Assistance system for assisting the driver of a vehicle when guiding the vehicle over the lateral on a road which consides building

Abstract

The invention relates to an assistance system (2) for assisting a driver of a vehicle (1) during lateral guidance of the vehicle (1) on a road (12), the assistance system (2) being configured to perform automated lateral guidance of the vehicle (1) on the road (12), identifying a dangerous area (22) of the road (12), wherein the dangerous area (22) describes an area in which a traffic participant (15) potentially endangered by the vehicle (1) is located or possibly located, which area is not separated from the vehicle by a building isolation (18) and / or which area is not separated from the vehicle (1) by a separating surface (19) having a predetermined minimum width, and continuing the automated lateral guidance if the hazardous area (22) is present and the vehicle (1) is located on a driving lane (21b to 21d) which is different from the driving lane (21a) adjoining the hazardous area (22).

Description

TECHNICAL FIELD

[0001] The invention relates to an assistance system for assisting a driver of a vehicle when laterally guiding the vehicle. Furthermore, the invention relates to a vehicle having such an assistance system. Furthermore, the invention relates to a method for assisting a driver of a vehicle when laterally guiding the vehicle. BACKGROUND

[0002] Lane guide assistance devices for vehicles are sufficiently known from the prior art. Such lane guide assistance devices, also referred to as steering and lane guide assistance devices or active lane keeping assistance devices, are used, inter alia, for keeping a vehicle within a driving lane or ego lane. Such lane guide assistance devices utilize environmental data from at least one environmental sensor of the vehicle in order to recognize the boundaries of the driving lane or the lane markings. With the aid of the lane guide assistance device an automated steering intervention can be carried out in order to keep the vehicle within the driving lane.

[0003] Furthermore, assistance systems are known from the prior art which enable hands-off operation. Current hands-off systems allow the driver to continuously remove his hands from the steering wheel during lateral guidance. To this end, the driver is here attentively observing the traffic situation and is ready to intervene at any time. The driver's attention can be monitored here, for example, by means of in-vehicle cameras. In the event of a failure in lateral guidance, the driver is assumed to intervene immediately and to be able to redirect the vehicle back into the lane in such systems.

[0004] Generally, these systems are currently limited to use on motorways. Furthermore, these systems generally only allow use when there is a building separation with an area having endangered traffic participants, for example an area of oncoming traffic. This is almost always the case in Germany, but in other countries, for example the USA, it is different: there are motorways without a building separation with oncoming traffic. Instead, there is often only a green belt separating the two directional lanes from one another. Current hands-off systems are therefore designed in the USA such that they are only available for use when there is a sufficient building separation in the form of, for example, kerb construction, for example a barrier, or the like, or when there is a sufficiently wide green belt or other face between the two lanes. For example, a distance of at least 5 m between the driving lane in which the current vehicle is located and the driving lane of oncoming traffic can be required. The background to this is that a head-on collision with a vehicle of oncoming traffic is considered to be particularly serious from a safety perspective. A head-on collision with oncoming traffic must therefore be absolutely prevented.

[0005] When there is no sufficient architectural separation from areas with other traffic participants, in particular from oncoming traffic, and at the same time there is also no sufficiently large distance between the two lanes, the current hands-off system is deactivated or not available today. In these cases, the function is deactivated regardless of which lane the own vehicle is located on. As a result, there are indeed significant long periods of time in which the hands-off function cannot be used in countries such as the USA. SUMMARY

[0006] The task of the present application is to propose a solution how the driver can be assisted more reliably in the lateral guidance of the vehicle taking into account the architectural separation.

[0007] The task is solved according to the application by an assistance system, a vehicle and a method having the features of the independent claims. Advantageous refinements of the application are given in the dependent claims.

