Method for assisting a driver of a motor vehicle

Abstract

Method for assisting a driver of a motor vehicle (1) during a planned lane change to a lane (17) adjacent to the motor vehicle (1), in which the area (21, 35) not within the driver's field of vision to the side of the motor vehicle (1) is detected, and it is determined whether an object (19; 29) is located in the area (35) detected to the side of the motor vehicle (1), characterized in that the object (19; 29) is further tracked after detection in order to track possible lane changes (25; 31) and thus determine whether the object (19; 29) is leaving the lane (17) adjacent to the motor vehicle (1) or entering the lane (17) adjacent to the motor vehicle (1), and a warning is issued to the driver if the object (19; 29) is located in the adjacent lane (17), wherein an optical sensor is used to detect the area (21, 35) not in the driver's field of vision to the side of the motor vehicle (1), wherein, for detecting whether an object (29) is driving into the lane (17) adjacent to the motor vehicle, the detected area (21, 35) comprises two lanes (17, 23) laterally next to the motor vehicle (1), In order to detect whether an object located next to the motor vehicle wants to change lanes, line detection is used for lane assignment.

Description

State of the art

[0001] The invention is based on a method for assisting a driver of a motor vehicle during a planned lane change to a lane adjacent to the motor vehicle according to the preamble of claim 1. Furthermore, the invention relates to a device for carrying out the method.

[0002] In order to increase safety when driving a motor vehicle and avoid situations that are likely to cause accidents, systems are being developed to support drivers. One focus is on monitoring the area to the side of the vehicle that cannot be seen by the driver, the so-called blind spot. If, for example, when changing lanes, for example to overtake on a motorway, there is a vehicle in the blind spot that the driver cannot see, there is a risk of a collision. The same applies not only to lane changes but also to turning maneuvers, where objects such as vehicles or even pedestrians may be located in the area next to the vehicle that cannot be seen and which are then driven over when the maneuver is carried out.

[0003] A driver assistance system that can monitor the blind spot is described, for example, in DE 10 2007 016 956 A1. To monitor the blind spot, camera sensors are mounted on the vehicle, whose monitoring area is essentially located rearward to the vehicle's direction of travel. To enlarge the area covered by the camera, an asymmetric lens is used to expand the monitoring area. A corresponding evaluation unit is used to correct the distortion caused by partial asymmetry due to the asymmetric lens.

[0004] The disadvantage of this known method, however, is that although a larger area adjacent to the vehicle can be captured by the camera, the driver receives no warning if, for example, a vehicle has moved out of the blind spot by changing lanes. The driver is also not initially warned if a vehicle from another lane enters the blind spot. If the driver of the vehicle simultaneously attempts to change lanes, a collision can only be avoided if one of the two road users spontaneously reverses and stays in their lane, or if a vehicle brakes sharply.

[0005] The document DE 101 25 426 A1 discloses a warning system for a vehicle with a first distance sensor for detecting a first area which lies at least partially within a blind spot, means for determining a direction of movement of an object relative to the vehicle and means for generating a warning message depending on the direction of movement.

[0006] The document DE 103 03 578 A1 discloses a hazard detection system for vehicles with at least one lateral and rear environmental detection system.

[0007] The document DE 10 2008 003 936 A1 discloses a device for issuing warning messages for a motor vehicle.

[0008] The document DE 10 2007 015 879 A1 discloses a method for controlling a driver assistance system with sensors for detecting the vehicle's surroundings, wherein the vehicle's surroundings are monitored for obstacles and, upon detection of an obstacle, the target trajectory of the vehicle is changed in such a way that the detected obstacle can be passed safely. Disclosure of the inventionAdvantages of the invention

[0009] In the method according to the invention for assisting a driver of a motor vehicle during a planned lane change into a lane adjacent to the motor vehicle, the area to the side of the motor vehicle that is not within the driver's field of vision is detected, and it is determined whether an object is located in the area detected to the side of the motor vehicle. After detection, the object is further tracked in order to track possible lane changes and thus determine whether the object is leaving the lane adjacent to the motor vehicle or entering the lane adjacent to the motor vehicle. A warning is issued to the driver if the object is located in the adjacent lane.

[0010] By warning the driver when the object is in the adjacent lane, the driver can adjust his driving behavior accordingly and avoid changing lanes at the same time as the driver of another vehicle, which leads to a high risk of an accident because one of the two drivers has to either brake hard or abort his driving maneuver.

