Method and device for operating a vehicle

Abstract

A method for operating a vehicle (305), comprising the following steps: - detecting (101) a dynamic parameter of a further vehicle (307) traveling ahead, - Detecting lane boundaries (304a, 304b) of a lane (301, 303) of the vehicle (305); calculating (103) an evaluation measure based on the detected dynamic parameter; calculating (105) a desired vehicle trajectory depending on the evaluation measure, wherein a permissible range for the desired vehicle trajectory is formed which lies within the lane boundaries (304a, 304b), and wherein the desired vehicle trajectory is calculated by maximizing a distance (323) between a longitudinal axis (319) of the vehicle (305) and a longitudinal axis (321) of the further vehicle (307); and - regulating (107) an actual vehicle trajectory to the desired vehicle trajectory, wherein the actual vehicle trajectory is regulated to the desired vehicle trajectory when a current vehicle speed is in a predetermined speed range between 0 km / h and 50 km / h and thus avoiding collisions in a convoy on motorways or multi-lane country roads is possible.

Description

[0001] The invention relates to a method and a device for operating a vehicle. The invention also relates to a computer program. State of the art

[0002] A driver assistance system and a method for its operation are known from published patent application DE 101 37 292 A1. This system records environmental data of a traffic situation. Furthermore, vehicle movement data is recorded. The recorded environmental data is then compared with the vehicle movement data. Based on the comparison, the assistance provided by a steering handle is modified.

[0003] The published patent application US 2004 / 0193374 A1 discloses a method for collision avoidance.

[0004] The published patent application DE 10 2004 056 027 A1 discloses a method for preventing collisions or reducing the collision severity of a vehicle.

[0005] The published patent application US 2011 / 0178710 A1 discloses a collision avoidance system.

[0006] The published patent application DE 10 2009 047 360 A1 discloses a method for influencing the lateral dynamics of a vehicle during an evasive maneuver.

[0007] The published patent application DE 10 2010 011 497 A1 discloses a method for avoiding or mitigating a collision.

[0008] DE 10 2007 015 879 A1 discloses a method for controlling a driver assistance system with sensors for detecting the vehicle's surroundings and a device for intervening in the vehicle's on-board systems based on sensor output signals. The vehicle's surroundings are monitored for obstacles. Upon detection of an obstacle, the vehicle's target trajectory is modified in such a way that the detected obstacle can be safely passed. Disclosure of the invention

[0009] The object underlying the invention can be seen in providing an improved method and an improved device for operating a vehicle.

[0010] The object underlying the invention can also be seen in providing a corresponding computer program.

[0011] These objects are achieved by means of the respective subject matter of the independent claims. Advantageous embodiments are the subject matter of the respective dependent subclaims.

[0012] According to one aspect, a method for operating a vehicle is provided. A dynamic parameter of a preceding vehicle is detected. Based on the detected dynamic parameter, an evaluation measure is calculated. Depending on the evaluation measure, a desired vehicle trajectory is calculated. An actual vehicle trajectory is then adjusted to the desired vehicle trajectory.

[0013] According to the invention, lane boundaries of a vehicle's lane are detected. A permissible range for the desired vehicle trajectory is formed, which lies within the lane boundaries. The desired vehicle trajectory is preferably calculated by maximizing a distance between a longitudinal axis of the vehicle and a longitudinal axis of the other vehicle. This means, in particular, that the desired vehicle trajectory lies in the vehicle's lane, while at the same time maximizing a distance between the respective longitudinal axis of the vehicle and the other vehicle. This means, in particular, that a boundary condition exists here to the effect that the vehicle may not cross the lane boundaries in order to advantageously avoid a collision with vehicles in an adjacent lane.

[0014] According to a further aspect, a device for operating a vehicle is provided. The device comprises a detection device for detecting a dynamic parameter of a preceding vehicle. Furthermore, a calculation device is provided for calculating an evaluation measure based on the detected dynamic parameter and for calculating a desired vehicle trajectory depending on the evaluation measure. Furthermore, the device comprises a control device for controlling an actual vehicle trajectory to the desired vehicle trajectory.

[0015] According to another aspect, a computer program is provided which comprises program code for carrying out the method for operating a vehicle when the computer program is executed on a computer.