[0008] The assistance system according to the application serves to assist the driver of a vehicle in the lateral guidance of the vehicle on a road. Here, the assistance system is configured to receive environment data and / or digital map data, wherein the environment data and / or the digital map data describe the road. Furthermore, the assistance system is configured to execute an automated lateral guidance of the vehicle on the road on the basis of the environment data and / or the map data. Furthermore, the assistance system is configured to identify, on the basis of the environment data and / or the map data, a lane in which the vehicle is currently located on the road. Furthermore, the assistance system is configured to identify, on the basis of the environment data and / or the map data, a danger zone of the road, wherein the danger zone describes an area in which a traffic participant is or can be located, which is potentially endangered by the vehicle, which is not separated from the vehicle by an architectural separation and / or which is not separated from the vehicle by a separation surface having a predetermined minimum width. Furthermore, the assistance system is configured to identify whether the lane in which the vehicle is located adjoins the danger zone. Furthermore, the assistance system is configured to continue the automated lateral guidance if the danger zone is present and the vehicle is located on a lane which is different from the lane which adjoins the danger zone.

[0009] The driver of a vehicle is to be assisted in the lateral guidance of the vehicle by means of the assistance system. In particular, functionality of a lane-keeping assistant or functionality of an automated lane guidance is to be provided by means of the assistance system. Here, the driver of the vehicle can be assisted in the steering task. In particular, the driver of the vehicle can be intervened in the steering by means of the assistance system in such a way that the vehicle is kept within the lane or the current lane.

[0010] The assistance system can have a computing device, which can be formed by at least one processor, at least one electronic controller, etc. The computing device of the assistance system can receive environmental data from at least one environmental sensor. These environmental data can describe the surroundings of the vehicle or the vehicle environment. The environmental sensor can be a camera, for example. In this case, the environmental data can be image data. In these environmental data, the corresponding lane in which the vehicle is currently located can be identified. Furthermore, on the basis of the environmental data, a lane boundary of the corresponding lane can be identified. The lane boundary can be a lane marking, in particular, for example a solid line or a dashed line or a broken line. The lane boundary can also be a building boundary, for example a wall, a barrier, etc.

[0011] Furthermore, by means of the computing device or by means of the assistance system, satellite-supported position data can be received, which are provided, for example, by means of a corresponding receiver for a satellite-supported positioning system. By means of the receiver, position data from a global navigation satellite system can be received. In particular, a so-called differential global positioning system is used, which can improve the accuracy of the positioning by transmitting correction data.

[0012] Furthermore, by means of the computing device or by means of the assistance system, digital map data describing the surroundings of the vehicle or the road are received. In particular, high-resolution map data or high-definition map data can be used as digital map data in order to be able to determine the current position of the vehicle. These high-resolution map data can be saved in a memory or storage device of the assistance system and / or received from an external device. Then, on the basis of the satellite-supported position data and the digital map data, the current position of the vehicle with respect to the lane of the lane on which the vehicle is located can be determined. In particular, the position of the vehicle can be determined lane-accurately. This means, in particular, that when there are multiple lanes on the lane, it is determined on which lane the vehicle is currently located.

[0013] By means of the assistance system or the computing device, a danger zone of the road can be identified on the basis of the environmental data and / or the map data. According to the present disclosure, a danger zone is a zone in which or in which it is possible that other traffic participants who can endanger the ego vehicle are located. In particular, when the vehicle enters the danger zone from the current lane, a dangerous traffic situation can arise. If the vehicle enters the danger zone, a danger can arise for the ego vehicle or its occupants. Therefore, in particular during automated lateral guidance of the vehicle, it should be prevented that the vehicle can enter the danger zone.

[0014] According to the disclosure, a danger zone is also defined as not being separated from the vehicle by a building separation. This building separation can be, in particular, a barrier, a wall, etc., which cannot or should not be driven over or crossed by the vehicle. The presence of such a building separation can be derived on the basis of environmental data and / or map data. According to the disclosure, a danger zone is also defined as not being separated from the vehicle by a separation surface having a minimum width. Furthermore, it can be checked on the basis of environmental data and / or map data whether there is a separation surface between the driving lane of the ego vehicle and the danger zone which has a width below a predetermined minimum width. The minimum width can be determined, in particular, in the transverse direction of the vehicle or perpendicular to the driving direction of the vehicle. The minimum width can be several meters, for example 5 m. Such a separation surface can in principle be crossed or driven over by the vehicle. The separation surface can be a traffic surface, a closed surface of a road, etc.

