Driving assistance system and driving assistance method for a vehicle
By identifying vehicles behind them and performing lateral positioning through the vehicle's environmental recognition and control module, the safety risks caused by vehicles blocking cyclists and motorcyclists are resolved, thus improving traffic safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BMW AG
- Filing Date
- 2024-10-09
- Publication Date
- 2026-06-02
AI Technical Summary
When traffic is congested or stopped, vehicles blocking the path of cyclists and motorcyclists can lead to safety risks and accidents, and current technology is not effective in preventing this.
By installing environmental recognition and control modules in vehicles, the system can identify vehicles behind and prompt them to laterally position themselves in their own lane, providing or blocking detour space to ensure safe detours.
It effectively prevents cyclists and motorcyclists from engaging in dangerous driving maneuvers, improving traffic safety, especially at traffic infrastructure nodes and in congested situations.
Smart Images
Figure CN122138923A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a driving assistance system for a vehicle, a vehicle having such a driving assistance system, a driving assistance method for a vehicle, and a storage medium for performing the driving assistance method. The invention particularly relates to the positioning of a vehicle based on other road users, especially cyclists and / or motorcyclists. Background Technology
[0002] In some situations, such as when traffic is stopped, congested, or at traffic lights, vehicles may block following cyclists and / or motorcyclists. This can lead to frustration among cyclists and / or motorcyclists, and despite the lack of space, may even induce them to make dangerous maneuvers through the blocked vehicles. This affects traffic safety and can potentially cause accidents. Summary of the Invention
[0003] The objective of this invention is to describe a driving assistance system for a vehicle, a vehicle having such a driving assistance system, a driving assistance method for a vehicle, and a storage medium for performing the driving assistance method, which can prevent dangerous driving maneuvers. Furthermore, the objective of this invention is to improve safety in road traffic.
[0004] This task is addressed by the subject matter of the independent claims. Advantageous design solutions are described in the dependent claims.
[0005] According to an independent aspect of the invention, a driving assistance system for a vehicle, particularly a motor vehicle, is described. The driving assistance system includes an environment recognition module designed to identify the vehicle's environment; and a control module designed to induce lateral positioning of the vehicle within its own lane. The control module is designed to induce lateral positioning of the vehicle within its own lane when the environment recognition module detects an approaching vehicle moving from behind towards the vehicle, thereby allowing the approaching vehicle to either detour around the vehicle or be blocked from passing by the vehicle, depending on the potential available space for such an approaching vehicle.
[0006] According to the invention, a vehicle is positioned laterally offset within its own lane, for example, about the center of its own lane, thereby providing sufficient clearance for oncoming vehicles to either pass around it or adjusting their travel path. This is based on whether sufficient clearance can be provided by the lateral positioning, allowing oncoming vehicles to safely pass around the vehicle. If sufficient clearance can be provided on the right side of the vehicle by lateral positioning, for example, at the left edge of the road, then the vehicle is positioned accordingly, allowing oncoming vehicles to pass around it. If insufficient clearance can be provided on the right side of the vehicle by lateral positioning, for example, at the left edge of the road, then the vehicle is positioned, for example, in the middle or to the right of its own lane, blocking the travel path for oncoming vehicles to pass around it. Therefore, dangerous maneuvers by oncoming vehicles can be prevented, thereby improving traffic safety.
[0007] The environment identification module and the control module can be implemented in a common software and / or hardware module. Alternatively, the environment identification module and the control module can be implemented in separate software and / or hardware modules.
[0008] Preferably, the external means of transportation is a bicycle, motorcycle, moped, or electric scooter.
[0009] Preferably, the external vehicle is a vulnerable road user, such as a vulnerable road user (VRU). As used within the scope of this invention, the term "vulnerable road user" generally refers to a road user facing particular risks, injury, or death in road traffic because they are not enclosed by a protective shell, such as a driver's cab. In particular, vulnerable road users include, but are not limited to, cyclists, wheelchair users, and / or e-scooter riders.
[0010] Preferably, the vehicle, and especially the driver assistance system, includes an environmental sensor system designed to detect environmental data. Preferably, the environmental sensor system includes at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasonic system. The environmental sensor system can provide environmental data (also referred to as "surrounding environment data") that depicts the vehicle's surrounding environment.
