Driver assistance system for a vehicle and methods for assisting a driver

Abstract

The invention relates to a driver assistance system (2) for a vehicle (1), comprising at least a first detection unit (3) for detecting a lane (F1) being traveled by the vehicle (1) on a multi-lane roadway (F), a second detection unit (4) for detecting neighboring vehicles (9), and an evaluation unit (6) for evaluating data acquired by the detection units (3, 4). The invention further relates to a method for supporting the driver of a vehicle (1) with such a driver assistance system (2).

Description

The invention relates to a driver assistance system for a vehicle according to the preamble of claim 1.DE 10 2008 005 999 A1 discloses a method and a driver assistance system for assisting the driver of a vehicle when holding a lane delimited by lane markings, in which the lane markings and the position of the vehicle in the lane are detected and in which, when leaving or imminently leaving the lane, a lane departure warning is issued to the driver of the vehicle in a first step and a course-correcting actuating intervention acting counter to lane departure is carried out in a second step. The actuating intervention is only carried out when the lane is not permitted to leave due to the type of lane marking to be traveled over when lane departure occurs or when the lane is not safely permitted to leave due to collision-risk objects present laterally to the lane.The invention is based on the object of specifying a driver assistance system which is improved compared to the prior art and an improved method for assisting a driver of a vehicle in the event of a traffic jam situation.The object with respect to the driver assistance system is achieved according to the invention by the specified features of claim 1.Advantageous embodiments of the invention are the subject matter of the dependent claims.The driver assistance system for a vehicle comprises at least one first detection unit for detecting a lane traveled by the vehicle on a multi-lane roadway, a second detection unit for detecting adjacent vehicles and an evaluation unit for evaluating detected data of the detection units, wherein, according to the invention, the evaluation unit is designed to determine a distance between the vehicle and at least one adjacent vehicle in the case of a determined traffic jam situation on a multi-lane roadway and to generate a virtual gate traveled by a motorcycle on the basis of the distance when a minimum width is fulfilled, wherein at least one item of information relating to the virtual gate can be output to a driver of the vehicle by means of at least one output unit coupled to the evaluation unit.In the traffic jam, a rescue corridor usually forms. The emergency corridor and distances between two lanes are often used by motor bicycles to progress more quickly in the traffic jam. Such behavior can occur, for example, on freeways, but also in cities. In order to better protect motorcyclists, a multi-stage safety concept for warning and for protecting the vehicle drivers is introduced.The advantages achieved with the invention consist in particular in recognizing a lane, which can be traveled by a motorcycle, between the own vehicle, also referred to below as the ego vehicle, and a neighboring vehicle and / or a further lane as a usable lane at an early stage and making the driver of the ego vehicle aware of this. In particular, the driver of the ego vehicle is alerted early that a distance between the ego vehicle and at least one adjacent vehicle could be used by potential motorcyclists. In this case, it is avoided that the ego vehicle collides with fast-moving motorbikes in the so-called blind spot if the distance is represented for the driver as a virtual gate to be kept free or not to be traveled.The minimum width of the distance between two adjacent vehicles should be at least 1 m.The advantages achieved with the invention thus consist in increasing or to ensure as far as possible safety of motorcyclists when driving past between vehicles by preventive instructions and active assistance.The information can be output visually and / or acoustically. For example, the virtual gate is identified and output as such in the navigation system. For example, the virtual gate is output as a visual and / or acoustic warning to the driver of the ego vehicle. For example, information relating to the virtual gate is output via an input unit and / or output unit of the navigation system, for example via a display or touchscreen.The first detection unit is, for example, a lane recognition device for detecting a lane traveled by the ego vehicle on the basis of lane-limiting lane markings.The second detection unit is, for example, an object detection device for detecting lateral objects located next to the detected lane.According to one specific embodiment, after the virtual gate has been detected by a motorcycle, the evaluation unit is designed to define the virtual gate as a protective gate with a predefined minimum width that is to be kept free of the vehicle and to output it as information to the driver of the vehicle.According to a further embodiment, after the virtual lane has been used by a motorcycle, the evaluation unit is designed to assign a virtual lane marking which is not to be traveled over by the vehicle to the virtual lane and to output it as information to the driver of the vehicle.According to a further