Method and device for assisting a driver of a vehicle when changing lanes

Abstract

Method for assisting a driver during lane changes with an ego vehicle (100) comprising the following procedural steps: - Detection of the state of the direction indicator of the ego vehicle (100) using a device (3) for detecting the state of a direction indicator of the ego vehicle (100), - Determining the driver's intention to change lanes, - when a lane change intention is detected, determine the position and speed of other vehicles relative to the ego vehicle (100) and calculate a speed target for the ego vehicle (100) during the lane change based on the determined positions and speeds of the other vehicles relative to the ego vehicle (100), and - Displaying the speed limit to the driver, characterized in that - Contextual information of the ego vehicle (100) regarding the type of road traveled by the ego vehicle (100), as well as any associated entry and exit areas and the relative positions and relative speeds of other vehicles, are recorded, and - the lane-changing intention is determined from the fusion of context information with information regarding the state of the turn signal, and - the fused information is checked for consistency, and in case of inconsistency between the context information and the information regarding the state of the direction indicator, the context information is preferred for determining the lane change intention by ignoring the information from device (3).

Description

[0001] The invention relates to a method for assisting a driver in changing lanes with an ego vehicle according to the preamble of claim 1, as well as a device for carrying out the method according to the invention and a vehicle with such a device.

[0002] From DE 10 2007 046 688 A1 a method for operating a driver assistance system relating to the lateral guidance of a motor vehicle is known, wherein at least one warning provided by the driver assistance system to a driver of the motor vehicle is changed and / or suppressed and / or generated depending on at least one driving situation detected by the driver assistance system and relating to at least one vehicle on an adjacent lane and / or the state of the own lane and indicating a lateral guidance action.

[0003] Furthermore, DE 10 2004 004 168 A1 describes a method for controlling vehicle functions, in which the vehicle function is, in particular, the hazard warning lights or the turn signal function, which is activated. Here, the occurrence of a predefined event is monitored, and when the event occurs, the vehicle function is checked, and a decision is made based on this check as to whether the vehicle function must be deactivated.

[0004] A method according to the preamble of claim 1 is known from DE 10 2007 008 517 A1. This method for determining a speed target for a lane change with an ego-vehicle comprises the following steps: detecting the ego-vehicle driver's intention to change lanes; determining the position and speed of other vehicles relative to the reference vehicle, wherein the other vehicles are located in the lane into which the driver intends to change with their reference vehicle; calculating a speed target for the ego-vehicle during the lane change based on the determined positions and speeds of the other vehicles relative to the ego-vehicle; and outputting the speed target to the driver and / or to a control unit of the ego-vehicle. A device for carrying out this known method is also described.

[0005] In this known method, the driver's intention to change lanes is determined by taking into account a direction indicator signal from the ego-vehicle's turn signal indicator. If the turn signal is not activated by the driver of the ego-vehicle, the intention to change lanes is determined according to DE 10 2007 008 517 A1 by taking into account the distance of the ego-vehicle to the road marking(s) that separate the lane used by the ego-vehicle from the adjacent lane(s).

[0006] However, with this known method, malfunctions due to incorrect use of the turn signal by the driver of the ego vehicle cannot be ruled out. For example, drivers of an ego vehicle might activate the right turn signal to merge onto the acceleration lane of a highway at an intersection or turning lane, but then forget to correctly activate the left turn signal instead of the right one once they are actually on the acceleration lane.

[0007] This well-known method has also proven to be not very robust, since if the turn signal is not used, it is not possible to clearly infer the intention to change lanes in all driving situations, as there are drivers who change to the adjacent lane very abruptly and therefore the correct lane-changing speed cannot be displayed to the driver in time.

[0008] Based on this state of the art, the object of the invention is to create an improved method of the type mentioned above, which, in particular, can still detect the driver's intention to change lanes with a high degree of certainty even if the turn signal of the self-driving vehicle is not activated or is not activated correctly.

[0009] Furthermore, it is an object to specify a device for carrying out the method according to the invention.

[0010] The first problem is solved by a method having the features of claim 1.