[0015] If it is now identified that such a building separation is present and / or a separation surface having a width greater than the minimum width is present, the automated lateral guidance can be maintained active. In this case, no danger zone is present. If, however, a danger zone is identified, it can be checked in which driving lane the vehicle is currently located. In particular, it is checked whether the vehicle is located in a driving lane which adjoins the danger zone. Here, it is not required that the adjoining driving lane directly adjoins the danger zone. There can also be another zone, for example a separation surface having a width below the minimum width, between the driving lane and the danger zone.

[0016] If a danger zone is present and the vehicle is located in a driving lane which adjoins the danger zone, the automated lateral guidance can be deactivated. If, however, the vehicle is located in a driving lane which is different from the adjoining driving lane when a danger zone is present, the automated lateral guidance of the vehicle can be continued or the automated lateral guidance of the vehicle can be maintained active. Thus, if, for example, there is at least one further driving lane between the driving lane in which the vehicle is currently located or the driving lane of the ego vehicle and the danger zone, the automated lateral guidance of the vehicle can be maintained active.

[0017] The background is that in an assistance system for lateral guidance, which can be configured in accordance with SAE level 2, it can be assumed that in the event of a failure of the lateral guidance, the driver of the vehicle immediately intervenes and guides the vehicle back into the driving lane. If there is a further driving lane between the driving lane of the ego vehicle and the danger zone, there is here in any case sufficient space for the driver to be able to guide the vehicle back into the driving lane of the ego vehicle. Overall, the driver can thus be assisted more reliably in the automated lateral guidance of the vehicle when a danger zone is present.

[0018] In one embodiment, the assistance system is configured to identify as a danger zone a lane of the road which is assigned to oncoming traffic. Thus, the danger zone can consist of at least one lane of the road which is assigned to a lane of one direction of the road for oncoming traffic. Thus, a traffic participant who can be endangered by the vehicle can be assigned to oncoming traffic. Thus, the vehicle can be located on a lane of one direction of the road, and the danger zone can consist of at least a portion of the lane of the other direction. This applies in the case where there is no architectural separation and / or no separation surface having a minimum width between the lane of the vehicle and the lane of the other direction for the lane of travel for oncoming traffic.

[0019] In another embodiment, the assistance system is configured to identify as a danger zone an area in which a non-motorized traffic participant is located or can be located. For example, there can be pedestrians in this area. Such a danger zone can consist, for example, of a bus stop or the like. The danger zone can also consist of other areas in which pedestrians or other vulnerable traffic participants are located or can be located. Such a danger zone can also consist of a bus lane, a shoulder on which vehicles are parked, or the like. It is thus possible to prevent endangering of vulnerable traffic participants.

[0020] Furthermore, it is advantageous if the assistance system is configured to identify the danger zone before reaching the danger zone and to output a lane change proposal and / or to execute an automated lane change maneuver if the vehicle is located on a lane of travel which adjoins the danger zone. In other words, it is thus possible to identify from the environmental data and / or the digital map data that the vehicle is approaching a danger zone. When the approach to the danger zone is identified, it is also possible to check whether the vehicle is located on a lane of travel which adjoins the danger zone. If the vehicle is located on a lane of travel which adjoins the danger zone, the driver can be prompted to carry out a lane change maneuver. This prompt can be issued before reaching the danger zone, so that the driver has sufficient time available to execute or request a lane change maneuver.

[0021] It is also possible to output a prompt to the driver that a lane change maneuver is required in order to maintain the automated lateral guidance. The driver can then execute the lane change maneuver himself or request an automated lane change maneuver. Preferably, it is possible to provide the driver with a proposal for an automated lane change maneuver. It can then be provided that the driver can confirm the proposal for the lane change maneuver and execute the automated lane change maneuver to a lane of travel which does not adjoin the danger zone with the aid of the assistance system. It can also be provided that the lane change maneuver is executed with the aid of the assistance system without the driver having to confirm. It is thus possible to prevent deactivation of the automated lateral guidance in the danger zone.