[0011] Environmental data can be used to identify external vehicles and at least perform lateral positioning of vehicles within their own lanes. In an exemplary embodiment, object recognition can be performed on the environmental data, such as semantic segmentation of camera images using a trained neural network, to at least identify external vehicles and roads or highways. Typically, objects / subjects are classified into at least one category, such as “road surface,” “own road,” “lateral road,” “roadside traffic,” “pedestrian walkway,” “wheel tracks,” “posts,” “traffic signs,” “traffic lights,” “pedestrian crossings,” “bicycle lanes,” “ground markings,” “lane markings,” “vehicles,” “bicycles,” and / or “pedestrians.”
[0012] In some implementations, in addition to environmental data, digital map data may optionally be used in combination with vehicle location, such as GPS location, to at least perform lateral positioning of the vehicle in its own lane.
[0013] As used within the scope of this invention, the term "lateral" means a direction perpendicular to the longitudinal extension of one's own lane and / or perpendicular to the direction of travel of one's own lane and / or perpendicular to the longitudinal axis of one's own vehicle.
[0014] Preferably, the control module is designed to cause the vehicle to be laterally positioned in its own lane, such that the vehicle stops, for example, laterally offset from the center of its own lane. However, the invention is not limited thereto, and the vehicle may also, for example, slide (slowly) in some embodiments, such that the vehicle is laterally offset or slides, for example, from the center of its own lane during the sliding.
[0015] The control module is designed to induce the vehicle to laterally position itself within its own lane based on potential free space. Here, the term "potential free space" refers to the possible free space to the left or right of the vehicle, which can be provided by the vehicle's lateral positioning for external vehicles to pass around to the left or right of the vehicle.
[0016] Available space may depend on various factors, which can be taken into account by the driver assistance system as appropriate. Examples of these factors include, but are not limited to, the left and right road boundaries, the width of the vehicle's own lane, the vehicle's width, the (e.g., a preset minimum) safe distance between the vehicle and other vehicles during detours, the type of other vehicles, the width of other vehicles, and the speed of other vehicles.
[0017] Preferably, the free space is defined by (e.g., approximate) width of the free or drivable area next to the vehicle, or the width of the free or drivable area is described. Here, the width can be defined in the lateral direction, particularly perpendicular to the longitudinal extension of the vehicle's own lane and / or perpendicular to the direction of travel of the vehicle's own lane and / or perpendicular to the longitudinal axis of the vehicle itself. In some embodiments, the width of the free or drivable area can correspond to the distance between the vehicle and the lane boundary (e.g., the center line) or road boundary (e.g., the curb).
[0018] Preferably, the control module is designed to enable the vehicle to laterally position itself in its own lane, such that if the potential free space is determined to be equal to or greater than a first threshold based on the vehicle's lateral positioning, then the detour of an incoming vehicle is possible.
[0019] In some implementations, the first threshold may be 1 meter or more, 1.5 meters or more, or 2 meters or more.
[0020] Preferably, the control module is designed to cause the vehicle to laterally position itself in its own lane, such that if the potential free space is determined to be equal to or less than a second threshold based on the vehicle's lateral positioning, then the detour of an incoming vehicle is blocked.
[0021] In some implementations, the second threshold may be 1 meter or less, 1.5 meters or less, or 2 meters or less.
[0022] In some implementations, the first threshold and the second threshold can be the same. In other implementations, the first threshold and the second threshold can be different.
[0023] Preferably, the control module is designed to cause the vehicle to be laterally positioned in its own lane along a first direction, thereby providing free space beside the vehicle for external vehicles to pass around it; and to cause the vehicle to be laterally positioned in its own lane along a second direction opposite to the first direction, thereby blocking external vehicles from passing around it.
[0024] The first direction can be to the left and the second direction can be to the right. Alternatively, the first direction can be to the right and the second direction can be to the left.