[0011] Objects that are detected are those that move independently. This includes, in particular, road users such as trucks, cars, motorcycles, bicycles, and even pedestrians.

[0012] A suitable sensor is used to detect the area to the side of the vehicle that is not within the driver's field of vision. According to the invention, an optical sensor is used. Suitable optical sensors include cameras, for example, which can record the area to the side of the vehicle.

[0013] The data recorded by the transmitter is evaluated by an evaluation unit to determine whether there is an object in the area detected to the side of the vehicle.

[0014] The movement of an object, such as a motor vehicle, into the detected area to the side of the vehicle can be detected using an optical sensor, for example, by evaluating the histogram of the image captured by the optical sensor. When an object enters the detected area, the histogram of the image initially changes significantly, purely visually. Furthermore, the presence of edges increases significantly. This can also be used to detect whether an object is entering the area to the side of the vehicle.

[0015] During normal driving, i.e. when there is no object in the area detected by the optical sensor to the side of the vehicle, only the road and lane markings are in the image.

[0016] In addition to optical sensors, all commonly used distance sensors, such as ultrasonic sensors, infrared sensors, lidar sensors or radar sensors, are suitable as sensors that can be used to detect the area to the side of the vehicle.

[0017] When using optical sensors, the images captured by the optical sensor are evaluated in the evaluation unit and, using suitable image processing, it is determined whether there is an object in the detected area.

[0018] When an object is detected, the sensor continues to track it. Subsequent images capture the direction in which the object is moving.

[0019] In a preferred embodiment, the driver is notified when an object in the adjacent lane has left the lane. This provides the driver with an indication that the lane to the side of the vehicle is clear and the planned lane-change maneuver can be performed.

[0020] Particularly on multi-lane roads, it is possible for a vehicle from a distant lane to want to change into the lane adjacent to the motor vehicle. In order to also detect vehicles that want to change into the adjacent lane, the invention comprises two lanes to the side of the motor vehicle to detect whether an object is moving into the lane adjacent to the motor vehicle. In this case, it is possible to issue a warning to the driver as soon as a vehicle traveling two lanes alongside the vehicle changes into the lane directly adjacent to the vehicle. By issuing this timely warning, it is possible for the driver to remain in their lane and not have to suddenly abort an incipient lane change maneuver and return to their own lane, which could also lead to accidents.

[0021] To detect whether an object located next to the motor vehicle intends to change lanes, either leaving the lane directly adjacent to the motor vehicle or entering the lane directly adjacent to the motor vehicle, the invention uses line detection for lane assignment. Line detection can be based, for example, on road markings detected by an optical sensor.

[0022] Furthermore, it is possible to use a GPS service, for example to determine whether the road has more than two lanes, which provides support by providing map information about the section of the route travelled.

[0023] The driver can be warned if a vehicle is in the blind spot and changing lanes is therefore not advisable. This can be done visually, acoustically and / or haptically. A visual and / or acoustic warning is preferred. An acoustic warning can be sent, for example, by a warning tone. A visual warning can be implemented, for example, by a warning light illuminating in the driver's field of vision. Particularly if a lane change is planned, it is also possible, for example, to provide the visual warning signal in the area of ​​the exterior mirror. The visual warning signal can be in the form of a light, for example a red warning light. Alternatively, it is also possible to provide a symbol, for example a warning triangle, which lights up when an object is in the blind spot.

[0024] In order to avoid unnecessary warnings for the driver, it is also preferable if the driver of the motor vehicle is only warned about an object in the adjacent lane when a lane change is planned. A planned lane change can be assumed, for example, if a turn signal is activated and / or the vehicle's steering wheel is turned. Turning the steering wheel is a signal for an impending lane change, especially if the road is straight ahead. The course of the road can be recorded, for example, using GPS data. Alternatively, it is also possible to use an optical sensor in the front area of ​​the vehicle to record the course of the road. In this case, the sensor in the front area can, for example, detect whether the vehicle is approaching the edge of the current lane in order to detect a planned lane change.

[0025] In addition to changes in the histogram of the image and the appearance of edges to detect whether an object is moving into the area next to the vehicle, light points can also be used, especially at night, to indicate the headlights of other vehicles.

[0026] To carry out the method, a device is used which comprises at least one sensor for detecting the area to the side of the motor vehicle, an evaluation device for determining whether there is an object in the area detected to the side of the motor vehicle and for continuing to track the object after detection, and means for issuing a warning to the driver if there is an object in the adjacent lane.