[0022] Furthermore, it is advantageous if the assistance system is configured for performing an automated lateral guidance during a hands-off operation of the vehicle. During the hands-off operation, the assistance system intervenes in the steering in order to keep the vehicle within the current lane of travel. Here, the driver of the vehicle is enabled to remove his hands from the steering wheel. Furthermore, it is provided, inter alia, to monitor the attention of the driver by means of a corresponding driver monitoring device or in-vehicle camera. By means of the driver monitoring device it can be checked whether the driver concentrates his attention on the road or on a traffic event. By means of the driver monitoring device it is also possible to provide line-of-sight data.

[0023] The vehicle according to the application comprises an assistance system according to the application. The vehicle is in particular configured as a passenger car.

[0024] The method according to the application serves to assist a driver of a vehicle when laterally guiding the vehicle on a road. The method comprises receiving environmental data and / or digital map data, wherein the environmental data and / or the digital map data describe the road. Furthermore, the method comprises performing an automated lateral guidance of the vehicle on the road on the basis of the environmental data and / or the map data. Furthermore, the method comprises identifying a lane of travel of the road, in which the vehicle is currently located, on the basis of the environmental data and / or the map data. Furthermore, the method comprises identifying a danger zone of the road, wherein the danger zone describes an area in which or possibly in which a traffic participant is located, who is potentially endangered by the vehicle, which is not separated from the vehicle by a construction and / or which is not separated from the vehicle by a separation surface having a predetermined minimum width. Furthermore, the method comprises identifying whether the lane of travel, in which the vehicle is located, adjoins the danger zone. Furthermore, the method comprises continuing the automated lateral guidance, if the danger zone is present and the vehicle is located on a different lane of travel than the lane of travel which adjoins the danger zone.

[0025] A further aspect of the application relates to a computer program comprising instructions which, when the program is executed by a computing device of an assistance system, cause the computing device to perform the method according to the application and advantageous configurations thereof. Furthermore, the application relates to a computer-readable storage medium comprising instructions which, when executed by a computing device of an assistance system, cause the computing device to perform the method according to the application and advantageous configurations thereof.

[0026] The preferred embodiments and advantages set forth with respect to the assistance system according to the application apply correspondingly to the vehicle according to the application, the method according to the application, the computer program according to the application and the computer-readable storage medium according to the application.

[0027] Further features of the present application are derived from the claims, the drawings and the following description. The features and feature combinations mentioned in the above summary and in the following description and / or shown in the drawings can be used not only in the specified combinations, but also in other combinations or alone without departing from the scope of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0028] The present application will now be described in more detail according to a preferred embodiment and with reference to the drawings. Herein is shown:

[0029] Figure 1 schematic view of a vehicle with an assistance system for assisting a driver when laterally guiding the vehicle; and

[0030] Figure 2 schematic view of a vehicle according to Figure 1 on a road, wherein in a first section there is a built-up separation between the two-direction carriageways, and wherein in a second section there is no built-up separation between the two-direction carriageways. DETAILED DESCRIPTION

[0031] Figure 1 The vehicle 1 is shown in a top view and is currently configured as a passenger car. The vehicle 1 comprises an assistance system 2 which is configured for assisting a user or driver of the vehicle 1 when laterally guiding the vehicle 1. In particular, the assistance system 2 is used for taking over an automated lateral guidance of the vehicle 1. Preferably, the assistance system 2 can assist the driver when laterally guiding the vehicle 1 such that the driver can continuously remove his hands from the steering wheel.

[0032] The assistance system 2 comprises a computing device 3 which can be constituted, for example, by at least one electronic controller of the vehicle 1. Furthermore, the assistance system 2 comprises at least one environmental sensor 4 which is currently configured as a camera. Via the environmental sensor 4, environmental data or image data can be provided which describe a surrounding 5 of the vehicle 1. In particular, the environmental data or image data can describe a boundary of a driving lane, in particular lane markings of the lane. The environmental data can be transmitted by the environmental sensor 4 or the camera to the computing device 3. Furthermore, it can also be provided that the assistance system 2 comprises other environmental sensors, for example radar sensors, lidar sensors, etc.

