Method and assistance system for the automated guidance of an ego vehicle

Abstract

Method for the automated guidance of an ego vehicle (1), comprising the following steps: - Detection of an environment of the ego vehicle (1) and output of corresponding environment information, - Providing a first target trajectory (T1) for the ego vehicle (1), - Determination of an impending pendulum movement of other vehicles (2) surrounding the ego vehicle (1) based on the environmental information, - If a pendulum movement has been detected in at least one of the surrounding other vehicles (2), evaluation of whether there is a risk of collision with the corresponding other vehicle (2) with the first target trajectory (T1), and if so, a second target trajectory (T2) is determined, - wherein the first target trajectory (T1) corresponds to a lane center guidance, wherein the second target trajectory (T2) corresponds to a target trajectory deviating from the lane center, - wherein a pendulum movement is determined as a function of at least one disturbing factor influencing the trajectory of a foreign vehicle (2), - wherein a pendulum movement of a foreign vehicle (2) is detected as a function of at least one of the following influencing disturbance factors: crosswind, vehicle type and / or road surface irregularities on the road surface of the surrounding foreign vehicle (2).

Description

[0001] The invention relates to a method and an assistance system for the automated guidance of an ego vehicle.

[0002] Various vehicle and environmental conditions can lead to dangerous vehicle swaying. For example, a coupled trailer usually significantly influences the handling of the towing vehicle. In particular, an improperly loaded trailer or external environmental conditions such as crosswinds can cause the entire vehicle and trailer body to sway. Swaying vehicle conditions can lead to uncontrollable destabilization and, in the worst case, result in a traffic accident, such as a lane departure or a side impact, so this traffic accident risk requires special handling.

[0003] The document DE 11 2013 004 433 T5 discloses a driver assistance system with a control device which is designed to control an actuator of the vehicle on the basis of a moving object avoidance path.

[0004] The document DE 11 2010 000 802 B4 discloses a device that predicts the movement region of other vehicles. For this purpose, the movement of the other vehicles, such as pendulum movements, is recorded.

[0005] The document DE 10 2016 001 253 A1 discloses a method for operating an autonomous or at least partially autonomous vehicle. Road users in the vicinity of the vehicle and their respective movement trajectories are detected, a parameter of the detected movement trajectory of the respective road user is determined, and in the event of a deviation from the determined

[0006] Parameter from a specified parameter range, a safety distance to this road user is increased and / or the speed of the vehicle is reduced.

[0007] The document DE 41 27 750 C1 discloses a device intended to improve the sway stability of car-trailer combinations. For this purpose, sensors or transducers are arranged to detect undesirable swaying movements of the trailer or rear vehicle or vehicle part relative to the towing vehicle or front vehicle or vehicle part. The towing vehicle or front vehicle or vehicle part is equipped with a computer-controlled automatic auxiliary steering system, the control system of which processes the signals from the sensors or transducers and activates the auxiliary steering system to perform counter-steering maneuvers to mitigate the swaying movements.

[0008] The present invention is based on the object of providing a method and an assistance system which are intended to reduce collision risks in connection with vehicle instabilities.

[0009] The above object is achieved by the entire teaching of claim 1 and the subordinate claims. Advantageous embodiments of the invention are claimed in the subclaims.

[0010] A method for the automated guidance of an ego vehicle is proposed. In this context, automated guidance is understood to mean, in particular, partially or fully automated support of the driver by assistance systems, or alternatively, autonomous driving. The method comprises the following steps: The environment of the ego vehicle is detected and corresponding environment information is output. The environment can be detected using an environment detection device of the ego vehicle. The environment detection device can, for example, have sensors that are suitable for detecting the environment of the ego vehicle. Such sensors can be, for example, ultrasonic sensors, radar sensors, LIDAR sensors or the like. However, the environment detection device can also be, for example, a central control unit in the ego vehicle, which creates an environment model for the ego vehicle based on sensor data from other systems.

[0011] A first target trajectory is provided for the ego vehicle. This first target trajectory is a lane centering guidance.

[0012] Furthermore, an impending pendulum movement of other vehicles surrounding the ego vehicle, in particular adjacent and / or ahead, is determined based on the surrounding information. Pendulum movement is understood to mean, in particular, the initiation or amplification of a mechanical oscillation, in other words, in particular, a swinging of the vehicle.