[0025] Preferably, the first direction for enabling detour is toward the lane boundary, such as the lane boundary of an adjacent lane, especially an oncoming lane. In some embodiments, the lane boundary may be a center line. In particular, the vehicle may be positioned substantially directly or immediately at the lane boundary. Alternatively or alternatively, the second direction for blocking detour may be toward the road edge. In particular, the vehicle may be positioned substantially directly or immediately at the road edge. In some embodiments, the road edge may include a curb or curbstone. In some embodiments, the road edge may separate the lane from pedestrian and / or bicycle paths and / or green belts.
[0026] In other embodiments, the second direction used to block detours is towards the lane boundary, such as the lane boundary of an adjacent lane, especially an oncoming lane. In some embodiments, the lane boundary may be a center line. In particular, vehicles may be positioned substantially directly or immediately at the lane boundary. Alternatively or supplementarily, the first direction enabling detours may be towards the road edge. In particular, vehicles may be positioned substantially directly or immediately at the road edge. In some embodiments, the road edge may include a curb or curbstone. In some embodiments, the road edge may separate the lane from sidewalks and / or bicycle paths and / or green belts.
[0027] Preferably, the control module is designed to induce lateral positioning of the vehicle in its own lane at a stopping point of the traffic infrastructure. In particular, the vehicle can stop at the stopping point laterally offset from the center of its own lane. However, the invention is not limited to this, and in some embodiments, the vehicle may also slowly slide to the stopping point, such that the vehicle is laterally positioned or slides about the center of its own lane during the sliding.
[0028] Preferably, the transportation infrastructure is a traffic node. As used within the scope of this invention, a "traffic node" refers to a place or area where multiple traffic paths meet, and in particular intersect. The traffic paths can be of different or the same type, and in particular can be highways.
[0029] Preferably, traffic infrastructure, particularly traffic nodes, is selected from a group consisting of intersections and highway merging points, or intersections and highway merging points. At an intersection, all traffic paths continue after meeting, while at a highway merging point, one traffic path ends. However, the invention is not limited to these examples, and other traffic infrastructure is conceivable, where stopping points exist and where vehicles ahead may obstruct following vehicles.
[0030] Preferably, the stop point at the traffic infrastructure is provided by or through a light signaling device. In some embodiments, the light signaling device may be a traffic light. The stop point may be indicated or shown, for example, by a stop line at a traffic light.
[0031] Preferably, the vehicle, and especially the driver assistance system, also includes a communication module designed to communicate with at least one external vehicle in the vehicle's environment. The control module may also be designed to manipulate the communication module to transmit queries and / or instructions to at least one external vehicle, wherein the queries and / or instructions relate to the detour of an external vehicle at the vehicle's location. In particular, the queries and / or instructions may specify that at least one external vehicle should laterally position itself in its lane to provide free space and / or additional free space, or to block (or obstruct) the path of an external vehicle. In other words, two or more vehicles may collectively enable or block the detour of an external vehicle.
[0032] Preferably, the communication module of the (self) vehicle is designed for vehicle-to-vehicle (V2V) communication. Therefore, the (self) vehicle can communicate directly with at least one external vehicle in its surrounding environment to transmit queries and / or instructions.
[0033] Preferably, the communication module of the (self) vehicle is designed for vehicle-to-X (V2X) communication. Therefore, the (self) vehicle can, for example, communicate directly with technical infrastructure or other fixed sources in its surrounding environment to transmit queries and / or instructions. The technical infrastructure or other fixed sources can then forward the queries and / or instructions to at least one external vehicle.
[0034] Preferably, the communication module of the (self) vehicle is designed to communicate via a mobile network. The mobile network could be, for example, an LTE network or a 5G network. Therefore, the (self) vehicle can communicate with at least one external vehicle and / or technical infrastructure via the mobile network to transmit queries and / or instructions.
[0035] However, the present invention is not limited to these exemplary communication paths or queries / instructions, and triggering signals may, for example, be transmitted by an external vehicle to the vehicle and / or at least one external vehicle, which queries or instructs the lateral positioning of the vehicle and / or at least one external vehicle.
[0036] Preferably, the control module is designed to induce lateral positioning of the vehicle by manipulating at least one output device for outputting at least one optical and / or acoustic driver instruction.
