Method for operating assistance system of own vehicle

Abstract

The invention relates to a method for operating an assistance system of an own vehicle (1) for the longitudinal control of the own vehicle (1) by means of a speed-dependent desired distance from a vehicle (2) running ahead. According to the invention, for a lane (13) having a branching region (5) which forms a branching point (6) and for which at least two turning lanes (3, 4) in a branch region (20) lead to the same direction of travel, the branch region (20) is divided into at least two control regions (7, 8, 9, 10) which are adjacent to each other and in which the at least two turning lanes (3, 4) lead to the same direction of travel. The longitudinal control of the own vehicle (1) is specified with different control characteristics.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for operating an assistance system for a ego vehicle, which assistance system serves for longitudinal control of the ego vehicle by means of a speed-dependent desired distance to a vehicle driving ahead. BACKGROUND

[0002] In vehicles, an increasing number of assistance systems are used for controlling the driving operation of the vehicle in order to assist the driver or to relieve the driver in specific driving situations or during specific movements of the vehicle. Such assistance systems are currently used in vehicles in various embodiments, for example as electronic stability programs, such as ESP or ESC, emergency brake assist systems, lane-keeping assist systems, overtake assist systems, turn assist systems, start assist systems, congestion assist systems and parking assist systems, or for longitudinal control of the vehicle, for example by means of a distance assist system ACC, which is able to adjust a desired distance between the ego vehicle and a vehicle driving ahead depending on the speed of the ego vehicle, which is usually referred to as the own vehicle.

[0003] For this purpose, an automatic lane-changing assistance system for a vehicle is known from DE 10 2015 203 208 A1, which has an automatic lateral guidance function of the vehicle. In the lane-changing assistance system, a lane-changing intention of the driver is indicated by means of a steering light lever which can be operated by the driver on the steering column or steering wheel, and a lane-changing maneuver from an initial lane to a parallel adjacent lane is carried out by means of at least automatic lateral guidance of the vehicle in accordance with the operation of the steering light lever. SUMMARY

[0004] The technical problem addressed by the invention is to provide a method for operating an assistance system for an ego vehicle, which achieves longitudinal control of the ego vehicle by means of a speed-dependent desired distance to a vehicle driving ahead, wherein the longitudinal control is comfortably achieved for an operator of the ego vehicle in a simple manner even when a lane change is carried out manually, i.e. a lateral guidance is carried out by the operator of the ego vehicle.

[0005] According to the invention, the technical problem is solved by a method for operating an assistance system for an ego vehicle for longitudinal control of the ego vehicle, which comprises the features mentioned in claim 1.

[0006] Advantageous extensions of the inventive method for operating an assistance system for an ego vehicle are the subject matter of the further claims.

[0007] In the method according to the application for operating an assistance system for a host vehicle in order to longitudinally control the host vehicle by means of a speed-dependent desired distance to a vehicle driving ahead, the longitudinal control of the host vehicle is carried out in a driver- operationally friendly manner even in the case of a special road traffic guide in which a branching-off region forming a branching point has a branching-off area in which at least two turning lanes turn off in the same direction of travel.

[0008] To this end, the branching-off region having at least two turning lanes which turn off in the same direction of travel is divided into at least two mutually adjoining control regions by means of the assistance system for the host vehicle. In these control regions, the longitudinal control of the host vehicle is preset by means of the assistance system for the host vehicle in different ways, i.e. in a control region within the branching-off region, different control characteristics are preset for the longitudinal control of the host vehicle.

[0009] The longitudinal control of the host vehicle is in particular preset by means of the assistance system for the host vehicle in a control range within the branching-off region, which is preferably defined by means of the assistance system for the host vehicle, in accordance with a criterion for characterizing the lane-changing possibility of the host vehicle into an adjacent lane or into an adjacent turning lane.

