Procedure for a vehicle assistance system

Abstract

A method for operating an assistance system of a vehicle (12), wherein a control unit (11) of the vehicle (12) detects objects based on sensor signals from at least one sensor (14), wherein distances to detected objects are determined by the control unit (11) and / or a distinction is made between different types of detected objects by the control unit (11), characterized in that an estimate of a distance (D2g) of the vehicle (12) to a second lane boundary (Fb2) is made by calculating a difference between an assumed lane width (BSpur) and a vehicle width (BFzg) of the vehicle (12) and a determined distance (D1) of the vehicle (12) to a first lane boundary (Fb1), wherein depending on a left distance (DI) measured by the at least one sensor (14) and / or a right distance (Dr) measured by the at least one sensor (14) and / or the type of detected objects and / or by means of at least one further sensor, a lane used by the vehicle (12) is determined and a value of the assumed lane width (BSpurge) is adjusted depending on the determined lane, characterized in that the adjustment of the assumed lane width (BSpur) is carried out in such a way that the adjusted lane width (BSpur, new) is formed from a sum of essentially 0.8 times the originally assumed lane width (BSpur) and essentially 0.2 times the sum of the measured left distance (DI), the measured right distance (Dr) and the vehicle width (BFzg).

Description

[0001] The invention is based on a method for an assistance system of a vehicle, wherein a lateral area of ​​the vehicle is monitored for objects and the driver is warned of a possible collision of the vehicle with an object. State of the art

[0002] Various driver assistance systems are known for detecting objects in the vehicle's surroundings and presenting them to the driver visually and / or acoustically. Such systems use, for example, ultrasonic sensors to detect objects in the surroundings.

[0003] DE 101 61 567 A1 describes a system for assisting the driver of a motor vehicle when driving through tunnels or narrow sections of road. This system warns the driver if they steer their vehicle too close to the lane markings. This system uses the sensors of a parking assistant. These can detect lateral obstacles such as concrete walls or vehicles driving over them and warn the driver accordingly in the event of an impending collision. However, the system also includes a camera that measures the lane and activates the warning system if a narrowed lane width is detected.

[0004] DE 195 07 957 C1 describes a system for scanning the roadway to detect lane markings. This involves infrared LEDs, which can be installed, for example, in the vehicle's side mirrors. These LEDs and suitable sensors can detect both lane markings and fixed obstacles, such as a curb. If the vehicle threatens to leave the lane, the driver is warned accordingly. The system adjusts the warning time according to the lane markings. If the vehicle merely crosses a lane marking, the driver is warned later than if the vehicle is about to collide with the curb.

[0005] WO 2008 / 107944 A1 discloses lane departure protection. Based on a road image captured by the vehicle, the boundaries of the lane in which a vehicle is traveling are detected, and the distances between the vehicle and the boundaries are calculated.

[0006] The document US 2008 / 0 189 012 A1 discloses a system for steering a vehicle.

[0007] The document DE 10 2008 018 512 A1 discloses a method for the preventive protection of vehicle occupants in dangerous situations, as well as a driver assistance system to support the driver in special driving situations.

[0008] The document DE 10 2005 062 151 A1 discloses an experienced and device for assisting a vehicle driver when passing through narrow sections of the road.

[0009] State-of-the-art "construction site assistants" have been developed that independently detect the construction site situation and the distances to the side barriers. Typically, either additional video sensors and / or radar sensors are used for this purpose. Disclosure of the inventionAdvantages of the invention

[0010] The inventive procedure with the characterizing features of the independent claims has the advantage that, in order to warn a driver of a possible collision with objects in narrow spaces, for example, with a construction site guardrail, the lane width is estimated using distance sensors already present in the vehicle. For example, the distance between the vehicle and the first lane boundary is determined by sensors.

[0011] Based on an assumed lane width, the control unit estimates an approximate distance between the vehicle and the second lane boundary. The estimated distance to the second lane boundary is advantageously calculated from the difference between the assumed lane width, the vehicle's width, and the measured distance of the vehicle from the first lane boundary.