[0027] According to the invention, the sensor for detecting the area to the side of the motor vehicle is an environment detection sensor, as is known to those skilled in the art. According to the invention, the environment detection sensor, as already described above, is an optical sensor, with the detected area of ​​the optical sensor to the side of the motor vehicle comprising two lanes.

[0028] As an evaluation device for determining whether an object is located in the area detected to the side of the motor vehicle and for continuing to track the object after detection. The evaluation device is configured to perform line detection for lane assignment in order to detect whether an object located next to the motor vehicle intends to change lanes. A control unit, such as those typically used in a driver assistance system, or an on-board computer is suitable as an evaluation device.

[0029] Means of issuing a warning to the driver include, for example, sound generators for producing an acoustic warning tone or optical warning signals, such as warning lights or symbols that light up in the driver's field of vision. Short description of the drawings

[0030] Embodiments of the invention are illustrated in the figures and are explained in more detail in the following description.

[0031] They show: Fig. 1 a schematic representation of the arrangement of optical sensors on a motor vehicle, Fig. 2 area monitored by a camera to the side of the vehicle, Fig. 3 a traffic situation in which a vehicle leaves the adjacent lane, Fig. 4 a traffic situation in which two vehicles want to change into the same lane, Fig. 5 a monitored area next to the motor vehicle in which there is no object, Fig. 6 a monitored area next to the motor vehicle into which a vehicle intends to enter. Embodiments of the invention

[0032] In Fig. Figure 1 shows a schematic representation of the arrangement of optical sensors on a motor vehicle.

[0033] To assist the driver of a motor vehicle, sensors are mounted on a motor vehicle 1 that can detect the surroundings of the motor vehicle. The sensors are used, in particular, to detect areas that cannot be seen by the driver of the motor vehicle 1. Furthermore, the sensors also provide data about areas visible to the driver for driver assistance systems, for example, lane keeping assistance systems or parking systems.

[0034] When optical sensors are used on a motor vehicle for environmental monitoring, the area in front of the vehicle 1 is typically detected with a front sensor 3. The front sensor 3 is, for example, a camera installed in the vehicle's interior mirror and facing forward. Alternatively, the camera can also be mounted, for example, in the radiator grille of the vehicle 1.

[0035] The area behind the vehicle is detected by a rear sensor 5. The rear sensor 5 can be located, for example, in the area of ​​the trunk lid or in the area of ​​the rear window of the motor vehicle 1.

[0036] In addition to the embodiment shown here with only one front sensor 3 and one rear sensor 5, it is alternatively also possible to use more than one sensor in the front and rear areas of the motor vehicle 1. Particularly when using sensor types other than optical sensors, for example ultrasonic sensors, infrared sensors, radar sensors, or lidar sensors, more than one sensor is typically used in the front and rear areas of the motor vehicle 1.

[0037] In addition to the area in front of and behind the motor vehicle 1, it is common practice to also record the area to the side of the motor vehicle 1. The recording of the area to the side of the motor vehicle 1 serves in particular to record the so-called blind spot, i.e. the area that cannot be seen by the driver of the motor vehicle 1. To record the area to the side of the motor vehicle, blind spot sensors 7.1, 7.2 are used, which can be installed, for example, in the side mirrors 9 of the motor vehicle. The blind spot sensors 7.1, 7.2 are usually arranged facing backwards in order to record the area that cannot be seen by the driver. To assist the driver when driving the motor vehicle 1, it is now possible for the image recorded by the blind spot sensors 7.1, 7.2 to be shown to the driver on an output unit, for example a monitor. Alternatively, it is also possible for the driver to be shown the image recorded by the blind spot sensors 7.1., 7.2 the image captured is not shown but the driver only receives a notification that an object has been detected.

[0038] Alternatively, or in addition to side cameras facing backwards to monitor the blind spot, it is also possible to point the cameras downwards. This is exemplified in Fig. 2 shown.

[0039] A downward-facing camera sensor 11, as shown in Fig. 2, allows the detection of the immediate surroundings next to the motor vehicle, which cannot be seen by the driver. Such an installation is particularly useful for parking systems, for example, when the lateral position of the motor vehicle 1 needs to be monitored during parking.

[0040] The area captured by the downward-facing camera sensor 11 is in Fig. 2 is designated by reference numeral 13.

[0041] Neither a downward facing camera sensor 11 as in Fig. 2 shows a blind spot sensor 7.1, 7.2 directed only to the rear, as shown in Fig. 1 is suitable for carrying out the method according to the invention, since the entire area to the side of the motor vehicle must be recorded for the method according to the invention.