[0010] To this end, the manner of operation of the steering light lever of the host vehicle is preferably employed as a primary criterion for evaluating the lane-changing possibility of the host vehicle into an adjacent lane or into an adjacent turning lane. Thus, in the control range, the longitudinal control of the host vehicle is preset with different control characteristics in accordance with the manner of the steering light flashing by the driver of the host vehicle as a primary criterion for characterizing the lane-changing possibility of the host vehicle, and thus in accordance with the steering light flashing pattern of the host vehicle. That is to say, depending on whether the driver of the host vehicle carries out a comfortable flashing as a steering light flashing pattern by briefly tapping the steering light lever, or whether the driver of the host vehicle carries out a continuous flashing as a steering light flashing pattern by a jammed operation of the steering light lever, this has a corresponding influence on the control characteristics preset in terms of the longitudinal control of the host vehicle.

[0011] In addition to the flashing mode of the turning light as the primary criterion for evaluating the lane change possibility of the ego vehicle, other criteria can also be used to evaluate the lane change possibility of the ego vehicle. In particular, the approach of the ego vehicle to the road sign delimiting the turning lane can be used as an additional criterion for characterizing the lane change possibility of the ego vehicle, or the crossing of the road sign delimiting the turning lane by the ego vehicle can be used as an additional criterion for characterizing the lane change possibility of the ego vehicle, and / or the change in the steering angle of the ego vehicle in the direction of the lane sign of the turning lane can be used as an additional criterion for characterizing the lane change possibility of the ego vehicle. Additionally or alternatively, the route guidance of the navigation route of the ego vehicle can be used as an additional criterion for characterizing the lane change possibility of the ego vehicle, which can be inferred from the navigation data of the ego vehicle.

[0012] In a preferred further development of the application, the branch region of the road is preferably divided by the assistance system of the ego vehicle into an approach region extending to the branch point and a subsequent region located behind the branch point. In these control regions, the longitudinal control of the ego vehicle is preset differently by the assistance system of the ego vehicle with different control characteristics.

[0013] In another preferred further development of the application, the approach region is preferably also divided by the assistance system of the ego vehicle, in particular into a near region located directly in front of the branch point and extending to the branch point, and a far region located at a distance in front of the near region from the branch point. In these control regions, the longitudinal control of the ego vehicle is also preset differently by the assistance system of the ego vehicle with different control characteristics.

[0014] Furthermore, the end of the subsequent region and thus of the branch region is preferably determined by the assistance system of the ego vehicle depending on the intersection of the turning lane with the at least one straight-ahead lane when at least one straight-ahead lane is introduced into the at least two turning lanes.

[0015] In a first preferred embodiment of the application, the control regions defined by the assistance system of the ego vehicle and thus, in particular, also the region boundaries of the individual control regions are determined on the basis of the distance by means of the navigation data stored in the ego vehicle. That is, for the individual control regions of the branch region, fixed values are determined depending on the map material present in the ego vehicle. These fixed values for the region boundaries of the individual control regions are in particular referred to the branch point of the branch region and are determined there with respect to the branch point of the branch region.

[0016] In an alternative preferred embodiment of the first preferred embodiment of the application, the control regions defined by the ego vehicle assistance system are determined from cluster data generated by other vehicles and, in particular, the region boundaries of the individual control regions are determined. This is based on a likelihood analysis and thus on the frequency of lane changes within the branch region determined for other vehicles, from which, in turn, the individual different control regions within the branch region can then be derived, in particular. The region boundaries of the individual control regions can also be dynamically adjusted in accordance with the current actual situation, in particular.

[0017] Preferably, in the method according to the application, when a comfort blink of the turn signal of the ego vehicle is carried out in the far region of the branch region, an advance control of the ego vehicle is preset by the assistance system of the ego vehicle for a vehicle driving ahead in another turning lane within the branch region as a neighboring lane object. This is thus interpreted as a desire of the driver of the ego vehicle to carry out a lane change of the ego vehicle to a neighboring lane of the turning lane, after which a longitudinal control of the ego vehicle is carried out with reference to the vehicle driving ahead in the neighboring lane.

