Method for operating a motor vehicle equipped with a driver assistance system

Abstract

Method for operating a motor vehicle (1) equipped with a driver assistance system in a driving situation in which a motor vehicle (3) approaching the motor vehicle (1) overtakes another motor vehicle (2) approaching the motor vehicle (1), wherein the position and speeds of the motor vehicle (1), the overtaken motor vehicle (2) and the overtaking motor vehicle (3) are determined at respective times, wherein the trajectories of the motor vehicle (1), the overtaken motor vehicle (2) and the overtaking motor vehicle (3) are calculated, wherein a prediction is made about a longitudinal and transverse space (4) sufficient for the overtaking motor vehicle (3) to merge in front of the motor vehicle (1), and wherein, if the prediction results in a collision of the motor vehicle (1) with the overtaking motor vehicle (3),A measure is taken to try to prevent the collision.

Description

[0001] The invention relates to a method for operating a motor vehicle equipped with a driver assistance system in a driving situation in which a motor vehicle approaching the vehicle in the opposite direction overtakes another motor vehicle approaching the vehicle in the opposite direction.

[0002] Various driver assistance systems are known from the general state of the art. These systems warn the driver of a motor vehicle of dangers in road traffic or actively intervene in the vehicle's driving behavior to prevent accidents. Emergency braking assistants, distance warning systems, and lane keeping systems, which are becoming increasingly important in road traffic, are just a few examples. Most driver assistance systems use various sensors, such as radar and camera sensors, to monitor the vehicle's surroundings and then analyze and interpret the traffic situation based on the results.

[0003] To avoid hazards to or from vehicles or road users ahead, the familiar distance control and emergency braking systems can be used.

[0004] From DE 10 2012 215 093 A1, a method for operating a driver assistance system is known in which a road narrowing in front of the vehicle and an oncoming vehicle are detected, the expected trajectories of the two vehicles are predicted, an expected meeting point of the two vehicles is determined, and if the expected meeting point of the two vehicles is in the area of ​​the narrowing, a safety device is activated.

[0005] However, a particularly high number of traffic accidents are due to overtaking maneuvers and incorrect reactions by drivers during such overtaking maneuvers.

[0006] The publication DE 10 2009 020 647 A1 discloses a method for operating one's own motor vehicle in a driving situation (cf. Fig. 3) in which a vehicle approaching from the opposite direction overtakes another vehicle approaching from the opposite direction, and the position and speeds of the vehicle being overtaken, the overtaken vehicle, and the overtaking vehicle are determined. A state variable can be detected using an environmental sensing device, which characterizes the relative state of a first object in relation to the vehicle. The state variable can be implemented, for example, as a vector quantity and / or multiple quantity. An actual environmental variable can also be detected using the environmental sensing device. The actual environmental variable characterizes a state of motion or a traffic state of the objects in the vicinity of the vehicle.The state variable and the actual environmental variable are fed to a first and a second criterion of an evaluation device in the vehicle. It can be assumed that at a longitudinal distance Y1, the overtaking object can safely merge into the oncoming lane. For longitudinal distance Y2, it can be assumed, for example, that to avoid a collision between the vehicle and the object, a deceleration of vehicle 1 between 0 and 2 m / s² would be necessary. For the shortest longitudinal distance Y3, it can be assumed that to avoid a collision between the vehicle and the object, a deceleration greater than 2 m / s² would be necessary. The longitudinal distances Y1 to Y3 can be part of the state variable that can be determined by the environmental sensing device.However, it is also possible to determine deceleration values ​​necessary to avoid a collision between the motor vehicle and the overtaking object using the longitudinal distances Y1 to Y3.

[0007] The publication DE 103 10 501 A1 discloses a device with an overtaking assistance module for driver support in motor vehicles, characterized by an information system that provides the overtaking assistance module with supplementary information about the traffic environment that is relevant for an overtaking maneuver.

