in map data. Alternatively or additionally, altered lane guidance can be identified based on the color of lane markings. It is also possible to identify lane markings superimposed with different colors and derive altered lane guidance from this.

[0026] It can also be configured to identify changed lane sections or construction sites based on digital map data. This can also utilize information such as errors in the digital map data or invalid data for lane sections. In such cases, the existence of a construction site can be assumed. Furthermore, traffic information data or corresponding road signs or traffic markers can be detected to identify construction sites.

[0027] The vehicle according to the invention includes an auxiliary system according to the invention. The vehicle is particularly configured as a passenger car.

[0028] The method according to the invention assists a driver of a vehicle during lateral guidance. The method includes receiving environmental data and digital map data, wherein the environmental data and digital map data describe the vehicle's surrounding environment. Furthermore, the method includes performing automated lateral guidance of the vehicle within a lane based on the environmental data and / or map data. Additionally, the method includes providing hands-free operation during automated lateral guidance, whereby the driver can continuously remove their hands from the vehicle's steering wheel. Furthermore, the method includes receiving location data describing the vehicle's current position and checking whether the vehicle is within a predetermined stop zone based on the location data and digital map data, again pre-introducing hands-free operation during stop zone. Furthermore, the method includes checking for lane-changing segments within the lane based on the environmental data and / or map data, wherein temporary lane-changing guidance is pre-introduced within the changed lane segment, the lane guidance at least regionally guiding the stop zone, and hands-free operation is provided even when the vehicle is within the stop zone while the vehicle is traveling through the changed lane segment.

[0029] Another aspect of the invention relates to a computer program comprising instructions that, when executed by a computing device of an auxiliary system, cause the computing device to perform the method according to the invention and its advantageous configuration. Furthermore, the invention relates to a computer-readable storage medium comprising instructions that, when executed by a computing device of an auxiliary system, cause the computing device to perform the method according to the invention and its advantageous configuration.

[0030] The preferred embodiments and advantages of the auxiliary systems proposed according to the invention are correspondingly applicable to vehicles according to the invention, methods according to the invention, computer programs according to the invention, and computer-readable storage media according to the invention. Attached Figure Description

[0031] Other features of the invention are derived from the claims, drawings, and description of the drawings. The features and combinations thereof mentioned above in the specification, as well as those mentioned below in the description of the drawings and / or shown only in the drawings, can be used not only in the corresponding combinations given, but also in other combinations or individually, without departing from the scope of the invention.

[0032] The invention will now be described in more detail with reference to preferred embodiments and the accompanying drawings. Herein lies:

[0033] Figure 1 : A schematic diagram of a vehicle having an assistance system for assisting the driver when the vehicle is being guided laterally;

[0034] Figure 2 According to the rules on the road Figure 1 The lane has two driving lanes and one side parking lane; and

[0035] Figure 3 According to Figure 2 Vehicles in the lane at a later time point, wherein the lane includes a changed lane section with changed lane guidance. Detailed Implementation

[0036] Figure 1 The vehicle 1 is shown in top view; the vehicle is currently configured as a passenger car. Vehicle 1 includes an assistance system 2 configured to assist the user, or driver, of vehicle 1 during lateral guidance. Specifically, assistance system 2 is used to take over the automated lateral guidance of vehicle 1. Preferably, assistance system 2 can assist the driver during lateral guidance of vehicle 1 such that the driver can continuously remove their hands from the steering wheel.

[0037] The assistance system 2 includes a computing device 3, which may be, for example, comprised of at least one electronic controller of the vehicle 1. Furthermore, the assistance system 2 includes at least one environmental sensor 4, currently configured as a camera. This environmental sensor 4 can provide environmental data or image data describing the surrounding environment 5 of the vehicle 1. In particular, the environmental data or image data can describe the boundaries of the driving lane, especially lane markings. The environmental data can be transmitted to the computing device 3 by the environmental sensor 4 or the camera. Additionally, the assistance system 2 may also include other environmental sensors, such as radar sensors, lidar sensors, etc.

[0038] Furthermore, the auxiliary system 2 includes a receiver 7 for a satellite-supported positioning system. The receiver 7 can receive satellite-supported location data describing the position of the vehicle 1. Additionally, the auxiliary system 2 includes a storage device 8 storing high-resolution map data, or so-called high-definition maps. Furthermore, the auxiliary system 2 includes an output device 9, by which information can be output to the driver of the vehicle 1. This information can, in principle, be output in a visual, auditory, and / or tactile manner.

[0039] Furthermore, the assistance system 2 includes a driver monitoring device 6, which monitors the driver's attention. Specifically, the driver monitoring device 6 can acquire data describing the driver's current gaze direction and / or head posture. Additionally, the driver monitoring device 6 can determine the eyelid position. Based on this data, a computing device 3 can determine whether the driver is attentive.

[0040] Furthermore, the computing device 3 is configured to operate the steering system 10 of the vehicle 1, which is currently only schematically shown. Operating the steering system 10 can assist the driver of the vehicle 1 during lateral guidance. Here, operating the steering system 10 can move the steerable wheels 11 of the vehicle 1. Preferably, it is also configured that the drive motor and / or braking system of the vehicle 1 can be operated by means of the computing device 3, so as to also intervene in the longitudinal guidance of the vehicle 1.