[0018] Furthermore, in the method according to the application, when a continuous blink of the turn signal of the ego vehicle is carried out in the far region of the branch region and at least one of the other criteria characterizing the possibility of a lane change of the ego vehicle is present, an advance control of the ego vehicle is preferably preset by the assistance system of the ego vehicle for a vehicle driving ahead in another turning lane within the branch region as a neighboring lane object.

[0019] In the method according to the application, when the steering wheel of the ego vehicle is operated by the driver of the ego vehicle independently of the turn signal blink pattern in the near region of the branch region or in a subsequent region of the branch region and at least one of the other criteria characterizing the possibility of a lane change of the ego vehicle is present, an advance control of the ego vehicle is preferably preset by the assistance system of the ego vehicle for a vehicle driving ahead in another turning lane within the branch region as a neighboring lane object.

[0020] Furthermore, the application also claims an ego vehicle assistance system designed as an ego vehicle distance assistance for a longitudinal control of the ego vehicle and an ego vehicle having such an assistance system for a longitudinal control of the ego vehicle.

[0021] By the proposed method for operating an assistance system for a longitudinal control of the ego vehicle, it is advantageously possible to carry out a longitudinal control of the ego vehicle that is operationally friendly and comfortable for the driver of the ego vehicle in a simple and intuitive manner even in the case of generally unclear traffic situations in a branch region having a branch region with at least two turning lanes leading to the same driving direction.

[0022] The application also comprises combinations of features of the described embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0023] Embodiments of the application are described below. In the drawings:

[0024] Figure 1 A traffic situation in a branching region with two turning lanes leading to the same driving direction is shown;

[0025] Figure 2 A schematic view of a branch region is shown, including the individual control regions within the branch region. DETAILED DESCRIPTION

[0026] The embodiments described below are preferred embodiments of the application. In these embodiments, the components are respectively individual, mutually independent features of the application which are discussed separately from one another, which improve the application separately from one another and which also constitute components of the application separately from one another or in a different combination from that shown. Furthermore, the embodiments can also be supplemented by further features of the application which have already been described.

[0027] Identically functioning elements in the figures are each provided with the same reference symbols.

[0028] On the basis of map material stored in the ego vehicle 1, the assistance system of the ego vehicle 1 analyzes the driving route of the ego vehicle 1 for the occurrence of a branching region 5 in which a branch region 20 is designed which has at least two turning lanes or turning traffic lanes 3, 4 leading to the same driving direction. Such an analysis for the occurrence of a branching region 5, which includes a branch region 20 with at least two turning lanes or turning traffic lanes 3, 4 leading to the same driving direction, is carried out, for example, on the driving route of the ego vehicle 1 in a range of, for example, at least 150 m to 500 m in front of the ego vehicle 1 on the driving route.

[0029] Figure 1This traffic situation is illustrated in a bifurcation zone 5 with a branch zone 20, wherein two turning lanes or turning traffic lanes 3 and 4 are provided on lane 13 in the branch zone 20 as right-turn lanes, turning right from the straight lane or straight traffic lane 19 in the same direction of travel. In the bifurcation zone 5, the two turning lanes or turning traffic lanes 3 and 4 extend side-by-side to the end of the bifurcation zone 5, where they merge into the through traffic lane or through traffic lane 12 at merging point 11, and then transition into or enter the through traffic lane or through traffic lane 12. Within the branch zone 20 with two turning lanes or turning traffic lanes 3 and 4, vehicle 1 is located in the left-hand turning lane or left-hand turning traffic lane 3. Furthermore, within the branch zone 20 with two turning lanes or turning traffic lanes 3 and 4, vehicle 2 traveling in front of vehicle 1 is located in front of vehicle 1 in the right-hand turning lane or right-hand turning traffic lane 4.