embodiment, the evaluation unit is configured, after the virtual gate has been detected by a motorcycle, to define a lateral minimum distance, which is to be observed by the vehicle, from the virtual gate and to output it as information to the driver of the vehicle.According to a further embodiment, the evaluation unit is designed to activate a control unit for carrying out a course-correcting lateral control of the vehicle when a utilization of the virtual gate is detected by a motorcycle.According to one specific embodiment, the control unit is designed to carry out the transverse regulation in such a way that the vehicle is prevented from entering the virtual gate and / or a lateral minimum distance from the virtual gate is maintained.According to a further embodiment, the evaluation unit is designed to deactivate the control unit within a predeterminable or predetermined waiting time if a further use of the virtual gate is not detected by a further motorcycle.A multi-stage safety concept can be implemented by means of the driver assistance system. In the case of a traffic jam situation, a distance, in particular in the form of a lane, between two vehicle rows can be detected by sensors of the detection units and by object detection and line detection.In particular, a multi-stage safety concept for motorcyclist detection in a traffic jam situation with warning messages and assistance thresholds can be provided by means of the driver assistance system.The sensors of the detection units can comprise cameras, radar sensors, ultrasonic sensors and / or lidar sensors, for example.If a distance, for example a ramway or a lateral distance of at least one meter, is detectable, a virtual gate for motor riders is generated on the basis of the distance. The driver receives at least one notice up to a driving speed of 60 km / h that the possible motorcyclists are to be paid attention.When an motor rider approaches, for example by detecting a motorcycle at blind spots, or has already traveled past, the active "virtual gate" is verified and a safety threshold is raised with driver instructions of the detected motor rider and used as protective gates in the assistance system. This means that a lane keeping assistant, for example the control unit with lateral control, already controls not to the existing roadway lane but to the virtual lane of the gate. This can also be activated to a limited extent in time, for example from 30 s to 10 min depending on the situation and the driving speed. A time counter, also called a counter, can restart when the motor wheels pass further. Details of a gate width or virtual lane distances to the vehicle can be defined as a function of the driving speed, for example in the form of a matrix.In order to assist a driver of a vehicle, a driver assistance system comprises at least a first detection unit for detecting a lane in which the vehicle is driving on a multi-lane roadway, a second detection unit for detecting adjacent vehicles, and an evaluation unit for evaluating detected data of the detection units. In the method for assisting a driver of a vehicle with such a driver assistance system, a lane on a multi-lane roadway that is being traveled by the vehicle is detected by means of a first detection unit, adjacent vehicles are detected by means of a second detection unit, and data of the detection units detected by means of an evaluation unit are evaluated. According to the invention, in the case of a traffic jam situation on a multi-lane roadway, a distance between the vehicle and at least one adjacent vehicle is determined by means of the evaluation unit and a virtual lane that can be traveled by a motorcycle is generated on the basis of the distance when a predefined minimum width is fulfilled, wherein at least one item of information relating to the virtual lane is output to a driver of the vehicle by means of at least one output unit coupled to the evaluation unit. The minimum width of the spacing should be, for example, at least 1 m.The information can be output visually and / or acoustically. For example, the virtual gate is identified and output as such in the navigation system. For example, the virtual gate is output as a visual and / or acoustic warning to the driver of the ego vehicle. For example, information relating to the virtual gate is output via an input unit and / or output unit of the navigation system, for example via a display or touchscreen.The first detection unit is, for example, a lane recognition device for detecting a lane traveled by the ego vehicle on the basis of lane-limiting lane markings.The second detection unit is, for example, an object detection device for detecting lateral objects located next to the detected lane.According to one specific embodiment, when a motorcycle detects a use of the virtual gate, a control unit is activated for carrying out a course-correcting lateral control of the vehicle. The transverse regulation is carried out in such a way that the vehicle is prevented from entering the virtual gate and / or a lateral minimum distance to the virtual gate is maintained. The control unit can be, for example, a lane keeping assistant.According to one specific embodiment, after the virtual gate has been detected by a motorcycle, the virtual gate is defined by the evaluation unit as a protective gate with a predefined minimum width that is to be kept free of the vehicle and is output as information to the driver of