[0011] Such a procedure for assisting a driver during lane changes with an ego vehicle comprises the following procedural steps: - Detection of the state of the ego-vehicle's direction indicator using a device for detecting the state of an ego-vehicle's direction indicator, - Determining the driver's intention to change lanes, - when a lane change intention is detected, determine the position and speed of other vehicles relative to the ego vehicle and calculate a speed target for the ego vehicle during the lane change based on the determined positions and speeds of the other vehicles relative to the ego vehicle, and - Outputting the speed setting to the driver is characterized according to the invention in that - Contextual information of the ego vehicle regarding the type of road traveled by the ego vehicle, as well as any associated entry and exit areas and the relative positions and relative speeds of other vehicles, is recorded, and - the lane-changing intention is determined from the fusion of context information with information regarding the state of the turn signal, and - the fused information is checked for consistency, and in case of inconsistency between the context information and the information regarding the state of the turn signal, the context information is preferred for determining the lane change intention by ignoring the information from the device for detecting the state of a turn signal of the ego vehicle.

[0012] The method according to the invention enables, by fusing the context information with the information regarding the state of the direction indicator, a higher reliability and robustness with regard to the detection of a lane change intention of the driver, regardless of whether, for example, a turn signal was set by the driver or even accidentally activated incorrectly.

[0013] It is therefore particularly advantageous if a consistency check is carried out and, in case of inconsistency between the context information and the information regarding the state of the direction indicator, the context information is preferred for determining the lane change intention, i.e., only the context information is evaluated to determine a lane change intention.

[0014] Furthermore, according to an advantageous embodiment of the invention, a lane-change trajectory is determined together with the speed setting. Such a lane-change trajectory is also displayed to the driver, e.g. by means of a HUD (head-up display), thereby making lane changes easier and safer for the driver.

[0015] According to an advantageous embodiment of the invention, the context information is captured using a GPS-based electronic map.

[0016] As a further training measure, the contextual information can alternatively or additionally be recorded using an optical road monitoring system.

[0017] The second problem is solved by a device having the features of claim 5.

[0018] Such a device to assist a driver when changing lanes with an ego vehicle, comprising - a device for detecting the state of a direction indicator of the ego vehicle, - a lane change detection unit to detect a driver's intention to change lanes, - a traffic flow control device to determine the position and speed of other vehicles relative to the ego vehicle when a lane change intention is detected, - a speed target determination device to calculate a speed target for the ego vehicle when changing lanes, based on the determined positions and speeds of other vehicles relative to the ego vehicle, when a lane change intention is detected, and - an output device for outputting the speed setting, is characterized according to the invention in that - a context information device is provided with which context information of the ego vehicle is recorded with regard to the type of road traveled by the ego vehicle, as well as any associated entry and exit areas and the relative positions and relative speeds of other vehicles, and - the lane change detection unit is designed to determine the lane change intention from the fusion of context information with information regarding the state of the turn signal, whereby the fused information is checked for consistency, and in case of inconsistency between the context information and the information regarding the state of the turn signal, the context information is preferred for determining the lane change intention by ignoring the information from the device for detecting the state of a turn signal of the ego vehicle.

[0019] This device also has the advantages described in connection with the above-mentioned method and is intended for use in a vehicle, in particular a motor vehicle.

[0020] According to an advantageous further development of the invention, the speed setting determination device is designed to determine a lane change trajectory together with the speed setting.

[0021] It is particularly advantageous if, in accordance with further training, a GPS-based navigation system is provided for capturing the contextual information.

[0022] The invention is described below with reference to the only attached document. Fig. 1 explained in more detail. Fig. Figure 1 shows a block diagram of a device for carrying out the method according to the invention.

[0023] The block diagram according to Fig. Figure 1 represents a schematically depicted device 10 of a vehicle 100, hereinafter referred to as an ego-vehicle, for assisting a driver during lane changes. This device 10 comprises a GPS navigation system 1 with an electronic map, an optical road monitoring system 2 designed as a camera with an image evaluation unit 2.1, and a sensor 3 for detecting the turn signal status of a direction indicator operated by the driver of the ego-vehicle 100.

[0024] Furthermore, the device 10 includes a lane change detection unit 4, which is supplied with information from the GPS navigation system 1, the image evaluation unit 2.1 of the road monitoring system 2 and the sensor 3.

