Method and device for assisting a driver of a vehicle in a narrow passage

Abstract

Method (200) for assisting a driver of a vehicle (100) in a narrow passage (102), wherein the method (200) comprises the following steps: Reading (202) information (406) about a drivable corridor (116) in the narrow passage (102), a current trajectory (118) of the vehicle (100) in the narrow passage (102), and a steering torque (122) currently applied by the driver to a steering mechanism (120) of the vehicle (100); Evaluating (204) the information (406) about the corridor (116), the trajectory (118), and the steering torque (122) using known dimensions (408) of the vehicle (100) to detect a likely violation (124) of the corridor (116) by at least a part of the vehicle (100);and providing (206) a control signal (410) for a counter-torque (128) acting against the steering torque (122) when the violation (124) is detected, in order to assist the driver in avoiding the violation (124), characterized in that in step (206) of providing the control signal (410), the counter-torque (128) is gradually reduced when a corrective torque of the driver sufficient to avoid the violation (124) is detected.

Description

State of the art

[0001] The present invention relates to a method for assisting a driver of a vehicle in a narrow passage, to a corresponding device and to a corresponding computer program product.

[0002] When a roadway is narrowed by obstacles, a driver of a vehicle may have difficulty safely guiding a vehicle through the resulting bottleneck.

[0003] DE 10 2011 082 475 A1 describes a driver assistance system to support a driver in collision-relevant situations. Disclosure of the invention

[0004] Against this background, the present invention presents a method for assisting a driver of a vehicle in a narrow passage, a device that uses this method, and finally a corresponding computer program product according to the main claims. Advantageous embodiments are described in the respective dependent claims and the following description.

[0005] A driver of a vehicle can cause a collision with, for example, a road barrier or another vehicle in a narrow passage by making an incorrect steering maneuver.

[0006] By detecting the steering movement and checking whether the vehicle is likely to violate predetermined spatial boundaries as a result of this movement, a counter-torque opposing the steering movement can be applied to the steering system in the event of a hazard. The driver can be warned by this counter-torque. The steering movement can be corrected by the counter-torque. This correction can prevent the boundary violation.

[0007] The approach presented here can support the driver when navigating narrow passages without being overly controlling, as intervention only occurs when an impending collision is detected. Intervention can also occur if a predetermined safety distance to an object would be breached by the steering movement.

[0008] A method for assisting a driver of a vehicle in a narrow passage is presented, the method comprising the following steps: Reading in information about a drivable corridor in the narrow passage, a current trajectory of the vehicle in the narrow passage, and a steering torque currently applied by the driver to the vehicle's steering; Evaluating information about the corridor, trajectory, and steering torque using known vehicle dimensions to detect a likely corridor violation by at least part of the vehicle; and Providing a control signal for a counter-torque to counteract the steering torque when injury is detected, in order to assist the driver in avoiding injury.

[0009] A vehicle can be understood to mean, in particular, a road vehicle. A bottleneck can be a section of a road or lane that has a reduced width compared to the road or lane alignment. A bottleneck can be detected when its width is greater than the width of the vehicle. By executing this procedure, the driver of the vehicle can be assisted in the driving task of navigating a bottleneck. The bottleneck can be defined, at least on one side, by an obstacle to which a safety distance must be maintained. The bottleneck can be detected by a detection device. The detection device or a monitoring device can determine the safety distance to lateral obstacles and define a remaining strip of the road or lane as a drivable corridor. A current trajectory can be a movement path of the vehicle on the road or lane.The lane in which the vehicle is currently moving. A steering torque can be a torque applied to the vehicle's steering by the driver. A corridor violation can be an anticipated crossing of the corridor's boundaries by at least one component of the vehicle. For example, a protruding vehicle part, such as a side mirror, can cause the violation. A counter-torque can be provided by a motor or actuator in the steering system.

[0010] In the evaluation step, a future trajectory of the vehicle can be determined using the current trajectory, steering torque, and vehicle dimensions. This future trajectory can be compared to the corridor to identify the injury. A future trajectory can be estimated. The probability of this future trajectory can be considered when assessing the injury.

[0011] The procedure may include a step of determining the magnitude and, alternatively or additionally, the direction of the counter-torque using the corridor and the future trajectory. In the provisioning step, the control signal may be provided using the magnitude and / or direction. If only a minor intervention is required to correct the steering torque in order to avert the violation, a smaller counter-torque may be provided than if a major intervention is required.