[0013] If a pendulum movement has been detected in at least one of the surrounding other vehicles, an evaluation is carried out in particular to determine whether there is a risk of collision with the corresponding other vehicle, i.e. with the other vehicle with the determined pendulum movement, using the first target trajectory. In particular, the trajectories of the detected other vehicles are thus recorded and predicted. Preferably, a collision risk is recorded if the trajectories of the ego vehicle and a other vehicle intersect or fall below a critical distance value. If a risk of collision with at least one of the other vehicles has been determined in the case of a detected pendulum movement, at least a second target trajectory is determined. Preferably, the ego vehicle is controlled, for example, by a control device of the ego vehicle along the specified first or second target trajectory.

[0014] In particular, a driving strategy based on predicted oscillations of other vehicles is evaluated. This makes it possible to react proactively and conveniently, for example, by performing a predictive lane change or lane keeping with predictive preparations. A key advantage of the method according to the invention is therefore the predictive adaptation of the ego trajectory to the predicted traffic situation.

[0015] According to a preferred embodiment, the first target trajectory corresponds to lane center guidance in the ego lane, thus the lane in which the ego vehicle is currently located. The second target trajectory preferably corresponds to a target trajectory deviating from the lane center of the ego lane. In particular, the second target trajectory at least temporarily implements a trajectory path with a lateral deviation from the lane center of the current lane or a lane change to an adjacent lane, thus ensuring sufficient lateral distance from commuting or impending commuting other vehicles.

[0016] It is preferable that a pendulum movement of a foreign vehicle be detected, particularly predicted, if an unusual movement pattern has been detected in this foreign vehicle. An unusual movement pattern could be, for example, an abrupt swiveling movement or a swinging movement of the foreign vehicle. Thus, visible phenomena, especially movement patterns measurable by sensors, are recorded. The detection of the movement patterns can be carried out, for example, using camera data from an in-vehicle camera unit.

[0017] A pendulum movement, specifically an impending pendulum movement, is detected depending on at least one disturbing factor influencing the trajectory of a third-party vehicle. Consequently, a pendulum movement, in particular, is not determined based on the recorded trajectory of a third-party vehicle, or not exclusively on it, but alternatively or additionally on disturbing factors that influence the pendulum behavior.

[0018] A swaying movement or impending swaying movement of a foreign vehicle is detected depending on at least one of the following influencing disturbance factors: crosswind, vehicle type, in particular car, truck or trailer, and / or road surface irregularities such as a pothole in the roadway of the surrounding foreign vehicle.

[0019] Another subject matter of the invention relates to an assistance system for the automated guidance of the ego vehicle, wherein the assistance system is preferably operated by a method according to the preceding description. Particularly preferably, the assistance system is designed as a lane keeping assistance or lane guidance assistance system, by means of which guidance of the ego vehicle can be carried out at least partially automatically.

[0020] The assistance system comprises an environment detection device configured to detect the environment of the ego vehicle and output corresponding environment information. Furthermore, the assistance system comprises an evaluation unit configured to provide a first target trajectory for the ego vehicle. Furthermore, the evaluation unit is configured to determine an impending pendulum movement of surrounding other vehicles.

[0021] If a pendulum motion has been evaluated for at least one of the surrounding other vehicles, the evaluation unit is configured to evaluate whether the first target trajectory poses a risk of collision with the corresponding other vehicle in the pendulum motion. If so, the evaluation unit is configured to determine a second target trajectory. The first target trajectory corresponds to a lane center guidance, and the second target trajectory corresponds to a target trajectory deviating from the lane center.Furthermore, the evaluation unit is designed to determine a pendulum motion as a function of at least one disturbing factor influencing the trajectory of a foreign vehicle. The evaluation unit is further designed to detect a pendulum motion in a foreign vehicle as a function of at least one of the following influencing disturbing factors: crosswind, vehicle type, and / or road surface irregularities on the roadway of the surrounding foreign vehicle. In this way, a proactive response is made to a collision risk caused by pendulum movements of other vehicles.

[0022] Preferably, the assistance system comprises a control device for controlling the ego vehicle along the defined target trajectory.