[0008] The object of the present invention is to provide a method for operating a motor vehicle equipped with a driver assistance system which offers improved support to the driver in a situation in which an oncoming vehicle overtakes another oncoming vehicle.

[0009] According to the invention, this problem is solved by the features mentioned in claim 1.

[0010] The method according to the invention makes it possible to prevent a collision that might otherwise occur without a reaction from the driver of the other vehicle by predicting whether there is sufficient space to merge in front of the other vehicle and the resulting prediction of a possible collision. This provides protection for the other vehicle and its occupants, as well as for the oncoming, overtaking, and oncoming vehicles, and their occupants.

[0011] In a highly advantageous embodiment of the invention, a measure intended to prevent a collision may include an acoustic, visual, and / or haptic warning. This clearly indicates to the driver of the motor vehicle with which the inventive method is carried out that intervention is necessary to prevent a potential collision.

[0012] Alternatively or additionally, a measure to prevent a collision may include initiating braking of the vehicle itself. The driver is assisted in this process if there is insufficient time for an audible, visual, and / or haptic warning. Naturally, an audible, visual, and / or haptic warning can also be issued in addition to initiating braking.

[0013] Furthermore, it may be stipulated, either alternatively or additionally, that a measure attempting to prevent a collision includes initiating an evasive maneuver with one's own vehicle. Depending on the traffic situation, initiating an evasive maneuver may also be a suitable measure to prevent a collision. Such an evasive maneuver may also be accompanied by braking or an audible, visual, and / or haptic warning.

[0014] The aforementioned possibilities for measures to prevent the collision depend on the results of the calculation of the trajectories of the vehicles involved.

[0015] Furthermore, it may be stipulated that initiating an evasive maneuver involves intervening in the steering of one's own vehicle. Such intervention in the vehicle's steering allows an evasive maneuver to be actively initiated, which is particularly useful when there is insufficient time for other measures.

[0016] In order to better calculate or estimate the trajectories of the vehicles involved, it may also be provided that a classification of the vehicle types of the overtaken vehicle and / or the overtaking vehicle is carried out in order to calculate the trajectories of the overtaken vehicle and / or the overtaking vehicle.

[0017] Furthermore, it may be necessary to assess the condition of the road surface on which the overtaking vehicle, the overtaken vehicle, and the overtaking vehicle are traveling in order to predict whether there is sufficient longitudinal and transverse space for the overtaking vehicle to merge in front of the overtaking vehicle. Since the road surface plays a role, particularly with regard to braking distances and the risk of one of the vehicles skidding, this contributes to a more accurate prediction.

[0018] In order to detect irrelevant overtaking maneuvers, which may occur, for example, in intersection areas, it may also be provided that, in order to predict whether there is sufficient longitudinal and transverse space for the overtaking vehicle to merge in front of the vehicle being overtaken, an evaluation of information regarding existing lanes on the road on which the vehicle being overtaken, the overtaken vehicle and the overtaking vehicle are moving is carried out.

[0019] In this context, it is particularly advantageous if, for evaluating the information about the lanes of the road, the data of a navigation system are used to predict a sufficiently large longitudinal and transverse space for the overtaking vehicle to merge in front of one's own vehicle, as this is a very simple way to obtain information regarding the road or the carriageway on which the vehicles are located and thus, in this case, to exclude irrelevant overtaking maneuvers.

[0020] If, in a further advantageous embodiment of the invention, it is provided that, in the event that it is determined that a collision between the vehicle and the overtaking vehicle is unavoidable, passive safety systems of the vehicle are activated, then in the event of a collision the resulting damage and / or injuries are reduced.

[0021] An exemplary embodiment of the invention is shown below in principle with reference to the drawing.

[0022] It shows: Fig. 1 a first situation in which the method according to the invention can be applied; and Fig. 2 a driving situation in which the method according to the invention is not applied.