[0012] The process can include a step of acquiring information about the corridor, whereby the information is acquired using sensor data from at least one sensor on the vehicle. At least a minimum width of the bottleneck and, alternatively or additionally, its course are captured in the sensor data to obtain this information. The corridor can also be determined directly. This allows the process to react particularly quickly.

[0013] During the detection phase, a distinction can be made between static and dynamic objects in the area of ​​the bottleneck. A smaller safety distance can be maintained from static objects than from dynamic objects to define the corridor. Adjusted safety distances allow for the potential change of dynamic objects. For example, another vehicle might further narrow the bottleneck, while a lane barrier remains stationary. Therefore, it is possible to approach the lane barrier more closely than the other vehicle.

[0014] The control signal allows the counter-torque to be gradually reduced if the driver exerts a sufficient corrective torque to prevent injury. A gradually adjusted counter-torque can prevent the driver from being startled.

[0015] The control signal allows the counter-torque to be limited to a predetermined maximum value. This limitation enables the driver to overcome the counter-torque with steering input if necessary, thus deliberately avoiding a serious accident by reducing the required safety distance.

[0016] Furthermore, a device for assisting a driver of a vehicle in a narrow passage is presented, wherein the device has the following features: an interface for reading in information about a drivable corridor in the bottleneck, a current trajectory of the vehicle in the bottleneck and a steering torque currently applied by the driver to the steering of the vehicle; an evaluation device designed to evaluate information about the corridor, trajectory, and steering torque using known vehicle dimensions in order to detect a likely corridor violation by at least part of the vehicle; and a device for providing a control signal for a counter-torque to counteract the steering torque when injury is detected, in order to assist the driver in avoiding injury.

[0017] The device is designed to carry out or implement the steps of a variant of the method presented here in appropriate facilities. This embodiment of the invention, in the form of a control unit, also allows the problem underlying the invention to be solved quickly and efficiently.

[0018] In this context, a device can be understood as an electrical device that processes sensor signals and outputs control and / or data signals accordingly. The device may have an interface, which can be implemented in hardware and / or software. In the case of a hardware-based interface, the interfaces can, for example, be part of a so-called system ASIC, which incorporates various functions of the control unit. However, it is also possible that the interfaces are separate integrated circuits or consist at least partially of discrete components. In the case of a software-based interface, the interfaces can be software modules, which, for example, are located on a microcontroller alongside other software modules.

[0019] It is also advantageous to have a computer program product with program code that can be stored on a machine-readable medium such as semiconductor memory, hard disk memory or optical memory and is used to carry out the method according to one of the embodiments described above, if the program product is executed on a computer or device.

[0020] The invention is explained in more detail below with reference to the accompanying drawings. These show:

[0021] Fig. 1. A representation of a vehicle in a narrow passage;

[0022] Fig. 2 a flowchart of a method for assisting a driver of a vehicle in a narrow passage according to an embodiment of the present invention;

[0023] Fig. 3 a block diagram of a device for assisting a driver of a vehicle in a narrow passage according to an embodiment of the present invention; and

[0024] Fig. 4 a block diagram of a device for assisting a driver of a vehicle in a narrow passage according to an embodiment of the present invention.

[0025] In the following description of exemplary embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and having a similar effect, without repeating these elements.

[0026] Fig. Figure 1 shows a representation of a vehicle 100 in a narrow passage 102 The vehicle 100 a device 104 to assist a driver of the vehicle 100 in the narrow passage 102according to an embodiment of the present invention. The vehicle 100 is located on a multi-lane roadway 106 The lanes of the road 106 are marked by a road marking 108 marked. The vehicle 100 It is located in the left lane. There is a truck in the right lane. 110 The truck 110 is too far to the left and is obstructing the left lane. The truck 110 protrudes from the right over the road marking 108 into the left lane. The left lane is separated from the left lane by a barrier. 112 limited. Between the barrier 112 and the truck 110 The bottleneck is located 102 The bottleneck 102 is wide enough to safely handle the vehicle 100 through the narrow passage 102 to drive.