[0012] Based on the distances between the vehicle and the measured first lane boundary or the distance between the estimated second lane boundary and the vehicle, the driver is warned of potentially critical driving situations.

[0013] Further advantageous embodiments of the present invention are the subject of the subclaims.

[0014] On highways near construction sites, lane widths of over 275 centimeters are narrowed to approximately 200 centimeters in the left lane and approximately 250 centimeters in the right lane. Drivers of vehicles in the left lane must therefore pay particular attention to lane markings, as there is a potential risk of collision with the lane markings on one side of the vehicle, and a potential collision with other vehicles, for example, on the other side.

[0015] The assumed lane width is adjusted depending on the dimensions of a lane used by the vehicle. This allows the distance from the vehicle to the second lane boundary to be estimated much more accurately, which advantageously reduces a number of false warnings, such as early warnings, late warnings, and / or unnecessary warnings. The vehicle's lane can be determined by sensors such as ultrasonic, radar, and / or light-sensitive sensors.

[0016] The assumed lane width is adjusted directly by taking into account the currently measured distance of the vehicle from the first lane boundary. Advantageously, the adjustment can also be delayed in time, for example, by three seconds, by using an average of the last measurement points. For example, an average is calculated over the last ten measurement points. By taking into account an originally assumed lane width in combination with the currently assumed lane width, short deviations, such as bulges in the first lane boundary, can be advantageously compensated mathematically, thereby reducing false warnings.

[0017] In order to reduce the number of false warnings to the vehicle driver, an adjustment of the assumed lane width is advantageously only carried out when the vehicle's steering wheel angle is less than or equal to 45°, since with small steering angles an approximately continuous course of the lane markings can be assumed, for example without major deviations in the lane width. Furthermore, an adjustment is only carried out when objects are detected on both long sides of the vehicle at approximately the same time. For example, the vehicle is driving in the left lane, with the first lane marking being a construction site guardrail and the second lane marking being a second vehicle driving parallel. This advantageously allows the assumed lane width to be adjusted essentially continuously and the estimated distance to the second lane marking to be estimated more accurately.

[0018] The driver of the vehicle is warned by visual, acoustic, and / or haptic means depending on the measured distance to the first lane marking or the estimated distance to the second lane marking. Advantageously, a multi-stage warning can also be provided, for example, initially visually via LEDs, followed by a brief application of the brakes when the distance is further reduced.

[0019] Advantageously, the estimation of the distance of the vehicle to the second lane boundary can be used to control the engine torque of the vehicle, for example to adjust a speed of the vehicle and / or to initiate a steering operation, thereby advantageously reducing the risk of a possible collision of the vehicle.

[0020] The estimation of the vehicle's distance to the second lane boundary is only performed if the driver has activated the assistance system. The estimation of the vehicle's distance to the second lane boundary can advantageously be performed automatically depending on the vehicle's speed, for example, below a speed limit that typically applies to construction sites.

[0021] Advantageously, an estimate of the vehicle's distance to the second lane boundary is automatically performed by comparing the vehicle's current position with the positions of construction sites. For example, the positions of construction sites are determined from traffic information. A further assistance system, such as traffic sign recognition, can automatically perform an estimate if, for example, a construction site sign and / or a lane narrowing sign is detected. This assistance system can determine an initial value for the assumed lane width. By automatically estimating the vehicle's distance to the second lane boundary, the driver is not distracted from the traffic situation.

[0022] Ultrasonic sensors are usually used as existing sensors, but radar sensors and / or light-sensitive sensors can also be used in other embodiments. Short description of the characters

[0023] Embodiments of the invention are illustrated in the drawing and explained in more detail in the following description.