the vehicle. The minimum width can be at least 700 mm, for example.According to a further embodiment, after the virtual lane has been detected by a motorcycle, the virtual lane is assigned to the virtual lane by means of the evaluation unit a virtual lane marking that is not to be traveled over by the vehicle and is output as information to the driver of the vehicle.According to a further embodiment, after the virtual gate has been detected by a motorcycle, a lateral minimum distance to the virtual gate which is to be observed by the vehicle is defined by means of the evaluation unit and is output as information to the driver of the vehicle. The minimum distance can be at least 0.5 m, for example.According to a further embodiment, the control unit is deactivated by means of the evaluation unit in the event of no further use of the virtual gate being detected by a further motorcycle within a predeterminable or predetermined waiting time.According to a further embodiment, a traffic jam situation is detected if it is determined by means of the evaluation unit that the vehicle is moving at a driving speed of at most 60 km / h for a predefined period of time. For example, on a road on which 100 km / h is allowed, an average running speed of 50 km / h for one minute is acquired. As a result, the evaluation unit can infer a traffic jam situation.In other words: the driver assistance system of the ego vehicle checks whether a situation with the following properties exists:the ego vehicle is located on a multi-lane roadway or road in a traffic jam situation, andlaterally between the ego vehicle and the neighboring vehicles traveling on a neighboring lane there is a distance, in particular in the form of a free lane, having a predefined minimum width.If the driver assistance system recognizes that this situation is present, a "potential motorcyclist" state is activated for the duration of the recognition of this situation. When the "potential motorcyclists" state is activated, a warning is output to the driver of the ego vehicle as information about potential motorcyclists.If the driver assistance system recognizes in the "potential motorcyclists" state that a motorcycle is approaching the virtual gate or has already traveled past in the virtual gate, the driver assistance system transitions from the "potential motorcyclists" state to a "motorcyclist lane present" state for a limited period of time. In the state "motorcycle lane present", the virtual gate is defined as inert gates to be kept free.In the state "Motorcycle Lane Present", the lateral control of the ego vehicle is carried out in such a way that a motorcyclist is permitted to pass safely in the virtual gate, in particular the lateral gate defined as inert gases.The driver assistance system remains in the state "motorcycle lane present" for a limited period.In particular, a state transition from the state "motorcycle lane present" back to the state "potential motorcyclist" takes place if no further motorcycle has been detected within a predeterminable waiting time after the detection of a motorcyclist passing by. In this case, the lateral control or the associated control unit can be deactivated.For example, in the "motorcycle lane present" state, the lateral control is carried out in such a way that a protective gas of a predefined width is defined in the virtual gate, and the ego vehicle is prevented from entering the protective gases.In particular, the transverse regulation is carried out in such a way that a lateral minimum distance to the protective gases defined as a safety threshold is maintained.When the vehicle enters the state "motorcycle lane present", a warning is output as information to the driver regarding the provision of the protective gases.The detection of whether the ego vehicle is travelling on a multi-lane road is carried out, for example, on the basis of digital map data and / or by detection of adjacent vehicles which move in the same direction on adjacent lanes.The detection of whether the ego vehicle is in a traffic jam situation takes place on the basis of a detection of its travel speed, for example if a travel speed below 60 km / h is detected.The predefined minimum width of the virtual lane is, for example, on the order of magnitude of approximately 1 m.The advantages achieved with the invention consist in particular in the fact that a lane between the ego vehicle and a neighboring vehicle and / or a further lane that can be traveled by a motorcycle can be identified as a usable lane at an early stage and the driver of the ego vehicle can be alerted. In particular, the driver of the ego vehicle is alerted early that a distance between the ego vehicle and at least one adjacent vehicle could be used by potential motorcyclists. In this case, it is avoided that the ego vehicle collides with fast-moving motorbikes in the so-called blind spot if the distance is represented for the driver as a virtual gate to be kept free or not to be traveled and a warning or a visual, acoustic and / or haptic warning is already output as information when the virtual gate approaches.Exemplary embodiments of the invention are explained in more detail below with reference to drawings.The following are shown: FIG. 1 schematically shows a vehicle having a driver assistance system according to the invention for assisting a driver of the vehicle, FIG. 2 schematically shows a traffic jam situation on a multi-lane roadway, wherein