[0037] At least one output device may include at least one display device and / or at least one speaker. The at least one display device may include a monitor, particularly an LCD monitor, a plasma monitor, or an OLED monitor. Alternatively or supplementarily, the at least one display device may include a projection device designed to add information directly into the driver's field of vision, particularly projecting information onto the windshield. In some embodiments, the at least one display device may be a central information output device for an infotainment system, such as a head unit or a pillar-to-pillar display. Preferably, the at least one output device is fixedly mounted in the vehicle.
[0038] Preferably, the control module is designed to induce lateral positioning of the vehicle by manipulating at least one driver assistance function for autonomous driving.
[0039] According to another independent aspect of the invention, a vehicle, particularly a motor vehicle, is described. This vehicle includes a driving assistance system according to an embodiment of the invention.
[0040] The term "vehicle" includes passenger cars, trucks, transport vehicles, buses, RVs, motorcycles, etc., used for transporting people, goods, etc. This term particularly includes motor vehicles used for transporting people.
[0041] Preferably, the driver assistance system is designed for autonomous driving. In particular, the driver assistance system can be designed to enable the vehicle to move automatically, positioning the vehicle laterally offset within its own lane.
[0042] The term "autonomous driving" is understood within the scope of this document as driving with automatic longitudinal and / or lateral guidance. Automated driving can be, for example, driving for extended periods on highways or driving with limited time within a parking area. The term "autonomous driving" includes autonomous driving with any level of automation. Exemplary levels of automation are driver assistance, semi-autonomous driving, conditional autonomous driving, highly automated driving, and fully automated driving (each with an increased level of automation). The five levels of automation described above correspond to SAE Levels 1 to 5 according to the SAE J3016 (SAE - Society of Automotive Engineers) standard as of April 30, 2021.
[0043] In Driver Assistance (SAE Level 1), the system provides longitudinal or lateral guidance in specific driving situations. In Semi-Autonomous Driving (SAE Level 2), the system provides both longitudinal and lateral guidance in specific driving situations, where, as in Driver Assistance, the driver must continuously monitor the system. In Conditional Automated Driving (SAE Level 3), the system provides both longitudinal and lateral guidance in specific driving situations, and the driver does not need to continuously monitor the system; however, the driver must be able to guide the vehicle for a certain period as required by the system. In Highly Automated Driving (SAE Level 4), the system provides vehicle guidance in specific driving situations even when the driver does not respond to intervention requests, thus eliminating the need for a driver as a backup. In Fully Automated Driving (SAE Level 5), the system can perform all aspects of dynamic driving tasks under any road and environmental conditions, and is also controlled by a human driver.
[0044] Furthermore, the term "at least semi-autonomous driving or motorized" is also understood within the scope of this document to mean semi-autonomous driving, conditional autonomous driving, highly automated driving, and fully automated driving. In other words, the term "at least semi-autonomous driving or motorized" is understood to refer to the level of automation starting from SAE Level 2 (inclusive).
[0045] However, embodiments of the present invention are not limited to autonomous driving. In an alternative embodiment, when the vehicle is driven manually, the driving assistance system can output driver instructions regarding the lateral positioning of the vehicle in its own lane using at least one output device.
[0046] According to another independent aspect of the invention, a driving assistance method for a vehicle, particularly a motor vehicle, is described. The driving assistance method includes identifying an approaching vehicle moving from behind the vehicle via an environmental recognition module; and causing the vehicle to laterally position itself within its own lane via a control module, thereby allowing the approaching vehicle to either detour around the vehicle or be blocked by the vehicle, depending on the potential available space for such an approaching vehicle beside it.
[0047] Driving assistance methods can realize multiple aspects of the driving assistance systems described in this document.
[0048] According to another independent aspect of the invention, a software (SW) program is described. The software program may be designed to execute on one or more processors, and thereby perform the driving assistance methods described in this document.
[0049] According to another independent aspect of the invention, a storage medium is described. The storage medium may include a software program designed to execute on one or more processors, and thereby perform the driving assistance methods described in this document.
[0050] According to another independent aspect of the invention, software having program code is described. When the software runs on one or more software control devices, it is designed to perform the driving assistance methods described in this document.