[0027] The device 104is trained to operate an environmental monitoring device 114 of the vehicle 100 Information about a drivable corridor 116 in the narrow passage 102 to read in. The corridor 116 is maintained by a safety distance to the truck 110 and a safe distance from the barrier 112 The safety distance to the truck is defined. 110 larger than the barrier 112 , since the truck 110 is recognized as a moving obstacle. Furthermore, the device 104 trained to provide information about a current trajectory 118 of the vehicle 100 from the environmental monitoring device 114 or the vehicle's navigation system 100 to read the data. The device reads the data. 104 a momentary change in the driver's steering 120 of the vehicle 100 applied steering torque 122one. The device 104 is trained to provide information about the drivable corridor 116 , the trajectory 118 and the steering torque 122 using the vehicle's dimensions 100 to evaluate in order to assess a likely injury 124 of the corridor 116 or the safety distances by at least part of the vehicle 100 to recognize. This involves determining a likely trajectory. 126 of the vehicle 100 investigated. The injury 124 is detected when an outer contour of the vehicle 100 a boundary of the corridor 116 will injure. If an injury is likely to occur 124 When detected, the device 104 a control signal for a steering torque 122 counteracting counter-moment 128 ready. Through the counter-moment 128 The driver is assisted in determining the expected trajectory.126 to correct until there is no injury 124 is recognized more.

[0028] The approach presented here enables rapid compensation of faulty driver steering torques. 122 in narrow passages 102 .

[0029] Within narrow passages 102 e.g., in the case of construction site walls 112 or near moving objects 110 can a driver of a vehicle 100 panic. In this situation, the driver may, instead of reacting to the obstacle, 110 , 112 to steer away, react incorrectly and go in the wrong direction towards the obstacle 110 , 112 to steer, so that an accident can result from the driver's error.

[0030] Driver assistance systems such as lane keeping support, narrow passage assistants, or construction site assistants can prevent accidents caused by unintentional lane departures or collisions with side lane barriers. 112 avoid by reducing the steering torque122 The electric power steering (EPS) is adjusted accordingly.

[0031] This can involve the position or yaw rate of the vehicle. 100 in a lane or corridor 116 be regulated.

[0032] The response to faulty driver behavior by a control loop via yaw rate or position is comparatively slow due to its structure, as a yaw rate or faulty vehicle position first builds up as a result of the driver's incorrect steering. This may be insufficient, especially in narrow spaces.

[0033] Faulty driver steering behavior can be corrected more quickly than by the control loop via yaw rate or position if the driver's steering torque is 122 from the EPS 120 The measured torsional bar moment is estimated and used as the opposite steering moment. 128 via the EPS 120The motor is regulated and adjusted. This occurs when a sufficiently close proximity is detected via environmental sensors. 124 on lateral or preceding objects 110 , 112 is recognized. An example of the system structure is shown in Fig. 3 shown.

[0034] Fig. Figure 2 shows a flowchart of a process 200 for assisting a driver of a vehicle in a narrow passage according to an embodiment of the present invention. The method can be carried out on a device such as those found, for example, in Fig. The procedure is shown in Figure 1. 200 indicates a step 202 of reading, one step 204 of the evaluation and a step 206 of providing.

[0035] In step 202 During the reading process, information about a drivable corridor in the bottleneck is read in. Furthermore, in this step...202 During the initial reading, the vehicle's current trajectory in the narrow passage and the steering torque currently applied by the driver are read in. In step 204 During the evaluation, information about the corridor, trajectory, and steering torque is analyzed using known vehicle dimensions to detect a likely corridor violation by at least part of the vehicle. In step 206 When an injury is detected, a control signal is provided for a counter-torque that opposes the steering torque, in order to assist the driver in avoiding injury.

[0036] In one embodiment, in step 204The evaluation process determines a future trajectory of the vehicle using the current trajectory, steering torque, and vehicle dimensions. This future trajectory is compared to the corridor to detect the violation. The future trajectory represents a path the vehicle is expected to follow if the steering torque remains constant. The future trajectory is estimated to predict the violation.

[0037] In one embodiment, the method includes a step of determining the magnitude and, alternatively or additionally, the direction of the counter-moment, wherein the magnitude and, alternatively or additionally, the direction are determined using the corridor and the future trajectory. In the provisioning step 206 The control signal is provided using the magnitude and, alternatively or additionally, the direction.

[0038] In one embodiment, the method includes a step of acquiring information about the corridor, wherein the information is acquired using sensor data from at least one sensor of the vehicle. At least a minimum width of the bottleneck and, alternatively or additionally, a path of the bottleneck are captured in the sensor data to obtain the information.