[0030] In order to provide comfortable and driver-friendly longitudinal control for the self-vehicle 1 through the auxiliary system of the self-vehicle 1 in the bifurcation area 5, especially in the branch area 20, the branch area 20 is divided into multiple control areas 7, 8, 9, and 10, in which different control characteristics are preset for longitudinal control of the self-vehicle 1 through the auxiliary system of the self-vehicle 1.

[0031] according to Figure 2 The branch area 20 is defined by two adjacent control areas 7 and 8, particularly concerning the bifurcation point 6 of the branch area 5: an approach area 7 preceding the bifurcation point 6 and a subsequent area 8 following the bifurcation point 6. The starting point or area starting point 15 of the approach area 7 is determined based on distance data from the vehicle 1, for example, at a distance of 100m to 200m ahead of the bifurcation point 6 of the branch area 5. The approach area 7 begins, in particular, from a position where the branch area 20 begins and the two turning lanes or turning driving lanes 3 and 4 turn, i.e., the area starting point 15 of the approach area 7 is located where the two turning lanes or turning driving lanes 3 and 4 separate from the straight driving lane or straight driving lane 19. The ending point or area ending point 17 of the approach area 7, and simultaneously the starting point or area starting point 17 of the subsequent area 8, is determined by the bifurcation point 6 of the branch area 5, and particularly coincides with the bifurcation point 6 of the branch area 5. The endpoint of subsequent area 8, or the endpoint 18 of subsequent area 7, is determined based on distance from navigation data in vehicle 1, for example, at a distance of 10m to 20m behind the bifurcation point 6 of bifurcation area 5. The endpoint of subsequent area 8 is specifically determined based on the intersection of the two turning lanes 3 and 4 with the through lane 12, meaning that the endpoint of subsequent area 8 is therefore located at the merging point 11 of the two turning lanes 3 and 4 with the through lane 12.

[0032] The approach region 7 is preferably additionally divided into two mutually adjoining control regions 9, 10, namely a near region 10 which is located immediately before the branch point 6 of the branch region 5 and a far region 9 which adjoins the near region 10 and is located before the near region 10 at a distance from the branch point 6 of the branch region 5. The region start 15 of the far region 9 thus corresponds to the region start 15 of the approach region 7, and the region end 17 of the near region 10 thus corresponds to the region end 17 of the approach region 7. For example, when dividing the approach region 7, on the basis of navigation data in the ego vehicle 1, the region end 16 of the far region 9, and thus at the same time the region start 16 of the near region 10, is determined on the basis of the distance to be located at a distance of 50 m before the branch point 6 of the branch region 5.

[0033] In order to determine the boundaries 15, 16, 17, 18 of the control regions 7, 8, 9, 10, or in order to make clear the distance-based definition of the boundaries 15, 16, 17, 18 of the control regions 7, 8, 9, 10, it is also possible to use cluster data acquired by other vehicles driving through the branch region 20. That is to say, it is thereby determined where vehicles generally turn into a turning lane or turning carriageway 3, 4 within the branch region 20, and whether and where these vehicles change from one turning lane 3, 4 to the other turning lane 4, 3 within the branch region 20.

[0034] Depending on the control region 7, 8, 9, 10 in which the ego vehicle 1 is driving in the branch region 20, the longitudinal control of the ego vehicle 1 is preset by an assistance system of the ego vehicle 1 in different ways, that is to say with different control characteristics. In the implementation of the longitudinal control of the ego vehicle 1 accordingly, the respective turn signal blinking pattern of the ego vehicle 1 in the branch region 20 is also taken into account here.