[0024] It shows: Fig. 1 a schematic representation of the method according to the invention based on a driving situation with a vehicle and two lane boundaries according to a first embodiment; Fig. 2 a schematic representation of the method according to the invention based on a driving situation with two vehicles according to a second embodiment; and Fig. 3 examples of different optical warning scenarios depending on a vehicle position relative to a first lane boundary and a second lane boundary. Detailed description of the embodiments The same reference symbols designate the same objects in all figures.

[0025] Fig. Figure 1 discloses a top view of the schematic representation of the method according to the invention based on the driving situation with a vehicle 12, a first lane boundary Fb1, and a second lane boundary Fb2. The lane boundaries Fb1, Fb2 form a lane for the vehicle 12.

[0026] The vehicle 12 comprises at least one control unit 11 and at least one sensor 14(1) to 14(4). Additional sensors may be provided; advantageously, the sensors 14(1) to 14(4) are ultrasonic sensors. The vehicle 12 has an approximate vehicle width BFzg, for example, of 170 centimeters. With the aid of the at least one sensor 14(1) to 14(4), objects in the vicinity of the vehicle 12 can be detected. For this purpose, signals are sent and received by at least one sensor 14(1) to 14(4), and distances to detected objects are calculated from the signal propagation times of the reflected signals. Fig. 1, the first lane boundary Fb1, for example, a construction site guardrail, is detected at a distance D1 from the vehicle 12 by at least one sensor 14(1), 14(4). Based on an assumed lane width B of, for example, 200 centimeters, the control unit estimates an approximate distance D2g between the vehicle 12 and the second lane boundary Fb2. The estimated distance D2g is calculated from a difference between the assumed lane width B, the vehicle width BFzg of the vehicle 12, and the distance D1 of the vehicle 12 from the first lane boundary Fb1. D2g=BSpur−BFzg−D1

[0027] Depending on the type of objects detected and / or by means of at least one additional sensor 14(5), a lane used by the vehicle 12 is determined. The lane used can be identified, for example, based on the frequency of object detection. If, for example, objects are detected approximately continuously on a first longitudinal side of the vehicle 12, the lane used by the vehicle 12 can be determined with a high degree of probability. Examples of approximately continuous objects are construction site guardrails and / or objects arranged at approximately the same distance from one another along the lane.

[0028] If the road boundary Fb1 is formed, for example, from bollards arranged approximately along the lane, this road boundary Fb1 is highly likely to be discontinuous, and successively determined distances D1 between the vehicle 12 and the road boundary Fb1 may exhibit large differences. Therefore, a distance D1 between the vehicle 12 and the road boundary Fb1 is calculated as a function of at least the last distance D1' and / or a steering wheel angle Lw of the vehicle (12) and / or a vehicle speed VFzg. D1=f(D1′,Lw,VFzg)

[0029] If an object is first detected by the rear sensor and then by the front sensor, it is most likely an overtaking vehicle and the vehicle 12 is using a lane that does not border the lane boundary Fb1.

[0030] If the vehicle 12 includes additional sensors, such as radar sensors and / or light-sensitive sensors, the lane used by the vehicle 12 can be determined using these sensors, for example by imaging techniques.

[0031] The assumed lane width BSpur is adjusted depending on the lane used by vehicle 12. For example, for left-hand traffic, 200 centimeters are assumed for a left lane and 250 centimeters for a right lane. These values ​​depend on applicable regulations in individual countries. Therefore, initial values ​​for the assumed lane width BSpur can be individually adjusted. For example, the current position of the vehicle is determined via GPS and stored country-specific values ​​are used for the initial value and / or radio connections (WLAN, UMTS, LTE, etc.) are used to determine the initial value. In a further advantageous embodiment, traffic signs are evaluated by another assistance system, and if construction site signs are detected, a lane width determined from this is used as the initial value.

[0032] For single-lane roadways, for example, with construction barriers arranged on both sides, distances between vehicle 12 and the first lane boundary Fb1 or the second lane boundary Fb2 are measured. Alternatively, an estimate of the distance between vehicle 12 and the second lane boundary Fb2 can be performed analogously to the above method.