[0051] According to another independent aspect of the invention, a driving assistance system for a vehicle is described. The driving assistance system includes one or more processors and at least one memory connected to the one or more processors and containing instructions that can be executed by the one or more processors to perform the driving assistance methods described in this document.
[0052] A processor or processor module is a programmable calculator, i.e. a machine or electronic circuit, that controls other components according to transmitted commands and thereby advances an algorithm (process). Attached Figure Description
[0053] Embodiments of the present invention are shown in the accompanying drawings and will subsequently be described in detail. Wherein:
[0054] Figure 1 A driving assistance system for a vehicle according to an embodiment of the present invention is illustrated schematically.
[0055] Figure 2A and 2B The lateral positioning of a vehicle according to an embodiment of the present invention is illustrated schematically.
[0056] Figure 3 The illustration schematically shows the lateral positioning of a vehicle according to another embodiment of the invention.
[0057] Figure 4 The illustration schematically shows the lateral positioning of a vehicle according to another embodiment of the invention.
[0058] Figure 5 The illustration schematically depicts a vehicle with a driving assistance system for autonomous driving according to an embodiment of the present invention, and
[0059] Figure 6 A flowchart of a driving assistance method according to an embodiment of the present invention is shown. Detailed Implementation
[0060] Subsequently, unless otherwise stated, the same reference numerals are used for elements that are the same and have the same function.
[0061] Figure 1 A driving assistance system 100 for a vehicle 10 according to an embodiment of the present invention is illustrated schematically. Figure 2A and Figure 2B The lateral positioning of a vehicle 10 according to an embodiment of the present invention is illustrated schematically.
[0062] The driver assistance system 100 includes an environment recognition module 110 designed to recognize the vehicle's environment; and a control module 120 designed to cause the vehicle 10 to laterally position itself in its own lane EG. The control module 120 is designed to cause the vehicle 10 to laterally position itself in its own lane EG when the environment recognition module 110 recognizes an approaching vehicle 20 moving from behind towards the vehicle 10, making it possible for the approaching vehicle 20 to detour past the vehicle 10 based on potential free space for the approaching vehicle 20. Figure 2A ) or blocked by vehicle 10 ( Figure 2B ).
[0063] The external means of transportation 20 can be a bicycle, motorcycle, moped, or electric scooter, but is not limited to these examples.
[0064] Vehicle 10 includes an environmental sensor system designed to detect environmental data. Preferably, the environmental sensor system includes at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasonic system. The environmental sensor system can provide environmental data (also referred to as “surrounding environment data”) that depicts the vehicle’s surrounding environment.
[0065] The environmental recognition module 110 analyzes environmental data from the environmental sensor system to identify the external vehicle 20 and at least perform lateral positioning of the vehicle 10 within its own lane EG. In an exemplary embodiment, object recognition can be performed on the environmental data, such as semantic segmentation of camera images using a trained neural network, to at least identify the external vehicle 20 and the road or highway.
[0066] In some implementations, in addition to environmental data from the environmental sensor system, the environmental identification module 110 may optionally use digital map data in combination with vehicle location, such as GPS location, to at least perform lateral positioning of the vehicle in its own lane.
[0067] Preferably, the control module 120 is designed to enable the vehicle 10 to be laterally positioned in its own lane EG such that the vehicle 10 is laterally offset from the center of its own lane EG.
[0068] The control module 120 is designed to induce the vehicle 10 to laterally position itself in its own lane EG based on potential free space. Here, the term "potential free space" refers to the space beside the vehicle 10 (in... Figure 2A and Figure 2B In the example, the possible free space on the right side of vehicle 10 can be provided by the lateral positioning of vehicle 10 to allow external vehicles 20 to pass around it.
[0069] Potential vacant space may depend on various factors that the driver assistance system 100 may take into account as appropriate. Examples of these factors include, but are not limited to, the left and right road boundaries, the width of the vehicle's own lane, the vehicle width, the (e.g., a preset minimum) safe distance between the vehicle 10 and the external vehicle 20 during detours, the type of the external vehicle 20, the width of the external vehicle 20, and the speed of the external vehicle 20 approaching from behind.