a distance between the ego vehicle and adjacent vehicles is detected by means of a driver assistance system of an ego vehicle according to the invention, and FIG. 3 schematically shows a traffic jam situation on a multi-lane roadway, wherein a virtual gate is generated by means of a driver assistance system of an ego vehicle according to the invention and is output as information to a driver of the ego vehicle.Corresponding parts are provided with the same reference numerals in all figures.FIG. 1 schematically shows a vehicle 1 having a driver assistance system 2 according to the invention for assisting a driver of the vehicle 1, not shown in more detail, which driver is also referred to below as ego vehicle 1.The driver assistance system 2 comprises at least one first detection unit 3 for detecting a lane F 1 on a multi-lane roadway F that the ego vehicle 1 is travelling on. The first detection unit 3 can comprise a number of sensors, not shown in detail. The sensors may include cameras, ultrasonic sensors, lidar sensors, and / or radar sensors. The first detection unit 3 can be a lane recognition device for detecting a lane F 1 traveled by the ego vehicle 1 and adjacent lanes F 2 on the basis of lane-limiting lane markings Fm.The first detection unit 3 can optionally additionally be coupled to a navigation system, not shown in detail, of the ego vehicle 1. The detection of whether the ego vehicle 1 is travelling on a multi-lane roadway F can be carried out, for example, on the basis of digital map data and / or by detection of adjacent vehicles 9 (shown in FIGS. 2 and 3 ) which are moving in the same direction of travel R on adjacent lanes, and / or by detection of lane markings Fm.The driver assistance system 2 comprises a second detection unit 4 for detecting adjacent vehicles 9 and other objects, for example objects located at blind spot 4.1, such as, for example, motor cycles 5 (illustrated in FIGS. 2 and 3 ). The second detection unit 4 can comprise a number of sensors, not shown in detail. The sensors may include cameras, ultrasonic sensors, lidar sensors, and / or radar sensors. The second detection unit 4 can be an object detection device for detecting objects located in the same lane or next to the detected lane F 1. The second detection unit 4 can be part of a so-called blind spot assistant.Detection ranges of the detection units 3, 4 are directed into a vehicle environment of the ego vehicle 1.Furthermore, the driver assistance system 2 comprises an evaluation unit 6, which is coupled to the detection units 3, 4 for evaluating detected data of the detection units 3, 4.The ego vehicle 1 comprises at least one output unit 7 coupled to the evaluation unit 6.The driver assistance system 2 further comprises a control unit 8 coupled to the evaluation unit 6 for carrying out a course-correcting actuating intervention, for example a course-correcting lateral control. The control unit 8 can be activated or deactivated and / or intervention thresholds can be set by means of the evaluation unit 6. The control unit 8 is designed to carry out the lateral control on the basis of a signal transmitted from the evaluation unit 6.The evaluation unit 6 can determine, for example, whether leaving the own lane F 1 is permitted or prohibited. The evaluation unit 6 can output a warning and / or information in the ego vehicle 1 relating to the lane F 1 to be observed to the driver via the output unit 7.FIG. 2 schematically shows a traffic jam situation on a multi-lane roadway F, wherein a distance A between the ego vehicle 1 and adjacent vehicles 9 is detected by means of the driver assistance system 2 of an ego vehicle 1, wherein a virtual gate VG is generated by means of the driver assistance system 2 on the basis of the distance A and is output as information to a driver of the ego vehicle 1.The ego vehicle 1 is in a traffic jam situation, for example, with other vehicles 1 nin the same lane F 1 and with adjacent vehicles 9 in the adjacent lane F 2.The detection of whether the ego vehicle 1 is in a traffic jam situation takes place, for example, on the basis of a determined travel speed of, for example, less than 60 km / h, for example, between 10 km / h and 30 km / h, for a specific time.Driver assistance system 2 is designed to ascertain a distance A between ego vehicle 1 and adjacent vehicles 9 in the case of a ascertained traffic jam situation on a multilane roadway F. On the basis of the determined distance A, a virtual lane VG that can be traveled by a motorcycle 5 is generated by means of the evaluation unit 6, wherein at least one item of information relating to the virtual lane VG is output to the driver of the ego vehicle 1. The virtual lane VG is a lane determined by the evaluation unit 6 and which does not actually exist and which could be used as such in addition to the ego vehicle 1.In the traffic jam, a rescue corridor usually forms. The emergency corridor and distances between two lanes F 1, F 2 are often used by motor cycles 5, even if not permitted, to progress more quickly in the traffic jam. Motorcyclists drive past the vehicles 1, 1n and adjacent vehicles 9 in a congested state, for example, at a comparatively high driving speed, for example of 70 km / h. In order to better protect motorcyclists, a multi-stage safety concept for warning and for protecting all vehicle drivers on the roadway F is introduced.The virtual gate VG is visually displayed, for example, via the