[0025] The information provided by the GPS navigation system 1 includes the position data of the vehicle 100 as well as the type of road travelled by the vehicle 100, including the exit and entry areas of the respective road type, such as the merging lanes (also called acceleration lanes) of expressways and motorways.

[0026] The image evaluation unit 2.1 determines the positions and speeds of other vehicles from the image data of the camera of the road monitoring system 2, which are located both on the lane traveled by the ego vehicle 100 and on neighboring lanes of this lane, and transmits the relative positions and the relative speeds in relation to the ego vehicle 100 to the lane change detection unit 4.

[0027] This GPS navigation system 1 and the road monitoring system 2 generate contextual information to determine the driver's intention to change lanes in the Ego vehicle 100.

[0028] Additionally, the lane monitoring system 2 can also provide contextual information such as the distance of the ego vehicle 100 to the lane markings separating the lane used by the ego vehicle 100 from the adjacent lanes. This assumes that when a lane change is intended, the ego vehicle 100 approaches the lane the driver wishes to change to, and therefore the distance to the lane markings of this adjacent lane decreases.

[0029] Sensor 3 provides information regarding the indicator status of the Ego vehicle 100's turn signal, whether the left or right indicator, or whether the turn signal at all, was activated by the driver of the Ego vehicle 100.

[0030] From the fused information of the GPS navigation system 1, the road monitoring system 2 and the sensor 3, the lane change detection unit 4 determines whether the driver of the ego vehicle 100 intends to change lanes.

[0031] For this purpose, this information is checked for consistency and if, for example, the state of the direction indicator is consistent with the information from the GPS navigation system 1 and the road monitoring system 2, it is assumed that the driver of the ego vehicle 100 intends to change lanes and an output signal indicating the driver's intention to change lanes is fed to a traffic flow control device 5, which also contains the direction of the intended lane change.

[0032] Data consistency exists when the detected state of the turn signal does not contradict the data from the GPS navigation system 1 and / or the data from the image processing unit 2.1. For example, if the GPS navigation system 1 displays the position of the ego vehicle 100 on a highway on-ramp and the sensor 3 simultaneously detects the activation of the left turn signal, the data consistency exists.

[0033] If the traffic flow control device 5 receives the signal indicating the intention to change lanes (including the direction of the intended lane change), the relative positions to those foreign vehicles on the adjacent lane for which an intention to change lanes has been determined are calculated for several times in the near future based on the data supplied to the image evaluation unit 2.1.

[0034] Based on the traffic flow data determined by the traffic flow control unit 5, the speed control unit 6 calculates suitable gaps between the relevant vehicles in the adjacent lane and determines the required lane change speed for the next suitable distance for an upcoming lane change. This lane change speed is displayed to the driver, for example, via a head-up display (HUD) 7. Additionally, this speed control unit 6 can also determine a corresponding lane change trajectory.

[0035] If, however, there is no consistency between the data of the GPS navigation system 1 and / or the data of the image evaluation unit 2.1 of the road monitoring system 2, the data of the GPS navigation system 1 and / or the data of the image evaluation unit 2.1 of the road monitoring system 2 are given preference, and the intention of the driver of the ego vehicle 100 is predicted solely from this data. This procedure is also followed if the sensor 3 does not detect any activation of the turn signal.

[0036] An inconsistency between the data from the GPS navigation system and / or the data from the image evaluation unit 2.1 of the lane monitoring system 2 occurs, for example, when the GPS navigation system 1 detects that the ego vehicle is on an acceleration lane of a highway or motorway, but sensor 3 detects the activation of the right turn signal. In this case, the information from sensor 3 is ignored, and an output signal indicating the driver's intention to change lanes is sent to the traffic flow control unit 5, including the direction of the lane change trajectory. The same procedure is followed if, in this situation, the ego vehicle is on such an acceleration lane but the driver does not activate the turn signal.

[0037] In another traffic scenario, the road monitoring system 2 detects that the ego vehicle is approaching another vehicle from behind at a significant speed differential, for example, on a federal highway. Based on this information, the lane change detection unit 4 infers that the driver of the ego vehicle 100 intends to change lanes to overtake this other vehicle, regardless of the state of the ego vehicle 100's turn signal detected by sensor 3, and sends a corresponding output signal to the traffic flow control unit 5. The traffic flow control unit 5 uses the data from the image evaluation unit 2.1 to determine the future relative positions and speeds of the other vehicles, including those in oncoming and following traffic.