[0042] In Fig. 3 shows the method according to the invention in a first embodiment in which a vehicle leaves the adjacent lane.

[0043] In the Fig. In the traffic situation illustrated in Figure 3, motor vehicle 1 is moving in a first lane 15. Another vehicle 19 is moving in the lane 17 adjacent to motor vehicle 1. The other vehicle 19 is located in the blind spot for the driver of motor vehicle 1 and is detected by a lateral sensor, the detection area 21 of which is shown hatched here. The driver of motor vehicle 1 receives an indication that a motor vehicle 19 is located in the adjacent lane 17. This information is particularly relevant if the driver of motor vehicle 1 intends to change lanes to the adjacent lane 17. In the Fig. In the situation shown in Figure 3, such a lane change would lead to an accident with the other vehicle 19.

[0044] Since a third lane 23 adjacent to the lane 17 adjacent to motor vehicle 1 is free, the other vehicle 19 intends to change into the third lane 23. This planned lane change is shown by an arrow 25. Since the vehicle 19 is in the blind spot for the driver of motor vehicle 1, the driver of motor vehicle 1 cannot detect that the adjacent lane 17 has become free due to the lane change of vehicle 19 and thus a safe lane change to the lane adjacent to motor vehicle 1 is possible. With the method according to the invention, the movement of the vehicle 19 is further tracked and the driver of motor vehicle 1 receives an indication that the lane 17 adjacent to motor vehicle 1 has become free due to a lane change of vehicle 19 and thus a safe lane change for the driver of motor vehicle 1 to the lane 17 adjacent to motor vehicle 1 is possible.

[0045] The Fig. The situation illustrated in Figure 3 arises particularly during an overtaking maneuver by motor vehicle 1. In this case, the overtaken vehicle 19 suddenly disappears from the field of vision of the driver of motor vehicle 1, and the driver cannot see whether the adjacent lane 17 is clear and thus a safe lane change is possible. The method according to the invention and the associated tracking of motor vehicle 19 by the lateral sensor of motor vehicle 1 make it possible to inform the driver of motor vehicle 1 that the adjacent lane 17 is now clear and thus a lane change is possible.

[0046] Another traffic situation in which the driver of the motor vehicle 1 can be supported by the method according to the invention is shown in Fig. 4 shown.

[0047] At the Fig. In the situation illustrated in Figure 4, the driver of motor vehicle 1, for example, after completing an overtaking maneuver, wishes to change to lane 17 adjacent to the motor vehicle. The planned lane change is indicated by an arrow 27. At the same location, a second vehicle 29 now wishes to change from the third lane 23 to the lane 17 adjacent to motor vehicle 1, which is indicated by an arrow 31.

[0048] The detection range 21 of the side sensor of motor vehicle 1 is so large that it can detect both the adjacent lane 17 and the third lane 23. The vehicle 29 traveling in the third lane 23 is detected in the detection range 21 of the side sensor. Since it is located in the detection range 21 of the sensor, the movement of the second vehicle 29 is tracked. By tracking the second vehicle 29, the lane change 31 performed by it is detected, and the driver of motor vehicle 1 can thus be warned in time so that they are not forced to abruptly abort their already initiated lane change 27 or to brake to avoid a collision with the second vehicle 29.

[0049] To determine whether a vehicle adjacent to motor vehicle 1 and detected by the side sensor is changing lanes, lane markings 33, for example, can be used. A lane change always occurs when a vehicle 19, 29 crosses a lane marking 33. The lane marking 33 serves, in particular, to clearly identify the individual lanes 15, 17, 23.

[0050] In a preferred embodiment of the invention, additional map information about the route section, for example, from a GPS service, is used. It is particularly helpful if the map information contains information about the number of lanes on the road. In this case, for example, depending on the number of existing lanes, it is possible to check how many lanes adjacent to the vehicle need to be monitored. This allows, for example, on a two-lane road, only the lane 17 directly adjacent to motor vehicle 1 to be monitored, thus saving computing power, storage space, and computing time due to the smaller monitoring area.

[0051] In Fig. 5 shows the monitored area next to the motor vehicle.

[0052] If there is no object in the lane 17 adjacent to the motor vehicle 1, only the road and lane markings 33 are recorded by the side sensor of the motor vehicle 1.