[0033] Fig. Figure 2 shows a top view of the schematic representation of the method according to the invention in a second embodiment based on a driving situation with the vehicle 12 and another vehicle 30. In Fig. 2, the first lane boundary Fb1, for example, a continuous construction site guardrail or bollard with an approximately equal distance along the lane, is detected by sensor 14(1) at a distance D1 from vehicle 12. The additional sensor 14(2) detects another vehicle 30 at a distance D2 from vehicle 12. Based on the two distances D1 and D2, the assumed lane width BSpur is adjusted. A new assumed lane width BSpur, new is calculated from the sum of the measured distances D1, D2, and the vehicle width BFzg.

[0034] According to the invention, the new assumed lane width BSpur,neu is calculated from a sum of approximately 0.8 times the originally assumed lane width BSpur and approximately 0.2 times the sum of the measured distances D1, D2, and the vehicle width BFzg. Based on the changed assumed lane width BSpur,neu, a new estimated distance D2g of vehicle 12 to the second lane boundary Fb2 is calculated. BSpur, new=0.8∗BSpur+0.2∗(D1+D2+BFzg) D2g=BSpür,neu−BFzg−D1

[0035] In a further advantageous embodiment, the adjustment of the assumed lane width BSpur is only carried out if the steering wheel angle of the vehicle 12 is less than or equal to 45° and / or if objects are detected approximately simultaneously on both longitudinal sides of the vehicle 12, since an approximately continuous course of the lane boundaries Fb1, Fb2 can be assumed due to small steering angles of the vehicle 12, for example without major deviations in the lane width.

[0036] Advantageously, a driver of the vehicle 12 is alerted to the distances D1, D2g of the vehicle 12 to the detected objects by optical, acoustic, haptic means and / or a mixture thereof, depending on the measured distance D1 and / or estimated distance D2g to the first lane boundary Fb1 or second lane boundary Fb2. For example, if a threshold value is undershot, a warning can be sent to the driver by muting a multimedia device of the vehicle 12 and / or briefly applying the brake of the vehicle 12 automatically, and / or visualizing the distances D1, D2g by activating at least one LED.

[0037] The estimation of the distance D2g of the vehicle 12 to the second lane boundary Fb2 is advantageously used for controlling an engine torque of the vehicle 12 in order to adapt the speed of the vehicle 12 and / or to initiate a steering operation, for example, by steering against the direction of the lane boundary Fb1, the distance D1 between the vehicle 12 and the lane boundary Fb1 is increased, thereby reducing the risk of a possible collision.

[0038] Advantageously, a frequency of the measured distances D1, D2 is adjusted depending on a current speed of the vehicle 12. For example, at a speed of 80 km / h or 60 km / h of the vehicle 12, the distances D1 and D2 are measured every 50 ms and every 60 ms, respectively, and the new estimated distance D2g of the vehicle 12 to the second lane boundary Fb2 is calculated.

[0039] In a further advantageous embodiment, the estimation of the distance D2g of the vehicle 12 to the second lane boundary Fb2 is only carried out when the driver of the vehicle 12 activates the assistance system, for example by pressing a switch and / or activation by means of further means.

[0040] As a further condition, it can be taken into account that a speed of the vehicle 12 is below a predeterminable threshold value, for example 90 km / h, and / or the measured distance D1 between the vehicle 12 and the first lane boundary Fb1 remains constant for a period of time, for example for the period of 10 s in the range of less than or equal to one meter.

[0041] Another possible condition is a match by comparing a current position of the vehicle 12, for example determined via a GPS signal, with positions of construction sites, for example traffic information transmitted via radio (VHF, WLAN, UMTS, LTE, etc.) with position information of the construction sites.

[0042] An estimate can also be made based on a traffic sign recognition signal provided by another assistance system of the vehicle 12, for example, if a construction site sign and / or a lane narrowing sign are detected. In addition, an initial value for the assumed lane width can be determined by this assistance system.