[0016] The invention therefore particularly encompasses the concept of detecting a dynamic parameter of another vehicle traveling ahead of the vehicle, in particular traveling directly ahead. This advantageously allows an evaluation criterion to be calculated based on the detected dynamic parameter. This evaluation criterion is, in particular, a criterion for determining whether a critical situation currently exists. A critical situation can arise, for example, if the vehicle traveling ahead brakes sharply, so that the relative distance between the vehicle and the other vehicle decreases. A critical situation can also occur, in particular, if the other vehicle merges into the vehicle's lane.

[0017] Depending on the evaluation criterion, i.e., in particular, depending on how critical the current situation is, a desired vehicle trajectory is calculated. The current actual vehicle trajectory is then adjusted to this desired vehicle trajectory, so that the critical situation is advantageously defused by, for example, restoring a sufficient distance to the vehicle in front. In particular, a distance between a longitudinal axis of the vehicle and a longitudinal axis of the other vehicle is increased, so that, particularly in the event of a collision, a more favorable alignment of the vehicle relative to the other vehicle is preferably achieved. A longitudinal axis denotes, in particular, an axis along the longest dimension of the vehicle.

[0018] Preferably, the vehicle target trajectory is calculated and the vehicle actual trajectory is adjusted to the vehicle target trajectory if the evaluation measure exceeds or falls below a predetermined threshold value.

[0019] An actual vehicle trajectory within the meaning of the present invention refers in particular to a trajectory, i.e., a spatial curve along which the vehicle is currently moving. A desired vehicle trajectory within the meaning of the present invention refers in particular to a trajectory, i.e., a spatial curve along which the vehicle is intended to move.

[0020] Preferably, this control is implemented by intervening in a steering system. The device can therefore be referred to, for example, as a steering assistance system. In English, the term "lane keeping support" is generally used to describe such a driver assistance system.

[0021] According to one embodiment, it can be provided that several dynamic parameters of the other vehicle traveling ahead are recorded. The evaluation measure is then calculated, in particular, based on the several dynamic parameters. In this case, identical or different dynamic parameters can be recorded.

[0022] In one embodiment, it can be provided that the dynamic parameter is recorded continuously, i.e. continuously over time.

[0023] According to a further embodiment, it can be provided that the vehicle surroundings of an adjacent lane are detected relative to a current vehicle position, wherein, based on the detected vehicle surroundings, a further permissible range for the desired vehicle trajectory is formed, which encompasses the adjacent lane. This means, in particular, that depending on the vehicle surroundings of the adjacent lane, it may happen that the desired vehicle trajectory lies in this adjacent lane. This means, in particular, that in the event of a critical situation, the vehicle can swerve into the adjacent lane, provided that the actual vehicle trajectory is regulated to the desired vehicle trajectory, which may lie in the adjacent lane.This advantageously further increases the distance between the respective longitudinal axis of the vehicle and the other vehicle, thus advantageously further reducing the risk of collision. The adjacent lane can preferably be provided directly adjacent to the lane of the vehicle.

[0024] However, if the surroundings of the adjacent lane are also detected relative to the current vehicle position, in particular to the lane of the vehicle, it can be provided that a further permissible area for the desired vehicle trajectory also includes the adjacent lane. This is particularly the case if there are no other objects, in particular vehicles, in the surroundings of the adjacent lane that could collide with the vehicle in the event of a lane change. This means, in particular, that depending on the surroundings of the adjacent lane, the permissible area for the desired vehicle trajectory can be extended to include the adjacent lane.

[0025] According to another embodiment, it can be provided that a braking parameter is recorded corresponding to a requested braking power, wherein the evaluation measure is calculated based on the braking parameter. This means, in particular, that, for example, the pressure with which a driver depresses a brake pedal is recorded. The braking parameter can therefore correspond, in particular, to a braking pressure applied by the driver. As a rule, the more critical a driving situation is, the harder the driver will depress the brake pedal. This advantageously creates a further parameter which is a reliable criterion for the existence of a critical situation. Such a critical situation can therefore advantageously be detected quickly and reliably, so that appropriate measures can be taken.In this case, in particular, the calculation of a desired vehicle trajectory and the regulation of the actual vehicle trajectory to the desired vehicle trajectory in order to advantageously avoid a collision with the other vehicle or to advantageously reduce the severity of a collision with the other vehicle.