[0053] If a vehicle 29 enters the monitored area 35, as shown in Fig. 6, the histogram of the image recorded by the side sensor of the motor vehicle 1 changes. As the second vehicle 29 enters the monitored area 35, the presence of edges also increases significantly. These changes can initially be used to determine whether an object has moved into the monitoring area of ​​the side sensor, which is preferably designed as an optical sensor. Only once such a change has been detected is it necessary to use further evaluation algorithms to first determine whether the object is located next to the vehicle in the blind spot or is moving into it, and to continue tracking the object in order to determine its movement so that the driver of the motor vehicle 1 can be given appropriate instructions and warnings so that they can avoid driving maneuvers that could lead to an accident.

[0054] In addition to evaluating the histogram of the image and the evaluation of the edges, light points detected by the optical sensor, which indicate headlights, can also be used for evaluation, especially at night.

[0055] If the vehicle, as in Fig. 3, which has left the lane adjacent to motor vehicle 1 and thus a safe lane change is possible, this can be indicated to the driver by means of a suitable signal. A visual signal, such as the flashing of a green light, is suitable for this purpose. Alternatively, it is also possible to provide an indication that the lane is now clear, for example, on a monitor in the driver's field of vision or on the exterior or interior mirror, which the driver usually checks when changing lanes.

[0056] Accordingly, if a situation occurs such as that described in the Fig. 4 or 6, that changing lanes is not possible without danger because a vehicle has moved from a third lane 23 into lane 17 adjacent to motor vehicle 1. Such a warning can be given, for example, visually and / or acoustically, with a warning tone being emitted as an acoustic warning. A warning light, for example a red light in the exterior or interior mirror of the motor vehicle or in another position clearly visible to the driver, is suitable as a visual warning. As an alternative to a red warning light, it is also possible to display a warning triangle, for example.

[0057] Both in Fig. 3, as well as in the embodiment shown in the Fig. 4 and Fig.In the embodiment shown in Figure 6, it is also possible to show the driver the traffic situation, for example from a bird's eye view, on a screen of an on-board computer or a navigation device.

Claims

[1] Method for assisting a driver of a motor vehicle (1) during a planned lane change to a lane (17) adjacent to the motor vehicle (1), in which the area (21, 35) not in the driver's field of vision to the side of the motor vehicle (1) is detected and it is determined whether an object (19; 29) is located in the area (35) detected to the side of the motor vehicle (1), characterized by that the object (19; 29) is tracked further after detection in order to track possible lane changes (25; 31) and thus determine whether the object (19; 29) leaves the lane (17) adjacent to the motor vehicle (1) or moves into the lane (17) adjacent to the motor vehicle (1), and a warning is issued to the driver if the object (19; 29) is in the adjacent lane (17), wherein an optical sensor is used to detect the area (21, 35) not in the driver's field of vision to the side of the motor vehicle (1), wherein, for detecting whether an object (29) is driving into the lane (17) adjacent to the motor vehicle, the detected area (21, 35) comprises two lanes (17, 23) laterally next to the motor vehicle (1), In order to detect whether an object located next to the motor vehicle wants to change lanes, line detection is used for lane assignment. [2] Method according to claim 1, characterized by that the driver is informed when an object (19) located in the adjacent lane (17) has left the lane. [3] Method according to one of claims 1 or 2, characterized by that the driver of the motor vehicle (1) is warned visually and / or acoustically. [4] Method according to one of claims 1 to 3, characterized by that the driver of the motor vehicle (1) is only warned about an object (19; 29) in the adjacent lane (17) if a lane change is planned. [5] Method according to claim 4, characterized bythat if the direction indicator is activated and / or the steering wheel is turned, it is assumed that a lane change is planned. [6] Method according to one of claims 1 to 5, characterized by in that, in order to determine whether an object (19; 29) is located in the area (21, 35) detected to the side of the motor vehicle (1), it is evaluated whether edges or headlights are detected. [7] Device for carrying out the method according to one of claims 1 to 6, comprising at least one sensor for detecting the area (21, 35) to the side of the motor vehicle (1), an evaluation device for determining whether an object (19; 29) is located in the area (21, 35) detected to the side of the motor vehicle (1) and for continuing to track the object (19; 29) after detection, and means for issuing a warning to the driver if an object is located in the adjacent lane (17), wherein the sensor for detecting the area to the side of the motor vehicle is an optical sensor, wherein the detected area (21, 35) to the side of the motor vehicle (1) comprises two lanes (17, 23), and the evaluation device is designed to carry out line detection for lane assignment in order to detect whether an object located next to the motor vehicle intends to change lanes.

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