[0043] Fig. Figure 3 shows examples of different optical warning scenarios depending on a vehicle position relative to a first lane boundary Fb1 and a second lane boundary Fb2, whereby the distances of the vehicle 12 to the detected objects are visualized by the optical signals to the driver of the vehicle 12. In Fig. Figure 3 shows lighting units 20, for example, ten lighting elements L1 to L10, such as LEDs, arranged in series. These lighting elements L1 to L10 can advantageously illuminate in different colors or be composed of individual, different colored elements. For example, the lighting elements illuminate in the colors red 20r or yellow 20g.

[0044] Fig.3 shows, by way of example, the control of the lighting elements L1 to L10 by the control unit 11 for six examples S1 to S6 for different driving positions of the vehicle 12 between the two lane boundaries Fb1 and Fb2, which form the lane.

[0045] Example S1 shows vehicle 12 in a driving position approximately in the center of the lane. The method for determining the estimated distance D2g is activated. The measured distance D1 and the estimated distance D2g are, for example, greater than a first predeterminable threshold value for a distance at which a warning is issued to the driver of vehicle 12. The two outer light elements L1 and L10 are illuminated yellow to signal to the driver that the lane is narrowed, but that there is sufficient space between the two longitudinal sides of the vehicle and the lane boundaries Fb1, Fb2.

[0046] In example S2, the driving position of vehicle 12 is significantly offset from the lane center toward the first lane boundary Fb1. While the distance is still sufficient, for example, between the first and a second predefined threshold value, a further reduction in the distance between vehicle 12 and the lane boundary Fb1 could result in a critical driving situation. To alert the driver, the light elements L1 and L2 illuminate yellow, and L3 illuminates red.

[0047] If the distance between vehicle 12 and the lane boundary Fb1 decreases further, for example, if the distance becomes smaller than a third threshold value, as shown in example S3, then the light elements L1 to L4 illuminate red. The more critical the driving situation, the more light elements L1 to L10 illuminate and / or the more light elements L1 to L10 illuminate red. Furthermore, an acoustic and / or haptic indication can advantageously be provided. By displaying the light elements L1 to L4 illuminated, the driver can recognize that the lane boundary is a non-driveable one.

[0048] Example S4 depicts a situation in which vehicle 12 is traveling slightly offset from the lane center in the direction of the assumed lane boundary Fb2. This is signaled to the driver by the additional illumination of the light element L9 in addition to L1 and L10.

[0049] Advantageously, if the vehicle 12 is in a driving position offset from the lane center in the direction of the first lane boundary Fb1, a warning is issued earlier than if the vehicle 12 is in a driving position offset toward the second lane boundary Fb2. This is intended to prevent a potential collision in a timely manner by providing the driver with sufficient time to correct their driving position through the early warning.

[0050] In example S5, vehicle 12 is driving directly along the assumed lane boundary Fb2, for example, a central reservation. This is signaled to the driver by the lighting elements L8 and L9 being yellow, and L7 being red. The selected display, with the lighting element L10 not illuminated, indicates to the driver that this is a drivable lane boundary.

[0051] If the vehicle 12 crosses the assumed lane boundary Fb2, for example the central reservation, as shown in example S6, then those lighting elements are switched on which correspond to an approximate position of the lane boundary Fb2 in relation to the vehicle width BFzg, for example the lighting elements L6 to L8 in example S6.