[0035] When driving in the far region 9 of the approach region 7, the ego vehicle 1 is still located at a greater distance in the branch region 20 before the branch point 6 of the branch region 5. When the ego vehicle 1 is performing a comfort blink of the turn signal in the far region 9 of the approach region 7, i.e. when the turn signal lever of the ego vehicle 1 is only briefly pressed once, and the turn indicator light or the turn signal of the ego vehicle 1 briefly flashes, for example in a turn signal flash pattern of three flashes, it is assumed that the driver of the ego vehicle 1 wants to perform a lane change from the own turning lane or turning traffic lane 3 to another turning lane or another turning traffic lane 4. This enables an early reaction of the longitudinal control system of the ego vehicle 1 to a vehicle 2 driving ahead in the turning lane or turning traffic lane 4 as a neighboring lane object. When the ego vehicle 1 is performing a continuous blink or a hold blink in the far region 9 of the approach region 7, i.e. when the turn signal lever of the ego vehicle 1 is engaged and held in the engaged state and the turn indicator light or the turn signal of the ego vehicle 1 flashes for as long as the turn signal lever of the ego vehicle 1 is not returned to the initial position, it is assumed that the driver of the ego vehicle 1 thereby only indicates a turning desire from the straight lane or straight traffic lane 19 to the turning lane or turning traffic lane 3. In order to enable an early reaction of the longitudinal control system of the ego vehicle 1 to a vehicle 2 driving ahead in the turning lane or turning traffic lane 4, in addition to the operation of the turn signal lever of the ego vehicle 1 to the continuous blink flash pattern, at least one further feature is required which characterizes a high lane change probability of the ego vehicle 1. As such a criterion for a high lane change probability of the ego vehicle 1, for example, the approach of the ego vehicle 1 to a lane marking 14 separating the two turning lanes or turning traffic lanes 3, 4 or the crossing of this lane marking 14 by the ego vehicle 1 or a change in the turning angle of the ego vehicle 1 towards the lane marking 14 can be considered. If at least one of these further criteria for a high lane change probability of the ego vehicle 1 is present, the longitudinal control system of the ego vehicle 1 is likewise enabled to react early to a vehicle 2 driving ahead in the turning lane or turning traffic lane 4 as a neighboring lane object.

[0036] However, if the turn indicator light or the turn signal of the ego vehicle 1 is activated before driving in the far region 9 and thus before driving in the approach region 7 and the ego vehicle 1 has already started the turn signal flash when driving into the far region 9 and thus when driving into the approach region 7, in this case too the longitudinal control system of the ego vehicle 1 is enabled to react early to a vehicle 2 driving ahead in the turning lane or turning traffic lane 4 as a neighboring lane object.

[0037] When driving in the near region 10 of the approach region 7, the ego vehicle 1 is located at a rather short distance in the branch region 20 in front of the branching point 6 of the branching region 5. When the turn signal lever of the ego vehicle 1 is operated in the near region 10 of the approach region 7, the assistance system for longitudinal control of the ego vehicle 1 reacts to a vehicle 2 driving ahead on the turning lane or turning carriageway 4 as an adjacent lane object only if at least one further feature exists which characterizes a higher lane-changing probability of the ego vehicle 1 independently of the selected turn signal mode when the turn signal lever of the ego vehicle 1 is operated. The described criteria can still be considered as such criteria of a higher lane-changing probability of the ego vehicle 1.

[0038] Similarly, when driving in the subsequent region 8, the assistance system for longitudinal control of the ego vehicle 1 reacts to a vehicle 2 driving ahead on the turning lane or turning carriageway 4 as an adjacent lane object only if at least one further feature exists which characterizes a higher lane-changing probability of the ego vehicle 1 independently of the selected turn signal mode when the turn signal lever of the ego vehicle 1 is operated. The described criteria can still be considered as such criteria of a higher lane-changing probability of the ego vehicle 1.

[0039] If the turn indicator or the turn signal of the ego vehicle 1 is activated within the branch region 20 and thus within the approach region 7 or the subsequent region 8 and remains in the activated state when leaving the subsequent region 8 and thus when leaving the branch region 20, the control characteristics preset by the assistance system of the ego vehicle 1 within the branch region 20 remain valid. That is, after leaving the subsequent region 8 and thus the branching region 5, the assistance system for longitudinal control of the ego vehicle 1 reacts to a vehicle driving ahead only if, in addition to the operation of the turn signal lever of the ego vehicle 1, at least one further feature exists which characterizes a higher lane-changing probability of the ego vehicle 1. Only when the turn indicator or the turn signal of the ego vehicle 1 is deactivated, the longitudinal control of the ego vehicle 1 according to the criteria by the assistance system of the ego vehicle 1 is again preset.