[0023] Fig. Figure 1 depicts a driving situation that describes a method for operating a motor vehicle 1 equipped with a driver assistance system (not shown). For clarity, the motor vehicle 1 in which the method according to the invention is carried out is referred to below as "own motor vehicle 1". A total of three vehicles are involved in the driving situation: the first vehicle, referred to as own motor vehicle 1; the first oncoming or second vehicle, referred to as overtaken motor vehicle 2; and the second oncoming or third vehicle, referred to as overtaking motor vehicle 3. Of course, several overtaken and / or overtaking vehicles could also be involved in the driving situation.

[0024] The solid lines depict the three vehicles 1, 2, and 3 in their initial driving state. The overtaking vehicle 3 is also shown in two further positions to illustrate the overtaking maneuver. These positions are labeled 3' and 3". Naturally, the vehicle 1 and the overtaken vehicle 2 are also moving during this overtaking maneuver; however, this is not shown for the sake of simplicity.

[0025] To operate the driver assistance system of the vehicle 1, the following data is recorded: the position x1(t) and speed v1(t) of the vehicle 1 at time t, the position x2(t) and speed v2(t) of the overtaken vehicle 2, and the position x3(t) and speed v3(t) of the overtaking vehicle 3. This is achieved using sensors on the vehicle 1 (not shown). These sensors may already be present on the vehicle 1, such as radar and / or camera sensors. The exact position and design of the sensors may be known, so they will not be discussed in detail here. The positions and / or speeds of the vehicles 1, 2, and 3 can also be exchanged via car-to-car communication.

[0026] From the aforementioned positions and speeds, as well as from the changing positions and speeds of the vehicles 1, 2, and 3 involved, the trajectories of the vehicle 1, the overtaken vehicle 2, and the overtaking vehicle 3 are calculated, and a prediction is made regarding the longitudinal and transverse space 4 sufficient for the overtaking vehicle 3 to merge in front of the vehicle 1. The width of space 4, i.e., its transverse extent, is denoted by "a", and the length of space 4, i.e., its longitudinal extent, is denoted by "b".If the prediction indicates that a collision between the driver's own vehicle 1 and the overtaking vehicle 3 cannot be prevented without a reaction from the driver's own vehicle 1, a measure attempting to prevent the collision is taken in accordance with the procedure for operating the driver's own vehicle 1 equipped with the driver assistance system. The driver assistance system may include a control unit, in a manner known per se, which is connected to the sensors.

[0027] A measure attempting to prevent a collision can include an acoustic, visual, and / or haptic warning, which is issued, for example, in the area of ​​a dashboard or instrument panel. Alternatively or additionally, braking of the vehicle 1 can be initiated if the prediction indicates a collision between the vehicle 1 and the overtaking vehicle 3 without braking. Also alternatively or additionally, an evasive maneuver can be initiated in such a case, which may involve intervention in the steering of the vehicle 1 (not shown). For this purpose, it should be determined whether a sufficiently large area designated by reference numeral 5 is available next to the vehicle. The evasive area 5 could, for example, be the hard shoulder of a road or an unbuilt or...The vehicle 1 is traveling on a level, vegetated area next to the road. By merging onto the passing area 5, the width a of space 4, i.e., the transverse dimension of space 4, can be increased. Alternatively, instead of intervening in the steering, it is also possible to display an arrow or similar symbol on a screen visible to the driver.

[0028] If the calculation shows that a collision between the own vehicle 1 and the overtaking vehicle 3 is unavoidable, passive safety systems of the own vehicle 1, such as airbags, seat belt systems or the like, can be pre-tensioned or activated.

[0029] To calculate the trajectories of the overtaken vehicle 2 and / or the overtaking vehicle 3, the vehicle types of the overtaken vehicle 2 and the overtaking vehicle 3 can be classified. Possible classifications include bicycles, motorcycles, cars, small trucks, large trucks, buses, etc.

[0030] Furthermore, the condition of the road or roadway on which the vehicles 1, 2, and 3 are traveling can also be taken into account to predict the sufficient longitudinal and transverse space 4 for the overtaking vehicle 3 to merge back in front of its own vehicle 1. The information about the road condition can relate in particular to its coefficient of friction, which results from dryness, wetness, or a snow or ice surface on the road.