Claims

[1] Method for operating an assistance system of a vehicle (12), wherein a control unit (11) of the vehicle (12) detects objects based on sensor signals from at least one sensor (14), wherein distances to detected objects are determined by the control unit (11) and / or a distinction is made between different types of detected objects by the control unit (11), characterized by that an estimation of a distance (D2g) of the vehicle (12) to a second lane boundary (Fb2) is carried out by forming a difference between an assumed lane width (BSpur) and a vehicle width (BFzg) of the vehicle (12) and a determined distance (D1) of the vehicle (12) to a first lane boundary (Fb1), wherein depending on a left distance (DI) measured by the at least one sensor (14) and / or a right distance (Dr) measured by the at least one sensor (14) and / or the type of objects detected and / or by means of at least one further sensor, a lane used by the vehicle (12) is determined and a value of the assumed lane width (BSpur) is adjusted depending on the determined lane, characterized by that the adjustment of the assumed lane width (B lane) is carried out in such a way that the adjusted lane width (B lane, new) is formed from a sum of essentially 0.8 times the originally assumed lane width (B lane) and essentially 0.2 times the sum of the measured left distance (DI), the measured right distance (Dr) and the vehicle width (BFzg). [2] Method according to one of the preceding claims, characterized bythat the adjustment of the assumed lane width (B lane) is only carried out if the steering wheel angle of the vehicle (12) is less than or equal to 45° and / or if objects are detected on both longitudinal sides of the vehicle (12) at approximately the same time. [3] Method according to one of the preceding claims, characterized by that a driver of the vehicle (12) is informed of the distances of the vehicle to the detected objects by optical (20), acoustic and / or haptic means as a function of the measured and / or estimated distance to the first lane boundary (Fb1) or second lane boundary (Fb2). [4] Method according to one of the preceding claims, characterized by that the estimate of the distance (D2g) of the vehicle (12) to the second lane boundary (Fb2) is used to control an engine torque of the vehicle (12) in order to adapt the speed of the vehicle (12) and / or to initiate a steering operation. [5] Method according to one of the preceding claims, characterized by that the estimation of the distance of the vehicle (12) to the second lane boundary (Fb2) is only carried out - if the driver of the vehicle (12) activates the assistance system and / or - if a condition depending on the speed of the vehicle (12) and / or the distances of the detected objects is met and / or - if a condition is met depending on a position of the vehicle (12) taking into account traffic information and / or - if another assistance system detects a specific traffic situation for the vehicle (12). [6] Method according to claim 5, characterized by that the additional assistance system recognizes traffic signs and optionally an initial value for the assumed lane width (B lane) is determined by the additional assistance system. [7] Assistance system of a vehicle (12), wherein a control unit (11) of the vehicle (12) detects objects based on sensor signals from at least one sensor (14), wherein distances to detected objects are determined by the control unit (11) and / or a distinction is made between different types of detected objects by the control unit (11), characterized bythat an estimation of a distance (D2g) of the vehicle (12) to a second lane boundary (Fb2) is carried out by forming a difference between an assumed lane width (BSpür) and a vehicle width (BFzg) of the vehicle (12) and a determined distance (D1) of the vehicle (12) to a first lane boundary (Fb1), wherein a lane used by the vehicle (12) is determined as a function of a left distance (DI) measured by the at least one sensor (14) and / or a measured right distance (Dr) measured by the at least one sensor (14) and / or the type of detected objects and / or by means of at least one further sensor, and a value of the assumed lane width (BSpür) is adapted as a function of the determined lane, characterized bythat the adjustment of the assumed lane width (B lane) is carried out in such a way that the adjusted lane width (B lane, new) is formed from a sum of essentially 0.8 times the originally assumed lane width (B lane) and essentially 0.2 times the sum of the measured left distance (DI), the measured right distance (Dr) and the vehicle width (BFzg). [8] Assistance system according to claim 7, characterized by that a lane used by the vehicle (12) is determined by means of at least one further sensor, wherein the sensor is an ultrasonic sensor, a radar sensor and / or a light-sensitive sensor. [9] Use of a method according to one of the preceding claims 1 to 6 for an assistance system of a vehicle (12) for detecting construction sites and / or road narrowings. [10] Computer program suitable for carrying out all the steps of a method according to one of claims 1 to 6. [11] Control device with an electronic data carrier on which the computer program according to claim 10 is stored.

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