[0039] In one embodiment, a distinction is made between static and dynamic objects in the area of ​​the bottleneck. A smaller safety distance is maintained to the static objects than to the dynamic objects in order to define the corridor.

[0040] In one embodiment, the counter-torque is gradually reduced via the control signal when a correction torque from the driver sufficient to avoid injury is detected.

[0041] In one embodiment, the counter-torque is limited to a predetermined maximum value via the control signal.

[0042] In other words, it shows Fig. 2. A procedure for preventing dangerous situations.

[0043] Fig. Figure 3 shows a block diagram of a device 300 for assisting a driver of a vehicle in a narrow passage according to an embodiment of the present invention. The device 300 indicates an estimator 302 , a first interface 304 , a regulator 306 , a second interface 308 , an adder 310 and a limiter 312 up. The appraiser 302 receives a signal 314 , which represents a torque on a torsion bar of the vehicle or a torsion bar torque, and estimates a steering torque from this. 122 of the driver or a driver steering torque 122 The estimator uses this.302 A steering system model and a Kalman filter. The steering torque 122 is an input variable of the controller 306 As another input variable for the controller 306 will be via the first interface 304 from situation recognition to a critical approach 124 received at least one object. The controller 306 It is implemented as a PD controller. The controller's output variable is... 306 A counter-moment will be created 128 to the adder 310 provided. Via the second interface 308 A steering signal will be sent 316 received by a driver assistance system, such as lane keeping support or a construction site assistant. The counter-torque 128 and the steering signal 316 are in the adder 310 to an absolute steering torque 318 or the absolute value is added and applied to the limiter. 312 transmitted. In the limiter 312 will the absolute steering torque 318limited and transmitted via a gradient for functional safety to an electric power steering system of the vehicle.

[0044] The approach presented here estimates the risk of collision in narrow passages while driving forward. If the risk of collision on the side of the vehicle's forward movement (left, right, or both sides as viewed from the vehicle's direction of travel) is identified as critical, and if the driver then steers towards the nearest side of the collision, this function is activated.

[0045] A PD controller 306 creates a counter-moment 128 on the steering wheel, so that the wrong steering torque 122 This is compensated for by the driver. A standard PD controller can be used for this purpose. 306 It uses a parameter for the proportional (P) component and a parameter for the derivative (D) component. The current driver steering torque 122The release time and its changes compared to a previous point in the control cycle are thus quickly compensated for. If the driver, with the support of the driver assistance system, steers in the correct direction so that the risk of collision in the narrow sections no longer exists, the counter-steering torque is reduced. 128 from the controller 312 slowly reversed using an applicable ramp. The counter-moment 128 can be limited to a fixed value such as 3 Nm.

[0046] The steering torque directed in the wrong direction by the driver 122 This compensates for and weakens the countersteering torque. 128 For safety reasons, it can be limited to a fixed value of 3 Nm.

[0047] The driver feels the counter-moment 128The warning light is displayed directly on the steering wheel, so that the driver is given an early and noticeable warning of their incorrect steering behavior before the next potential collision. This gives the driver enough time to correct their steering.

[0048] This function remains active until the driver steers away from the collision risk side or the collision risk on the critical side no longer exists.

[0049] Fig. Figure 4 shows a block diagram of a device. 104 for assisting a driver of a vehicle in a narrow passage according to an embodiment of the present invention. The device 104 has an interface 400 , an institution 402 for evaluation and a setup 404 for provision. The device 104 corresponds to the device in Fig. 1. The interface 400 is trained to provide information 406via a drivable corridor in the bottleneck, a current trajectory 118 of the vehicle in the narrow passage and a steering torque momentarily applied by the driver to the vehicle's steering 122 to read in. The facility 402 is trained to evaluate the information 406 via the corridor, the trajectory 118 and the steering torque 122 using known dimensions 408 to evaluate the vehicle in order to assess a likely injury 124 of the corridor to be recognizable by at least part of the vehicle. The facility 404 is designed to provide a control signal 410 to provide a counter-moment to counteract the steering torque if the injury 124 is detected to help the driver avoid injury 124 to support.

[0050] The embodiments described and shown in the figures are chosen only as examples. Different embodiments can be combined completely or with respect to individual features. An embodiment can also be supplemented by features of another embodiment. Furthermore, process steps according to the invention can be repeated and carried out in a different sequence than described.