[0038] From this data, the speed control device 6 determines possible future times for a lane change to initiate an overtaking maneuver and calculates a lane change speed, which is displayed to the driver of the ego vehicle 100 via an output device 7, e.g., a head-up display (HUD). The speed control device 6 can also be configured to determine a lane change trajectory for the possible lane change times and display this trajectory to the driver via the output device 7.

[0039] The embodiment described above according to Fig.Figure 1 shows a device 10 for assisting a driver during lane changes, which includes both a GPS navigation system and a road monitoring system equipped with a camera. It is also possible to equip such a device 10 with only a GPS navigation system or with only a road monitoring system. The road monitoring system can also include a radar sensor, lidar sensor, or other suitable sensor instead of a camera. Reference sign 1 GPS navigation system 2 optical road monitoring system 2.1 Image evaluation unit of the road monitoring system 2 3 Sensors for detecting the turn signal status 4 Lane Change Detection Unit 5 Traffic Flow Control Device 6 Speed ​​setting device 7 Output device 10 Vehicle equipment 100 100 vehicles

Claims

Method for assisting a driver during a lane change with an ego-vehicle (100) comprising the following steps: - Detection of the state of the ego-vehicle's (100) turn signal indicator using a device (3) for detecting the state of the ego-vehicle's (100) turn signal indicator, - Determining the driver's intention to change lanes, - Upon detection of the intention to change lanes, determining the position and speed of other vehicles relative to the ego-vehicle (100) and calculating a speed target for the ego-vehicle (100) during the lane change based on the determined positions and speeds of the other vehicles relative to the ego-vehicle (100), and - Outputting the speed target to the driver, characterized in thatthat- context information of the ego vehicle (100) regarding the type of road traveled by the ego vehicle (100), as well as any associated entry and exit areas and the relative positions and relative speeds of other vehicles, are recorded, and- the lane-change intention is determined from the fusion of the context information with the information regarding the state of the turn signal, and- the fused information is checked for consistency, and in case of inconsistency between the context information and the information regarding the state of the turn signal, the context information is preferred for determining the lane-change intention by ignoring the information from the device (3). Method according to claim 1, characterized in that a lane change trajectory is determined together with the speed specification. Method according to one of the preceding claims, characterized in that the context information is acquired by means of a GPS-based electronic map (1). Method according to one of the preceding claims, characterized in that the context information is acquired by means of an optical road monitoring system (2). Device (10) for assisting a driver in changing lanes with an ego-vehicle (100), comprising: - a device (3) for detecting the state of a turn signal indicator of the ego-vehicle (100), - a lane change detection unit (4) for detecting an intention of the driver to change lanes, - a traffic flow determination device (5) for determining the position and speed of other vehicles relative to the ego-vehicle (100) when an intention to change lanes is detected, - a speed target determination device (6) for calculating a speed target for the ego-vehicle (100) during the lane change based on the determined positions and speeds of the other vehicles relative to the ego-vehicle (100) when an intention to change lanes is detected, and - an output device (7) for outputting the speed target, characterized in that - a context information device (1, 2) is provided.with which context information of the ego vehicle (100) regarding the type of road traveled by the ego vehicle (100), as well as any associated entry and exit areas and the relative positions and relative speeds of other vehicles, are recorded, and the lane change detection unit (4) is configured to determine the lane change intention from the fusion of the context information with the information regarding the state of the turn signal, whereby the fused information is checked for consistency, and in case of inconsistency between the context information and the information regarding the state of the turn signal, the context information is preferred for determining the lane change intention by ignoring the information from the device (3). Device (10) according to claim 5, characterized in that the speed setting determination device is configured to determine a lane change trajectory together with the speed setting. Device (10) according to claim 5 or 6, characterized in that a GPS-based navigation device (1) is provided for capturing the context information. Device (10) according to one of claims 5 to 7, characterized in that an optical road monitoring system (2) is provided for capturing the context information. Vehicle (100) with a device (10) according to one of claims 5 to 8 .

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