[0026] According to another embodiment, it can be provided that a further dynamic parameter of another vehicle in the vehicle environment of the vehicle is recorded, wherein the evaluation measure is calculated based on the further dynamic parameter. This means in particular that at least one other vehicle in the vehicle environment of the vehicle is monitored to see if a further dynamic parameter of the other vehicle is recorded, wherein the further dynamic parameter is used to estimate whether or not a critical situation exists. Preferably, several further dynamic parameters from several other vehicles are recorded. In this way, a driving situation can advantageously be recognized and assessed particularly precisely to determine whether it is to be considered critical and whether appropriate countermeasures need to be taken.

[0027] In a further embodiment, it can be provided that the dynamic parameter comprises a relative speed relative to the vehicle. Preferably, the dynamic parameter can comprise a collision time. A collision time refers, in particular, to a time that must elapse before a collision occurs. A relative speed can be measured, in particular, based on a Doppler measurement. Preferably, the speed of the other vehicle and the speed of the vehicle can be measured, in which case the relative speed can then be calculated, in particular, by forming a corresponding difference.

[0028] In a further embodiment, it can be provided that the relative speed is standardized. This means, in particular, that the relative speed is divided by a standardized speed, also called the standard speed. The dynamic parameter can then, for example, be equal to the measured relative speed divided by the standard speed. Such a standard speed can, in particular, represent a lower threshold for a critical classification.

[0029] In a further embodiment, the collision time can be standardized by dividing the collision time by a standard collision time. The dynamic parameter can then, in particular, be the collision time divided by the standard collision time.

[0030] According to a further embodiment, it can be provided that the evaluation measure is calculated by multiplying the dynamic parameter by a weighting factor, wherein the further dynamic parameter is preferably added to the weighted dynamic parameter, wherein in particular the correspondingly formed sum is multiplied by the braking parameter.

[0031] The corresponding mathematical formula for the evaluation measure λ can be, for example, as follows: λ=(αtargetλ1+.....λn)*brake

[0032] Here, λ1 denotes the dynamic parameter of the other vehicle immediately ahead. λ2 to λ n correspond to the dynamic parameters of other objects in the vehicle's surroundings. These additional objects can be, for example, other vehicles. a bremseis a measure of the brake pressure applied by the driver and generally corresponds to the aforementioned braking parameter according to a requested braking power. α target In particular, this refers to a weighting factor for considering the vehicle ahead, i.e., in particular, the relevant, potential collision vehicle, relative to the vehicle. The term "target" stands for "target."

[0033] The dynamic parameters λ1 to λ n can preferably be calculated as follows: λl=vrelativevnormalized

[0034] Here i = 1 ... n. v relativ is the measured differential speed or relative speed between the vehicle and the corresponding other vehicle. v normiert represents in particular a lower threshold of a critical classification, i.e. a standard speed.

[0035] In a further embodiment, alternatively or additionally, it can be optionally provided that the dynamic parameter is calculated on the basis of measured collision times: λl=TTCTTCnormalized

[0036] Here, i = 1 .... n. "TTC" is an abbreviation for "time to collision." The value TTC_normalized represents a corresponding standard collision time, i.e., a corresponding normalization factor.

[0037] According to a further embodiment, it can be provided that the actual vehicle trajectory is adjusted to the desired vehicle trajectory only when a current vehicle speed lies within a predetermined speed range. In particular, if such a predetermined speed range covers a range between 0 km / h and 50 km / h, critical situations, particularly when driving in convoys on highways or multi-lane country roads, can be advantageously covered.

[0038] From the above formulas, it can be seen that when the relevant collision object, in particular the vehicle immediately ahead, decelerates, the evaluation factor λ increases rapidly. If λ exceeds a predetermined threshold or a predetermined threshold value, a target vehicle trajectory is calculated, and the actual vehicle trajectory is then adjusted to the target vehicle trajectory.

[0039] In a further embodiment, the detection device may comprise one or more video cameras. These video cameras can preferably be arranged in a front area of ​​the vehicle. This means, in particular, that the video cameras can be installed in a front area of ​​the vehicle. Thus, the video cameras can monitor an area in front of the vehicle. Such video cameras can also be referred to as video front cameras.