[0040] List of reference signs

[0041] 1 ego vehicle

[0042] 2 vehicle driving ahead

[0043] 3 turning lane

[0044] 4 adjacent lane

[0045] 5 branching region

[0046] 6 branching point

[0047] 7 approach region

[0048] 8 Subsequent area

[0049] 9 Far area

[0050] 10 Near area

[0051] 11 Confluence location

[0052] 12 Traffic lane

[0053] 13 Lane

[0054] 14 Lane separation

[0055] 15 Start of far area

[0056] 16 End of far area / start of near area

[0057] 17 End of near area / start of subsequent area

[0058] 18 End of subsequent area

[0059] 19 Straight-ahead lane

[0060] 20 Branch area

Claims

1. Method for operating an assistance system of a host vehicle (1), the assistance system being designed for longitudinal control (2) of the host vehicle (1) by means of a speed-dependent desired distance to a vehicle driving ahead, characterized in that for a roadway (13) having a branching-off region (5), wherein the branching-off region forms a branching point (6) and at least two turning lanes (3, 4) lead to the same driving direction in a branch region (20) for the branching-off region, the branch region (20) is divided into at least two mutually adjoining control regions (7, 8, 9, 10), in which the longitudinal control of the host vehicle (1) is preset with different control characteristics.

2. The method of claim 1, wherein, The branch region (20) of the branching-off region (5) is divided into a proximity region (7) extending in front of the branching point (6) to the branching point (6) and a subsequent region (8) located behind the branching point (6) as control regions, in which the longitudinal control of the host vehicle (1) is preset with different control characteristics.

3. The method of claim 2, wherein, The proximity region (7) is divided into a near region (10) immediately located in front of the branching point (6) extending to the branching point (6) and a far region (9) located in front of the near region (10) at a distance from the branching point (6), in which the longitudinal control of the host vehicle (1) is preset with different control characteristics.

4. The method according to claim 2 or 3, characterized in that, The region end (18) of the subsequent region (8) is determined from the intersection (11) of the at least two turning lanes (3, 4) with the at least one through lane (12) when the at least two turning lanes (3, 4) of the branch region (20) lead into the at least one through lane (12) at a region end (18) of the branch region (20).

5. The method according to one of claims 1 to 4, characterized in that, The control regions (7, 8, 9, 10) are determined on the basis of the distance by means of navigation data stored in the host vehicle (1) and / or on the basis of a plausibility analysis based on cluster data generated by other vehicles.

6. The method according to one of claims 1 to 5, characterized in that, The longitudinal control of the host vehicle (1) in the control regions (7, 8, 9, 10) is preset in accordance with criteria characterizing the possibility of a lane change of the host vehicle (1).

7. The method of claim 6, wherein, The longitudinal control of the host vehicle (1) in the control regions (7, 8, 9, 10) is preset in accordance with the manner of operation of the steering light lever of the host vehicle (1).

8. The method according to claim 6 or 7, characterized in that, The longitudinal control of the host vehicle (1) is preset for a vehicle (2) driving ahead in another turning lane (4) within the branching-off region (5) when a comfort blink of the steering light of the host vehicle (1) is carried out in the far region (9) or when a continuous blink of the steering light of the host vehicle (1) is carried out in the far region (9) and at least one other criterion characterizing the possibility of a lane change of the host vehicle (1) is present or when an operation of the steering light lever of the host vehicle (1) is carried out in the near region (10) or in the subsequent region (8) and at least one other criterion characterizing the possibility of a lane change of the host vehicle (1) is present.

9. Method for operating an assistance system according to one of claims 1 to 8, the assistance system being designed as a distance assistance device of a host vehicle (1).

10. A vehicle (1) having an assistance system operated according to the method of any one of claims 1 to 9.

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