[0023] Furthermore, the present invention also encompasses a computer program with program code for carrying out the method according to the invention when the computer program is executed in a computer or another programmable computer known from the prior art. Accordingly, the method can also be designed as a purely computer-implemented method, wherein the term "computer-implemented method" in the sense of the invention describes a process plan or procedure that is realized or carried out using a computer. The computer, such as a computer, a computer network, or another programmable device known from the prior art (e.g., a computer device comprising a processor, microcontroller, or the like, such as a control device), can process data using programmable computing instructions.

[0024] Furthermore, the present invention comprises a computer-readable storage medium comprising instructions which cause the computer on which they are executed to perform a method according to at least one of the preceding claims.

[0025] Furthermore, the present invention also includes a vehicle comprising an assistance system according to the invention, a computer program according to the invention or a computer-readable storage medium according to the invention.

[0026] The invention is explained in more detail below using practical examples. They show: Fig. 1 - 3 show a bird's eye view of a traffic scenario in which an ego vehicle predictively initiates a measure to prevent a collision with a vehicle at risk of oscillation.

[0027] Driving a vehicle, especially a trailer, presents a number of challenges due to varying operating characteristics. Environmental disturbances such as potholes or crosswinds can negatively impact a vehicle's dynamics. Unstable behavior such as excessive sway poses a collision risk. Fig. 1 - 3 show an ego vehicle 1 comprising an assistance system which is designed to detect unstable behavior in other vehicles 2, in particular in pendulum-critical other vehicles 2 such as the one in Fig. 1 - 3 shown, at an early stage and to initiate, as predictively as possible, a measure to prevent a collision or at least to reduce the risk of collision with such a foreign vehicle 2.

[0028] Fig. 1 to 3 show a bird's eye view of an ego vehicle 1 in the left lane and a foreign vehicle 2 in the right lane in the same direction of travel, which are at the same height.

[0029] The assistance system of the ego vehicle 1 is designed for the automated guidance of the ego vehicle 1. In the embodiment according to Fig. 1 - 3, the assistance system is designed as a lane guidance assistance system. As in Fig. As shown in Figure 1, the ego vehicle 1 is guided along a first target trajectory T1. In this example, the first target trajectory T1 is guidance within the ego lane, specifically along the lane center. The first target trajectory T1 is provided, for example, by an evaluation unit of the assistance system.

[0030] The assistance system comprises an environment detection device configured to detect the environment of the ego vehicle 1, such as lanes, obstacles, and other road users, and to output corresponding environment information to the evaluation unit. The evaluation unit is configured to determine an impending pendulum movement of surrounding other vehicles based on the environment information. A pendulum movement is understood to mean, in particular, an initiated upward swing, specifically a low- or high-frequency lateral swivel behavior of a vehicle.

[0031] In this exemplary embodiment, there are potholes S in the right lane in front of the other vehicle 2. The evaluation unit is designed to determine an impending pendulum movement of the other vehicle 2 surrounding the ego vehicle 1 based on the environment information. Fig. The time shown in Figure 1 is not based on any swaying motion of the other vehicle 2. However, the evaluation unit is designed to determine an impending swaying motion of the other vehicle 2 based on identified disruptive factors that influence a swaying motion. In this example, one of the disruptive factors is the potholes S. The potholes can be evaluated, for example, directly via an in-vehicle camera and / or by detecting the traffic sign. Another disruptive factor is the vehicle type of the other vehicle 2, in this case a trailer combination, which is more prone to swaying than a vehicle without a trailer.

[0032] Furthermore, the speeds of the ego vehicle 1 and the other vehicle 2 are determined, for example, to determine whether the ego vehicle 1 is located in a collision-prone area at the time of the expected oscillation of the other vehicle 2. The position and speed of the other vehicle 2 can be determined, for example, via a radar and / or a camera of the ego vehicle 1. The time T_2disturb at which the other vehicle 2 is expected to reach the potholes is determined, for example, from the distance and speed of the other vehicle 2.

[0033] Based on evaluated environmental information, in particular interference factors, the evaluation unit is configured to evaluate whether a pendulum motion is present. Based on the determined pendulum motion of the other vehicle 2, the evaluation unit is configured to evaluate whether there is a risk of collision with the other vehicle 2 with the first target trajectory T1. In this exemplary embodiment, a collision risk was evaluated due to the pendulum risk of the other vehicle 2. The evaluation unit is configured to determine a second target trajectory T2 to reduce the risk of collision with the other vehicle 2 at risk of pendulum motion.