[0040] According to a further embodiment, the detection device can comprise a radar sensor, which can, for example, detect an area in front of the vehicle. Preferably, additionally or alternatively, a further radar sensor can be provided, which can detect a lateral area relative to the vehicle. A lateral area here refers in particular to a lateral area relative to the vehicle. Thus, objects in the side area of ​​the vehicle can advantageously be detected.

[0041] In another embodiment, video sensors may be used to detect objects in the side area of ​​the vehicle.

[0042] According to one embodiment, it can be provided that a distance between the vehicle and the further vehicle or the further vehicles is detected, wherein it can preferably be provided that the evaluation measure is calculated based on the corresponding distance.

[0043] The invention is explained in more detail below using preferred embodiments.

[0044] Here, Fig. 1 a flowchart of a method for operating a vehicle, Fig. 2 a device for operating a vehicle and Fig. 3 two lanes with a vehicle comprising the device for operating a vehicle according to Fig. 2.

[0045] In the following, the same reference symbols may be used for the same features.

[0046] Fig. 1 shows a flowchart of a method for operating a vehicle.

[0047] According to step 101, a dynamic parameter of a further vehicle traveling ahead is detected. The dynamic parameter may, for example, be a relative speed relative to the vehicle. Preferably, the dynamic parameter may include a collision time.

[0048] In a step 103, an evaluation measure is calculated based on the detected dynamic parameter. If the evaluation measure is greater than or equal to a predefined threshold, a desired vehicle trajectory is calculated in a step 105 based on the evaluation measure. In a subsequent step 107, an actual vehicle trajectory is then adjusted to the desired vehicle trajectory in order to advantageously prevent, in particular, a collision with the vehicle ahead or to reduce the severity of a collision.

[0049] If the evaluation measure is less than or equal to the predetermined threshold value, step 103 is followed by step 101, i.e. the detection of a dynamic parameter of the other vehicle traveling ahead.

[0050] Fig. 2 shows a device 201 for operating a vehicle (not shown).

[0051] The device 201 comprises a detection device 203 for detecting a dynamic parameter of a preceding vehicle. Furthermore, a calculation device 205 is provided, which is configured to calculate an evaluation measure based on the detected dynamic parameter. The calculation device 205 is further configured to calculate a desired vehicle trajectory depending on the evaluation measure. The device 201 further comprises a control device 207 for controlling an actual vehicle trajectory to the desired vehicle trajectory.

[0052] The control device 207 is preferably connected to actuators (not shown here) of a steering system of the vehicle, so that the control device 207 is particularly designed to steer the vehicle autonomously or semi-autonomously. Preferably, the control device 207 can be connected to further actuators of a drive system of the vehicle, so that the control device can advantageously accelerate the vehicle to control the actual vehicle trajectory to the desired vehicle trajectory. In particular, it can be provided that the control device 207 is connected to other actuators of a braking system of the vehicle. Thus, the control device 207 can advantageously decelerate the vehicle for the purpose of controlling the actual vehicle trajectory to the desired vehicle trajectory.

[0053] In an embodiment not shown, it can be provided that the detection device 203 has one or more video front cameras which can sensor-detect a front area in front of the vehicle, i.e. an area which lies in front of the vehicle. Preferably, the detection device 205 can comprise radar sensors which can sensor-detect an area in front of the vehicle and / or a lateral area of ​​the vehicle. For lateral detection of a vehicle's surroundings, in particular a video sensor can be provided. In particular, a plurality of video sensors can be provided. By means of the aforementioned sensor system, i.e. in particular radar sensors and video sensors and the video front camera(s), detection of objects in the side area and in the front area of ​​the vehicle is enabled in a particularly advantageous manner.

[0054] Fig. Figure 3 shows two adjacent lanes 301 and 303 with corresponding lane boundaries 304a and 304b. This means that lane 303 is defined by two lane boundaries 304a and 304b. Lane 301, which runs directly adjacent to lane 303 on the left, is separated from it by lane boundary 304a. For the sake of clarity, another lane boundary, to separate lane 301 from other lanes not shown here, is shown in Fig. 3 not shown.

[0055] On the lane 303, a vehicle 305 comprising the device 201 according to Fig. 2. For the sake of clarity, the device 201 is Fig. 3 not shown.