[0031] It is also possible to analyze information regarding existing lanes on the road on which the vehicles 1, 2, and 3 are traveling in order to make a corresponding prediction regarding the availability of sufficient space 4. Data from the navigation system of the vehicle 1 (not shown) can also be used for this purpose.

[0032] In Fig. Figure 2 illustrates such a driving situation in which the overtaking vehicle 3 turns into a left-turn lane, so that there is no risk of a collision with the overtaking vehicle 1, provided the driver of the overtaking vehicle 1 adheres to the traffic regulations. In this case, it is not necessary to carry out the method according to the invention. If, as described, the lanes on the road in which the vehicles 1, 2, and 3 are moving are included in the evaluation, then intervention, as required by the driving situation of Fig. As described in point 1, this can be prevented in this case. Reference symbol list 1 own motor vehicle 2 overhauled motor vehicles 3 overtaking vehicle 4 longitudinal and transverse space 5 overflow area

Claims

[1] Method for operating a motor vehicle (1) equipped with a driver assistance system in a driving situation in which a motor vehicle (3) approaching the motor vehicle (1) overtakes another motor vehicle (2) approaching the motor vehicle (1), wherein the position and speeds of the motor vehicle (1), the overtaken motor vehicle (2) and the overtaking motor vehicle (3) are determined at respective times, wherein the trajectories of the motor vehicle (1), the overtaken motor vehicle (2) and the overtaking motor vehicle (3) are calculated, wherein a prediction is made about a longitudinal and transverse space (4) sufficient for the overtaking motor vehicle (3) to merge in front of the motor vehicle (1), and wherein, if the prediction results in a collision between the motor vehicle (1) and the overtaking motor vehicle (3),A measure is taken to try to prevent the collision. [2] Method according to claim 1, characterized by that a measure attempting to prevent the collision includes an acoustic, visual and / or haptic warning. [3] Method according to claim 1 or 2, characterized by , that a measure attempting to prevent the collision includes initiating a braking procedure of one's own motor vehicle (1). [4] Method according to claim 1, 2 or 3, characterized by , that a measure attempting to prevent the collision includes initiating an evasive maneuver with one's own motor vehicle (1). [5] Method according to claim 4, characterized by , that initiating an evasive maneuver includes intervening in the steering of one's own motor vehicle (1). [6] Method according to any one of claims 1 to 5, characterized by, that in order to calculate the trajectories of the overtaken motor vehicle (2) and / or the overtaking motor vehicle (3) a classification of the vehicle types of the overtaken motor vehicle (2) and / or the overtaking motor vehicle (3) is carried out. [7] Method according to any one of claims 1 to 6, characterized by , that in order to make the prediction about a longitudinal and transverse space (4) sufficient for the overtaking vehicle (3) to merge in front of the own vehicle (1), the condition of the road on which the own vehicle (1), the overtaken vehicle (2) and the overtaking vehicle (3) are moving is assessed. [8] Method according to any one of claims 1 to 7, characterized by, that in order to make the prediction about a longitudinal and transverse space (4) sufficient for the overtaking vehicle (3) to merge in front of the own vehicle (1), an evaluation of information regarding existing lanes on the road on which the own vehicle (1), the overtaken vehicle (2) and the overtaking vehicle (3) are moving is carried out. [9] Method according to claim 8, characterized by , that the data of a navigation system are used to evaluate the information about the lanes of the road on which the prediction about a sufficiently longitudinal and transverse space (4) for the overtaking vehicle (3) to merge in front of the own vehicle (1) is made. [10] Method according to any one of claims 1 to 9, characterized by, that in the event that it is determined that a collision between the own motor vehicle (1) and the overtaking motor vehicle (3) is unavoidable, passive safety systems of the own motor vehicle (1) will be activated.

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