[0070] Preferably, the control module 120 is designed to cause the vehicle 10 to laterally position itself in its own lane EG such that if a potential free space is determined to be equal to or greater than a first threshold based on the lateral positioning of the vehicle 10, then the bypassing of the external vehicle 20 is possible. Conversely, the control module 120 may be designed to cause the vehicle 10 to laterally position itself in its own lane EG such that if a potential free space is determined to be equal to or less than a second threshold based on the lateral positioning of the vehicle 10, then the bypassing of the external vehicle 20 is blocked. In some embodiments, the first threshold and the second threshold may be the same. In other embodiments, the first threshold and the second threshold may be different.
[0071] refer to Figure 2A The control module 120 can be designed to cause the vehicle 10 to be laterally positioned in its own lane EG toward the lane boundary FSB, such as the center line, of the adjacent lane NF, thereby providing free space FR next to the vehicle 10 for an external vehicle 20 to pass around to the right of the vehicle 10. In particular, the vehicle 10 can be positioned substantially directly or immediately at the lane boundary FSB or the adjacent lane NF.
[0072] refer to Figure 2B The control module 120 can be designed to position the vehicle 10 in its own lane EG toward the road edge FBR, such as a curb, thereby blocking oncoming traffic 20 from passing by on the right side of the vehicle 10. In particular, the vehicle 10 can be positioned substantially directly or immediately on the road edge FBR.
[0073] Figure 3 The lateral positioning of a vehicle 10 according to another embodiment of the present invention is illustrated schematically.
[0074] exist Figure 3 In the example, an external vehicle 20 wants to overtake vehicle 10 between two lanes extending in opposite directions.
[0075] The control module of the driver assistance system can be designed to cause vehicle 10 to be laterally positioned on its own lane EG toward the road edge FBR, such as a curb, enabling external vehicles to pass around to the left of vehicle 10. In particular, vehicle 10 can be positioned substantially directly or immediately at the road edge FBR. Similarly, vehicle 10 can be positioned substantially directly or immediately at the lane boundary FSB or adjacent lane NF, thereby blocking external vehicles 20 from passing around to the left of vehicle 10 (not shown).
[0076] exist Figure 3 In the example, the distance to or from oncoming traffic 30 can also be taken into account when determining potential vacant space and determining the lateral positioning of vehicle 10.
[0077] In some embodiments, vehicle 10 also includes a communication module designed to communicate with oncoming traffic 30. The control module may also be designed to manipulate the communication module to transmit queries and / or instructions to oncoming traffic 30, wherein the queries and / or instructions relate to the detour of external vehicle 20 at vehicle 10. In particular, the queries and / or instructions may specify that oncoming traffic 30 should be laterally positioned in its lane to provide and / or additional free space or block the path of external vehicle 20. In other words, two or more vehicles may collectively enable or block the detour of external vehicle 20.
[0078] However, the present invention is not limited to these exemplary communication paths, and trigger signals may be sent, for example, by external vehicle 20 to vehicle 10 and / or oncoming traffic 30, which query or indicate the lateral positioning of vehicle 10 and / or oncoming traffic 30.
[0079] Figure 4 The lateral positioning of a vehicle 10 according to another embodiment of the present invention is illustrated schematically.
[0080] The control module of the driving assistance system can be designed to cause the vehicle 10 to be laterally positioned in its own lane EG at the stop point HL of the traffic infrastructure. In particular, the vehicle 10 can stop laterally offset from the center of its own lane EG at the stop point HL. However, the invention is not limited to this, and in some embodiments, the vehicle 10 can also, for example, slowly slide to the stop point HL, such that the vehicle 10 is laterally positioned or slides about the center of its own lane EG during the slide.
[0081] The stop point HL can be defined by an optical signaling device or by an optical signaling device LS. In some implementations, the optical signaling device LS can be a traffic light. The stop point HL can be given or shown, for example, by a stop line at a traffic light.