[0041] Figure 2 The basis shown on lane 12 Figure 1 Vehicle 1. Lane 12 includes a left-hand driving lane 13, a right-hand driving lane 14, and a side parking lane 15. Currently, vehicle 1 is located in the right-hand driving lane 14. The driver of vehicle 1 is assisted during automated lateral guidance while vehicle 1 is traveling in lane 12. In particular, vehicle 1 is kept within driving lane 14 by means of the assistance system 2. Hands-free operation is also provided, allowing the driver to continuously remove both hands from the steering wheel. During hands-free operation, the driver's attention is monitored, in particular, based on data from the driver monitoring device 6.

[0042] When the vehicle is in the left-hand driving lane 13 or the right-hand driving lane 14, hands-free operation can be provided to the driver. The current position of vehicle 1 can be determined based on data from a satellite-supported positioning system and digital map data. Furthermore, lane markings 16 can be identified based on data from environmental sensors 4 or cameras. Additionally, a designated parking area 17 is pre-defined for hands-free operation functionality; in this example, this parking area is defined by the side parking lane 15. If vehicle 1 is within parking area 17, hands-free operation cannot be activated or deactivated.

[0043] Figure 3The image shows vehicle 1 in lane 12 at a later point in time. Here, vehicle 1 is located in a changed lane section 18 of lane 12. The changed lane section 18 is indicated, for example, by a construction site on lane 12. Changed lane guidance is given within the changed lane section 18, indicated by changed lane markings 16'.

[0044] Due to the changed lane guidance, vehicle 1 is now located in the area initially assigned to side parking lane 15. This area is, in principle, Figure 2 The vehicle is placed in stop zone 17, where hands-free operation is disabled. However, the auxiliary system 2 checks whether the vehicle 1 is in a lane-changing section 18. In lane-changing section 18, the lane-changing guidance at least partially passes through stop zone 17. Figure 3 In the example, the change of direction in the right-hand driving lane 14 is guided through the stop area 17. The changed lane section 18, or construction site, can be identified based on environmental data or camera image data. Alternatively, digital map data can be considered for identifying the changed lane section 18.

[0045] If it is now recognized that vehicle 1 is in the changed lane section 18 and lane guidance passes through the deactivated area 17 at least regionally within the changed lane section 18, then hands-free operation can be activated in this case.

Claims

1. An assistance system (2) for assisting a driver of a vehicle (1) during lateral guidance, wherein the assistance system (2) is configured to: - Receive environmental data and digital map data, wherein the environmental data and digital map data describe the surrounding environment (5) of the vehicle (1). - Perform automated lateral guidance of the vehicle (1) in lane (12) based on the environmental data and / or the map data. - Provides hands-free operation during the automated lateral guidance, during which the driver is able to remove his hands from the steering wheel of the vehicle (1). - Receive location data, the location data describing the current location of the vehicle (1), and - Based on the location data and the map data, check whether the vehicle (1) is in a predetermined parking area (17), in which the disengagement operation is pre-defined. Its features are, The auxiliary system is also configured to: - Based on the environmental data and / or the map data, check whether there is a changed lane segment (18) on the lane (12), wherein a temporary lane change is pre-given in the changed lane segment (18), the lane change at least regionally passing through the stop area (17), and Even if the vehicle (1) is in the deactivated area (17), the hands-free operation is still provided while the vehicle (1) is traveling through the altered lane section (18).

2. The auxiliary system (2) according to claim 1. Its features are, The auxiliary system (2) is configured to deactivate hands-free operation while the vehicle (1) is traveling through the deactivated area (17) if the vehicle (1) is outside the changed lane section (18).

3. The auxiliary system (2) according to claim 1 or 2. Its features are, The auxiliary system (2) is configured to identify the side parking lane (15) as the parking area (17).

4. The auxiliary system (2) according to any one of the preceding claims. Its features are, The auxiliary system (2) is configured to identify a construction site on the lane (12) as the altered lane section (18).

5. The auxiliary system (2) according to claim 4. Its features are, The auxiliary system (2) is configured to identify the construction site based on the direction of the lane markings (16, 16'), the color of the lane markings (16, 16'), traffic signs, and / or information in the map data.

6. A vehicle (1), particularly a passenger car, comprising an auxiliary system (2) according to any one of the preceding claims.

7. A method for assisting a driver of a vehicle (1) during lateral guidance, comprising the steps of: - Receive environmental data and digital map data, wherein the environmental data and digital map data describe the surrounding environment (5) of the vehicle (1). - Based on the environmental data and / or the map data, perform automated lateral guidance of the vehicle (1) in lane (12). - Provides hands-free operation during the automated lateral guidance, during which the driver is able to remove his hands from the steering wheel of the vehicle (1). - Receive location data, the location data describing the current location of the vehicle (1), and - Based on the location data and the map data, check whether the vehicle (1) is in a predetermined parking area (17), in which the disengagement operation is pre-defined. Its features are, - Check whether there is a changed lane segment (18) on the lane (12) based on the environmental data and / or the map data, wherein a temporary lane change is pre-given in the changed lane segment (18), the lane change passing through the decommissioned area (17) at least regionally. Even if the vehicle (1) is in the deactivated area (17), the hands-free operation is still provided while the vehicle (1) is traveling through the altered lane section (18).

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