[0056] Furthermore, four other vehicles 307, 309, 311 and 313 are driving on the two lanes 301 and 303. Vehicle 307 is driving directly in front of vehicle 305 on lane 303. In front of vehicle 307, vehicle 309 is also driving on lane 303. In the left lane 301, the two vehicles 311 and 313 are driving one behind the other, with vehicle 313 driving in front of vehicle 311.

[0057] A corresponding forward movement of the vehicles 307, 309, 311 and 313 is symbolically marked by an arrow with the reference number 315.

[0058] Device 201 of vehicle 305 detects dynamic parameters of vehicles 307, 309, 311, and 313. These dynamic parameters may, for example, include a respective relative speed. Preferably, the dynamic parameters include a respective collision time.

[0059] Based on the recorded dynamic parameters, λ lwith i = 1, 2, 3, 4, a rating measure is calculated. The calculation is performed, for example, according to the following mathematical formula: λ=(αtargetλ1+λ2+λ3+λ4)*brake

[0060] Here, λ stands for the evaluation measure. α target is a weighting factor to take into account the relevant, potential collision vehicle, here the immediately preceding vehicle 307, relative to the vehicle 305. a bremse is a braking parameter corresponding to a requested braking power.

[0061] λ l , where i = 1, 2, 3, 4, is preferably calculated using the following mathematical formula: λl=vrelativevnormalized

[0062] Here, v denotes relativ the corresponding difference speed between vehicle 305 and the respective vehicle 307, 309, 311 and 313. v normiertrepresents a lower threshold of a critical classification and is therefore a standard speed value or standard speed.

[0063] Alternatively or additionally optionally, it may be provided that λ l based on measured collision values. This can preferably be done using the following mathematical formula: λl=TTCTTCnormalized

[0064] Here TTC refers to normiert a collision normalization time or standard collision time and therefore also represents a lower threshold for a critical classification.

[0065] For example, if the relevant collision object, here in particular the vehicle 307 traveling directly ahead, brakes sharply, the evaluation factor λ increases rapidly. If λ exceeds a predetermined threshold, a target vehicle trajectory is calculated, with the actual vehicle trajectory then being adjusted to the target vehicle trajectory in order to advantageously avoid a collision with the vehicle 307 traveling ahead. A target position of the vehicle 305 on the target vehicle trajectory of the vehicle 305 is symbolically indicated here by reference numeral 317.

[0066] The desired vehicle trajectory is in particular selected or calculated such that a distance between a longitudinal axis 319 of the vehicle 305 and a longitudinal axis 321 of the vehicle 307 is maximized without the vehicle 305 exceeding the lane boundary 304a in order to advantageously prevent a collision with the vehicles 311 and 313 of the lane 301.

[0067] If the device 201 of the vehicle 305 detects and recognizes that there are no vehicles in the lane 301 to the side of the vehicle 305, a desired vehicle trajectory can also be arranged in the lane 301, so that the vehicle 305 can also autonomously change to the lane 301 in order to avoid a collision with the preceding vehicle 307. This means, in particular, that the vehicle 305 can also be positioned in the lane 301 to prevent a collision with the vehicle 307.

[0068] In an embodiment not shown, it can be provided that a respective distance between vehicle 305 and the other vehicles 307, 309, 311, and 313 is detected, with λ being calculated in particular as a function of the distances. This means, in particular, that the distances can also be taken into account in the above formula.

[0069] The above statements regarding Fig. 3 apply in particular analogously to more or fewer than four additional vehicles.

[0070] In summary, the invention particularly encompasses the concept of changing a desired vehicle trajectory, in this case, in particular, a lateral position and orientation in a lane, when a critical driving situation occurs. The occurrence of such a critical driving situation is defined, in particular, when the evaluation criterion exceeds a predefined or predetermined threshold. In this case, the desired vehicle trajectory is then calculated such that the vehicle moves into a safer lane area. This advantageously prevents a collision or, in the event of a collision, advantageously achieves a favorable alignment.