[0082] exist Figure 4 In this configuration, vehicle 10 provides vacant space on the right by lateral positioning at the lane boundary FSB, allowing oncoming vehicle 20 to pass around it. This may occur, for example, if congestion or traffic standstill is anticipated after stopping and oncoming vehicle 20 moves forward more quickly. However, depending on the circumstances, it may also be advantageous if, for example, vehicle 10 is expected to immediately overtake oncoming vehicle 20 again and cannot maintain a foreseeable safe distance, then the path for oncoming vehicle 20 on the right is blocked. Input parameters for determining whether to provide vacant space or block the path may include, for example, lane width, the width of the oncoming vehicle 20's path, additional road extension (e.g., width), and traffic flow after stopping.
[0083] Figure 5 The illustration schematically shows a vehicle 10 according to an embodiment of the present invention, which has a driving assistance system 500 for autonomous driving.
[0084] The driver assistance system 500 may include or refer to Figures 1 to 4 The driving assistance system described according to the present invention, or the driving assistance system according to the present invention, can be communicatively connected to achieve the functionality described in this document.
[0085] The driver assistance system 500 can be designed to enable the vehicle 10 to move automatically, so that the vehicle 10 is laterally offset in its own lane.
[0086] During autonomous driving, longitudinal and / or lateral guidance of vehicle 10 is performed automatically. Therefore, driver assistance system 500 undertakes vehicle guidance. To this end, driver assistance system 500 controls drive 20, transmission 22, (e.g., hydraulic) service brake 24, and steering device 26 via an intermediate unit (not shown).
[0087] To plan and execute autonomous driving, the driver assistance system 500 receives environmental information from the environmental sensor system 12 that observes the vehicle's environment. The vehicle 10 may include at least one environmental sensor designed to record environmental data describing the vehicle's environment. The at least one environmental sensor may, for example, include one or more LiDAR systems, one or more radar systems, one or more ultrasonic sensors, and / or one or more cameras.
[0088] However, embodiments of the present invention are not limited to autonomous driving. In an alternative embodiment, when the vehicle 10 is driven manually, the driving assistance system can output driver instructions regarding the lateral positioning of the vehicle 10 in its own lane using at least one output device.
[0089] At least one output device may include at least one display device and / or at least one speaker. The at least one display device may include a monitor, particularly an LCD monitor, a plasma monitor, or an OLED monitor. Alternatively or supplementarily, the at least one display device may include a projection device designed to add information directly into the driver's field of vision, particularly projecting information onto the windshield. In some embodiments, the at least one display device may be a central information output device for an infotainment system, such as a head unit or a pillar-to-pillar display. Preferably, the at least one output device is fixedly mounted in the vehicle.
[0090] Figure 6 A flowchart illustrating a driving assistance method 600 for a vehicle according to an embodiment of the present invention is shown schematically. The driving assistance method 600 can be implemented by corresponding software, which can be executed by one or more processors (e.g., CPU).
[0091] The driving assistance method 600 includes, in block 610, identifying an external vehicle moving toward the vehicle from behind via an environment recognition module; and in block 620, causing the vehicle to laterally position itself in its own lane via a control module, such that, depending on the potential free space for the external vehicle next to the vehicle, it is possible for the external vehicle to detour past the vehicle or be blocked by the vehicle.
[0092] According to the invention, a vehicle is positioned laterally offset within its own lane, for example, about the center of its own lane, thereby providing sufficient clearance for oncoming vehicles to either pass around it or adjusting their travel path. This is based on whether sufficient clearance can be provided by the lateral positioning, allowing oncoming vehicles to safely pass around the vehicle. If sufficient clearance can be provided on the right side of the vehicle by lateral positioning, for example, at the left edge of the road, then the vehicle is positioned accordingly, allowing oncoming vehicles to pass around it. If insufficient clearance can be provided on the right side of the vehicle by lateral positioning, for example, at the left edge of the road, then the vehicle is positioned, for example, in the middle or to the right of its own lane, blocking the travel path for oncoming vehicles to pass around it. Therefore, dangerous maneuvers by oncoming vehicles can be prevented, thereby improving traffic safety.