[0033] Furthermore, the assistance system 2 comprises a receiver 7 for a satellite-supported positioning system. By means of the receiver 7 satellite-supported position data can be received which describe the position of the vehicle 1. Furthermore, the assistance system 2 comprises a storage device 8 on which high-resolution map data or so-called high-definition maps are saved. Furthermore, the assistance system 2 comprises an output device 9 by means of which information can be output to the driver of the vehicle 1. The information can in principle be output in a visual, acoustic and / or haptic manner.

[0034] Furthermore, the assistance system 2 comprises a driver monitoring device 6 by means of which the attention of the driver can be monitored. In particular, by means of the driver monitoring device 6 gaze direction data can be determined which describe the current gaze direction of the driver. From the gaze direction data it can be checked by means of the assistance system 2 or the computing device 3 whether the driver is currently paying attention and his gaze direction is directed towards the lane 12.

[0035] Furthermore, the computing device 3 is configured for actuating a currently only schematically shown steering system 10 of the vehicle 1. By actuating the steering system 10 the driver of the vehicle 1 can be assisted in the lateral guidance. Here, by actuating the steering system 10 the steerable wheels 11 of the vehicle 1 can be moved. Preferably, it is also provided that by means of the computing device 3 also the drive motor and / or the brake system of the vehicle 1 can be actuated in order to also intervene in the longitudinal guidance of the vehicle 1.

[0036] Figure 2 A vehicle 1 according to Figure 1 is schematically shown on a road 12. The road 12 comprises a first direction lane 13 and a second direction lane 14. Here, the vehicle 1 is located on the first direction lane 13. On both the first direction lane 13 and the second direction lane 14 there are other road users 15. In a first section 16 of the road 12 there is a building separation 18 in the form of a green belt or a planted area between the direction lanes 13 and 14.

[0037] In a subsequent second section 17 of the road 12 there is a separation face 19 between the direction lanes 13 and 14. In contrast to the building separation 18, the separation face 19 can be driven over or through by the vehicle 1. Thus, the vehicle 1 can in principle reach the second direction lane 14 through the separation face 19 and endanger the road users 15 there. It is assumed that the width 20 of the separation face 19 is less than a predetermined minimum width. The predetermined minimum width can for example be 5 meters.

[0038] Based on the environmental data and / or the digital map data, a driving lane 21a, 21b, 21c, 21d of the road 12 or of the first directional lane 13 can be identified. Furthermore, it can be determined that the vehicle 1 is currently located on the driving lane 21a. It is currently assumed that the vehicle 1 is operated in an automated lateral guidance by means of the assistance system 2. This means that the vehicle 1 is kept on the driving lane 21a. Furthermore, a hands-off operation of the vehicle 1 is also possible, during which the driver can keep his hands permanently removed from the steering wheel during the automated lateral guidance. During the hands-off operation, the driver's attention can be monitored, for example, according to his line of sight.

[0039] In the section 16 of the road 12, a building separation 18 in the form of a green belt prevents the vehicle 1 from being able to enter into oncoming traffic or onto the second directional lane 14. In the subsequent section 17 of the road 12, there is no building separation, but only a separation surface 19. In the case of such a drivable separation surface 19, in known assistance systems for lateral guidance, the width 20 decides whether a width function, in particular a hands-off function, is available. It is assumed in the example shown that the width 20 of the separation surface 19 is less than a predetermined minimum width. In known assistance systems, the automated lateral guidance or the hands-off function would be deactivated here. This is independent of which driving lane 21a to 21d the vehicle 1 is currently located on.

[0040] It is checked by means of the assistance system 2 whether a danger zone 22 is present on the road 12. Such a danger zone 22 is defined as the absence of a building separation 18 from other traffic participants 15 on the other directional lane 14 and / or the width 20 of the separation surface 19 being less than a predetermined minimum width. In the example shown, the directional lane 14 in the section 17 constitutes one danger zone 22.