[0034] In Fig. Figure 2 illustrates the guidance of the ego vehicle 2 along the second target trajectory T2. The second target trajectory T2 is a lateral deviation D_offset, i.e., in particular, an offset of an original lateral guidance function T1, which ensures sufficient distance in the event of the predicted oscillation of the other vehicle 2. This is intended to achieve optimized lane guidance, particularly during an activated assistance system or automated guidance, in which the driver might not assume control in time.

[0035] It is also conceivable to define a critical collision zone in the ego lane. For this purpose, for example, a tolerant distance D_front in front of the vehicle-trailer combination 2 and a tolerant distance D_rear behind the vehicle-trailer combination 2 can be defined. If the ego vehicle 1 is within the critical collision zone and the time to reach the disturbance T_2disturb is less than a certain threshold, the second target trajectory T2 is determined and controlled, specifically a shift of the lateral guidance with a lateral deviation D_offset toward the lane center in order to proactively move far away from the target vehicle.

[0036] If the evaluation unit has determined that a collision risk with the other vehicle 2 is excluded, for example after leaving the critical collision area by overtaking the other vehicle 2 or if the other vehicle has overcome the uneven road surface, a return to the first, original target trajectory T1 or to a newly calculated target trajectory Tx takes place, as in Fig. 3 shown.

Claims

[1] Method for the automated guidance of an ego vehicle (1), comprising the following steps: - Detection of an environment of the ego vehicle (1) and output of corresponding environment information, - Providing a first target trajectory (T1) for the ego vehicle (1), - Determination of an impending pendulum movement of other vehicles (2) surrounding the ego vehicle (1) based on the environmental information, - If a pendulum movement has been detected in at least one of the surrounding other vehicles (2), evaluation of whether there is a risk of collision with the corresponding other vehicle (2) with the first target trajectory (T1), and if so, a second target trajectory (T2) is determined, - wherein the first target trajectory (T1) corresponds to a lane center guidance, wherein the second target trajectory (T2) corresponds to a target trajectory deviating from the lane center, - wherein a pendulum movement is determined as a function of at least one disturbing factor influencing the trajectory of a foreign vehicle (2), - wherein a pendulum movement of a foreign vehicle (2) is detected as a function of at least one of the following influencing disturbance factors: crosswind, vehicle type and / or road surface irregularities on the road surface of the surrounding foreign vehicle (2). [2] Method according to claim 1, wherein the trajectory of the surrounding other vehicles (2) is recorded to determine a pendulum movement. [3] Method according to claim 1 or 2, wherein a pendulum movement in a foreign vehicle (2) is determined, in particular predicted, should an unusual movement pattern be detected in this foreign vehicle (2). [4] Assistance system for the automated guidance of an ego vehicle (1), comprising an environment detection device which is designed to detect an environment of the ego vehicle (1) and to output corresponding environment information, an evaluation unit which is designed to provide a first target trajectory (T1) for the ego vehicle (1), wherein the evaluation unit is designed to determine an impending pendulum movement of surrounding other vehicles (2), wherein, in the case of a determined pendulum movement of at least one of the surrounding other vehicles (2), the evaluation unit is designed to evaluate whether, with the first target trajectory (T1), there is a risk of collision with the corresponding other vehicle (2) in the pendulum movement, and if so, the evaluation unit is designed to determine a second target trajectory (T2), wherein the first target trajectory (T1) corresponds to a lane center guidance,wherein the second target trajectory (T2) corresponds to a target trajectory deviating from the lane center, wherein the evaluation unit is further designed to determine a pendulum movement as a function of at least one disturbing factor influencing the trajectory of a foreign vehicle (2), and wherein the evaluation unit is further designed to detect a pendulum movement in a foreign vehicle (2) as a function of at least one of the following influencing disturbing factors: crosswind, vehicle type and / or road surface irregularities on the roadway of the surrounding foreign vehicle (2). [5] Assistance system according to claim 4, wherein the assistance system is designed as a lane keeping assistance or lane guidance assistance system. [6] Vehicle (1) comprising an assistance system according to one of claims 4 to 5.

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