[0093] While the invention has been described and illustrated in detail through preferred embodiments, it is not intended to be limited by the disclosed examples, and those skilled in the art can derive other variations therefrom without departing from the scope of protection of the invention. Therefore, it is clear that many variations are possible. It is also clear that the exemplary embodiments mentioned are merely examples and are not to be construed in any way as limiting the scope of protection, applicability, or configuration of the invention. Rather, the foregoing description and accompanying drawings enable those skilled in the art to embodiedly implement the exemplary embodiments, wherein various changes can be made by those skilled in the art, given an understanding of the disclosed inventive concept, such as changes to the function or arrangement of the various elements mentioned in the exemplary embodiments, without departing from the scope of protection defined by the claims and their legal counterparts, such as the further exposition in the specification.
Claims
1. A driver assistance system (100) for a vehicle (10), comprising: - An environment recognition module (110), said environment recognition module being designed to recognize the vehicle environment; and - Control module (120), the control module being designed to enable the vehicle (10) to lateral position in its own lane (EG), - Wherein, when the environment recognition module (110) recognizes an external vehicle (20) moving toward the vehicle (10) from behind, the control module (120) is designed to cause the vehicle (10) to laterally position itself in the self-lane (EG) such that, depending on the potential free space for the external vehicle (20) next to the vehicle (10), it is possible for the external vehicle (20) to pass by the vehicle (10) or to be blocked by the vehicle (10).
2. The driving assistance system (100) according to claim 1, wherein, The control module (120) is designed for: - To induce the vehicle (10) to laterally position itself in the self-lane (EG) such that if the potential vacant space is determined to be equal to or greater than a first threshold based on the lateral position of the vehicle (10), then detour by the external vehicle (20) is possible; and / or - Cause the vehicle (10) to be laterally positioned in the self-lane (EG) such that if the potential free space is determined to be equal to or less than a second threshold based on the lateral positioning of the vehicle (10), then the bypassing of the external vehicle (20) is blocked.
3. The driving assistance system (100) according to claim 1 or 2, wherein, The control module (120) is designed for: - To cause the vehicle (10) to be laterally positioned in the self-lane (EG) in a first direction, such that free space (FR) is provided beside the vehicle (10) for the external vehicle (20) to pass around the vehicle (10); and - To cause the vehicle (10) to be laterally positioned in the self-lane (EG) in a second direction opposite to the first direction, thereby blocking the external vehicle (20) from passing by the vehicle (10).
4. The driving assistance system (100) according to claim 3, wherein, - The first direction is toward the lane boundary (FSB), such as the lane boundary with the adjacent lane (NF), and the second direction is toward the road edge (FBR), or - The second direction is toward the lane boundary (FSB), such as the lane boundary with the adjacent lane (NF), and the first direction is toward the road edge (FBR).
5. The driving assistance system (100) according to claim 3 or 4, wherein, The control module (120) is designed to cause the vehicle (10) to lateral position in the self-lane (EG) at the stop point (HL) of the traffic infrastructure.
6. The driving assistance system (100) according to any one of claims 1 to 5 further includes a communication module designed for communicating with at least one external vehicle (30) in the vehicle environment, wherein, The control module (120) is also designed to manipulate the communication module to transmit queries and / or instructions to the at least one external vehicle (30), wherein the queries and / or instructions relate to the external vehicle (20) detouring past the vehicle (10).
7. The driving assistance system (100) according to any one of claims 1 to 6, wherein, The control module (120) is designed to, through - Controlling at least one output device for outputting at least one optical and / or acoustic driver instruction; and / or - Control at least one driver assistance function used for autonomous driving. This causes the vehicle (10) to be laterally positioned.
8. A vehicle (10), particularly a motor vehicle, comprising a driving assistance system (100) according to any one of claims 1 to 7.
9. A driving assistance method (600) for a vehicle (100), comprising: - Identify (610) an external vehicle (20) moving from behind toward the vehicle (10) via the environmental recognition module (110); and - The control module (120) causes (620) the vehicle (10) to be laterally positioned in the self-lane (EG), so that, depending on the potential free space for the external vehicle (20) next to the vehicle (10), the external vehicle (20) can detour through the vehicle (10) or be blocked by the vehicle (10).
10. A storage medium comprising a software program designed to be executed on one or more processors and thereby perform the driving assistance method (600) according to claim 9.