[0041] The presence of a danger zone 22 can be determined based on the environmental data and / or the digital map data. Furthermore, it is also checked whether the vehicle 1 is currently located on a driving lane which adjoins the danger zone 22. At the moment, the vehicle 1 is located on the driving lane 21a which adjoins the danger zone 22. If the vehicle 1 continues to drive on the driving lane 21a, the automated lateral guidance or the hands-off function is deactivated when the vehicle enters the section 17. However, if the vehicle 1 is located on one of the driving lanes 21b to 21d, the automated lateral guidance or the hands-off function can be kept activated, since there is sufficient distance to the oncoming traffic here.

[0042] It can also be provided that it is recognized by means of the assistance system 2 that the vehicle 1 is approaching the danger zone 22. Furthermore, it can be recognized that the vehicle 1 is located on the driving lane 21a which adjoins the danger zone 22. In this case, the driver can be prompted to require a lane change maneuver to one of the driving lanes 21b to 21d in order to maintain the automated lateral guidance or the hands-off function. It can also be provided that such an automated lane change maneuver is suggested to the driver and / or carried out by means of the assistance system 2.

Claims

1. An assistance system (2) for assisting the driver of a vehicle (1) when laterally guiding the vehicle (1) on a road (12), wherein the assistance system (2) is configured to: - Receive environmental data and / or digital map data, wherein the environmental data and / or the map data describe the road (12). - Perform automated lateral guidance of the vehicle (1) on the road (12) based on the environmental data and / or the map data. - Identify the current driving lane (21a) of the vehicle (1) on the road (12) based on the environmental data and / or the map data. - Identify a danger zone (22) of the road (12) based on the environmental data and / or the map data, wherein the danger zone (22) describes the area where or where a traffic participant (15) potentially endangered by the vehicle (1) is located, the area is not separated from the vehicle by a building barrier (18), and / or the area is not separated from the vehicle (1) by a dividing surface (19) having a predetermined minimum width. - Identify whether the driving lane (21a) where the vehicle (1) is located is adjacent to the danger zone (22), and - If the danger zone (22) exists and the vehicle (1) is located in a different lane (21b to 21d) than the lane (21a) adjacent to the danger zone (22), the automated lateral guidance continues.

2. The auxiliary system (2) according to claim 1. Its features are, The auxiliary system (2) is configured to identify lanes of the road (12) assigned to oncoming traffic as the danger zone (22).

3. The auxiliary system (2) according to claim 1 or 2. Its features are, The auxiliary system (2) is configured to identify the area where or where non-motorized traffic participants are located as the danger zone (22).

4. The auxiliary system (2) according to any one of the preceding claims. Its features are, The auxiliary system (2) is configured to identify the danger zone (22) before reaching it, and to output a lane change proposal and / or perform automated lane change maneuvers if the vehicle (1) is located in a driving lane (21a) adjacent to the danger zone (22).

5. The auxiliary system (2) according to any one of the preceding claims. Its features are, The auxiliary system (2) is configured to perform the automated lateral guidance during hands-free operation of the vehicle (1).

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) when laterally guiding the vehicle (1) on a road (12), comprising the steps of: - Receive environmental data and / or digital map data, wherein the environmental data and / or the digital map data describe the road (12). - Perform automated lateral guidance of the vehicle (1) on the road (12) based on the environmental data and / or the map data. - Identify the current driving lane (21a) of the vehicle (1) on the road (12) based on the environmental data and / or the map data. - Identify hazardous areas (22) of the road (12) based on the environmental data and / or the map data, wherein the hazardous areas (22) describe areas where or where traffic participants (15) potentially endangered by the vehicle (1) are located, are not separated from the vehicle (1) by building barriers (18), and / or are not separated from the vehicle (1) by a dividing surface (19) having a predetermined minimum width. - Identify whether the driving lane (21a) where the vehicle (1) is located is adjacent to the danger zone (22), and - If the danger zone (22) exists and the vehicle (1) is located in a different lane (21b to 21d) than the lane (21a) adjacent to the danger zone (22), the automated lateral guidance continues.

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