[0051] If an embodiment includes an “and / or” connection between a first feature and a second feature, this is to be read as meaning that the embodiment according to one embodiment has both the first feature and the second feature, and according to another embodiment either only the first feature or only the second feature. QUOTES INCLUDED IN THE DESCRIPTION

[0052] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0053] DE 102011082475 A1

[0003]

Claims

[1] Procedure ( 200 ) to assist a driver of a vehicle ( 100 ) in a narrow passage ( 102 ), wherein the procedure ( 200 ) which includes the following steps: Read ( 202 ) of information ( 406 ) via a drivable corridor ( 116 ) in the narrow passage ( 102 ), a current trajectory ( 118 ) of the vehicle ( 100 ) in the narrow passage ( 102 ) and one currently controlled by the driver on a steering system ( 120 ) of the vehicle ( 100 ) applied steering torque ( 122 ); Evaluate ( 204 ) the information ( 406 ) across the corridor ( 116 ), the trajectory ( 118 ) and the steering torque ( 122 ) using known dimensions ( 408 ) of the vehicle ( 100 ), to prevent a likely injury ( 124 ) of the corridor ( 116 ) through at least part of the vehicle ( 100to recognize; and Provide ( 206 ) of a control signal ( 410 ) for one, the steering torque ( 122 ) counteracting counter-moment ( 128 ), if the injury ( 124 ) is detected to help the driver avoid injury ( 124 to support. [2] Procedure ( 200 ) according to claim 1, wherein in the step ( 204 ) of evaluating a future trajectory ( 126 ) of the vehicle ( 100 ) using the current trajectory ( 118 ), of the steering torque ( 122 ) and the dimensions ( 408 ) of the vehicle ( 100 ) is determined and the future trajectory ( 126 ) with the corridor ( 116 ) is compared to determine the injury ( 124 ) to recognize. [3] Procedure ( 200 ) according to claim 2, comprising a step of determining a magnitude and / or direction of the counter-torque ( 128 ) using the corridor (116 ) and the future trajectory ( 126 ), wherein in the step ( 206 ) of providing the control signal ( 410 ) is provided using the size and / or direction. [4] Procedure ( 200 ) according to one of the preceding claims, with a step of capturing the information ( 406 ) across the corridor ( 116 ) using sensor data from at least one sensor of the vehicle ( 100 ), wherein at least a minimum width of the constriction ( 102 ) and / or a course of the bottleneck ( 102 ) is recorded in the sensor data to provide the information ( 406 ) to obtain. [5] Procedure ( 200 ) according to claim 4, wherein in the step of detection between static objects ( 112 ) and dynamic objects ( 110 ) in the area of ​​the bottleneck ( 102 ) is distinguished, whereby the static objects ( 112) a smaller safety distance is maintained than to dynamic objects ( 110 ), to the corridor ( 116 ) to define. [6] Procedure ( 200 ) according to one of the preceding claims, wherein in the step ( 206 ) of provisioning via the control signal ( 410 ) the counter-moment ( 128 ) is gradually reduced when a measure is taken to avoid injury ( 124 ) sufficient correction torque of the driver is read in. [7] Procedure ( 200 ) according to one of the preceding claims, wherein in the step ( 206 ) of provisioning via the control signal ( 410 ) the counter-moment ( 128 ) is limited to a predetermined maximum value. [8] Device ( 104 ) to assist a driver of a vehicle ( 100 ) in a narrow passage ( 102 ), wherein the device ( 104 ) exhibits the following characteristics: an interface (400 ) to read in information ( 406 ) via a drivable corridor ( 116 ) in the narrow passage ( 102 ), a current trajectory ( 118 ) of the vehicle ( 110 ) in the narrow passage ( 102 ) and one currently controlled by the driver on a steering system ( 120 ) of the vehicle ( 100 ) applied steering torque ( 122 ); an institution ( 402 ) for evaluation, which is trained to process the information ( 406 ) across the corridor ( 116 ), the trajectory ( 118 ) and the steering torque ( 122 ) using known dimensions ( 408 ) of the vehicle ( 100 ) to evaluate in order to assess a likely injury ( 124 ) of the corridor ( 116 ) through at least part of the vehicle ( 100 to recognize; and an institution ( 404 ) to provide a control signal ( 410 ) for one, the steering torque (122 ) counteracting counter-moment ( 128 ), if the injury ( 124 ) is detected to help the driver avoid injury ( 124 to support. [9] Computer program product with program code for carrying out the method according to any one of claims 1 to 7, when the program product is executed on a device.

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