[0071] Furthermore, the invention particularly encompasses the idea that, by determining the evaluation criterion for the critical situation, a target lane position, i.e., the target vehicle trajectory, is selected such that the distance to the vehicles involved in the situation is maximized. This means, in particular, that a distance between the corresponding longitudinal axes can be maximized. This leads to a greater sense of safety for the driver, particularly during heavy deceleration in convoys of vehicles. The reaction of the device, i.e., a corresponding system reaction, is more closely aligned with the driver's behavior. A positive influence on the critical traffic situation can therefore be expected. This advantageously leads to greater system acceptance by the driver.

[0072] In this respect, the invention is particularly the first time in a Lane Keeping Support (LKS) system, i.e. a steering assistance system, that influences vehicle orientation in critical situations in such a way that system behavior similar to a driver reaction results. This leads to higher system acceptance by the driver. In current systems, the LKS system is deactivated when a critical situation is detected, for example an ABS control intervention or heavy braking. In the prior art, no change in system behavior occurs when other vehicles cut in in front of the vehicle; the central desired lane position is maintained. A very common situation on motorways is driving in convoys. If this convoy moves at low average speeds, the lane change rate is very high and the vehicles often decelerate significantly in the longitudinal direction as well.However, the invention enables rapid and safe reaction to such situations, as the vehicle is controlled to a safe target vehicle trajectory.

Claims

[1] A method for operating a vehicle (305), comprising the following steps: - detecting (101) a dynamic parameter of a further vehicle (307) traveling ahead, - Detecting lane boundaries (304a, 304b) of a lane (301, 303) of the vehicle (305); calculating (103) an evaluation measure based on the detected dynamic parameter; calculating (105) a desired vehicle trajectory depending on the evaluation measure, wherein a permissible range for the desired vehicle trajectory is formed which lies within the lane boundaries (304a, 304b), and wherein the desired vehicle trajectory is calculated by maximizing a distance (323) between a longitudinal axis (319) of the vehicle (305) and a longitudinal axis (321) of the further vehicle (307); and - regulating (107) an actual vehicle trajectory to the desired vehicle trajectory, wherein the actual vehicle trajectory is regulated to the desired vehicle trajectory when a current vehicle speed is in a predetermined speed range between 0 km / h and 50 km / h and thus avoiding collisions in a convoy on motorways or multi-lane country roads is possible. [2] Method according to claim 1, wherein a vehicle surroundings of an adjacent lane (301, 303) is detected relative to a current vehicle position and wherein, based on the detected vehicle surroundings, a further permissible range for the desired vehicle trajectory is formed, which range includes the adjacent lane (301, 303). [3] Method according to one of the preceding claims, wherein a braking parameter corresponding to a requested braking power is detected and the evaluation measure is calculated based on the braking parameter. [4] Method according to one of the preceding claims, wherein a further dynamic parameter of another vehicle (309, 311, 313) in the vehicle environment of the vehicle (305) is detected and the evaluation measure is calculated based on the further dynamic parameter. [5] Method according to one of the preceding claims, wherein the dynamic parameter comprises a relative speed relative to the vehicle (305) and / or a collision time and / or a distance. [6] Method according to claim 5 as far as dependent on claims 43 and 4, wherein the evaluation measure is calculated by multiplying the dynamic parameter by a weighting factor, wherein the further dynamic parameter is added to the weighted dynamic parameter and wherein the correspondingly formed sum is multiplied by the braking parameter. [7] Device (201) for operating a vehicle (305), comprising: - a detection device (203) for detecting a dynamic parameter of a preceding vehicle (307) and lane boundaries (304a, 304b) of a lane (301, 303) of the vehicle (305), - a calculation device (205) for calculating an evaluation measure based on the detected dynamic parameter and for calculating a desired vehicle trajectory depending on the evaluation measure, wherein a permissible range for the desired vehicle trajectory is formed which lies within the lane boundaries (304a, 304b) and wherein the desired vehicle trajectory is calculated by maximizing a distance (323) between a longitudinal axis (319) of the vehicle (305) and a longitudinal axis (321) of the further vehicle (307), and - a control device (207) for controlling an actual vehicle trajectory to the desired vehicle trajectory, wherein the actual vehicle trajectory is controlled to the desired vehicle trajectory when a current vehicle speed is in a predetermined speed range between 0 km / h and 50 km / h and thus evasive action in a convoy on motorways or multi-lane country roads is possible. [8] Computer program comprising program code for carrying out the method according to one of claims 1 to 6 when the computer program is executed on a computer.

Images