output unit 7. As information relating to the virtual gate VG, a graphical representation, for example an image, a text and / or an acoustic warning signal, an acoustic notification signal and / or a spoken notification, can be output which is intended to notify the driver that a virtual gate VG is present, which can be used by a motorcyclist.The distance A must be, for example, at least 1 m. At a determined distance A of at least 1 m, the virtual gate VG is generated and output as information to the driver.If the driver assistance system 2 recognizes that this situation is present, a "potential motorcyclist" state is activated for a predefined duration. Upon activation of the state "potential motorcyclists", a warning about potential motorcyclists is output to the driver of the ego vehicle 1.FIG. 3 schematically shows a traffic jam situation on a multi-lane roadway F, wherein the virtual gate VG is generated by means of the driver assistance system 2 of the ego vehicle 1 and is output as information to a driver of the ego vehicle 1.After the virtual gate VG has been used by a motorcycle 5, the virtual gate VG is defined as a protective gate VGs with a predefined minimum width, for example of at least 750 mm, which is to be kept free by the ego vehicle 1 and is output as information to the driver of the ego vehicle 1.If the driver assistance system 2 recognizes in the "potential motorcyclists" state that a motorcycle 5 is approaching in the virtual gate VG or has already traveled past in the virtual gate VG, the driver assistance system 2 transitions from the "potential motorcyclists" state to a "motorcyclist lane present" state for a limited period of time. In the state "motorcycle lane present", the protective gases VGs are graphically represented and / or acoustically confirmed, for example, via the output unit 7.In the state "motorcycle lane present", the lateral control of the ego vehicle 1 is carried out in such a way that a motorcyclist is permitted to pass safely in the protective gases VGs.After the virtual gate VG has been used by a motorcycle 5, a virtual lane marking VFm which is not to be traveled by the ego vehicle 1 is assigned to the virtual gate VG, in particular to the inert gases VGs, and is output as information to the driver of the ego vehicle 1. The generated shielding gases VGs can extend, for example, between an existing lane marking Fm and the virtual lane marking VFm.For example, in the "motorcycle lane present" state, the lateral control is carried out in such a way that a protective gas VGs of a predefined width is defined in the virtual gate VG, and the ego vehicle 1 is prevented from entering the protective gases VGs. In particular, the lateral regulation is carried out in such a way that a lateral minimum distance AVGs to the protective gases VGs, defined as a safety threshold, is maintained.The driver assistance system 2 remains in the state "motorcycle lane present" for a limited period. In particular, a state transition from the state "motorcycle lane present" back to the state "potential motorcyclist" takes place if no further motorcycle has been detected within a predeterminable or predetermined waiting time after the detection of a motorcyclist passing by. In this case, the control unit 8 can be placed in a passive state or deactivated for the purpose of lateral control.A multi-stage safety concept can be implemented by means of the driver assistance system 2.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 10 2008 005 999 A1

[0002]

Claims

Driver assistance system (2) for a vehicle (1), comprising at least - a first detection unit (3) for detecting a lane (F1) on a multi-lane roadway (F) which is being traveled by the vehicle (1), - a second detection unit (4) for detecting adjacent vehicles (9), and - an evaluation unit (6) for evaluating detected data of the detection units (3, 4), characterized in that - the evaluation unit (6) is designed, in the case of a traffic jam situation on a multi-lane roadway (F), to determine a distance (A) between the vehicle (1) and at least one adjacent vehicle (9) and, on the basis of the distance (A), to generate a virtual lane (VG) which can be traveled by a motorcycle (5) when a predefined minimum width is fulfilled, wherein at least one piece of information relating to the virtual gate (VG) can be output to a driver of the vehicle (1) by means of at least one output unit (7) coupled to the evaluation unit (6).Driver assistance system (2) according to Claim 1, characterized in that the evaluation unit (6) is designed, after the virtual gate (VG) has been used by a motorcycle (5), to define the virtual gate (VG) as a protective gate (VGs) with a predefined minimum width which is to be kept free of the vehicle (1) and to output it as information to the driver of the vehicle (1).Driver assistance system (2) according to Claim 1 or 2, characterized in that the evaluation unit (6) is designed, after the virtual lane (VG) has been used by a motorcycle (5), to assign a virtual lane marking (VFm) which is not to be traveled over by the vehicle (1) to the virtual lane (VG) and to output it as information to the driver of the vehicle (1).Driver assistance system (2) according to one of the preceding claims, characterized in that the evaluation unit (6) is designed, after the virtual gate (VG) has been used by a motorcycle (5) as detected, to define a lateral minimum distance (AVGs) to be observed by the vehicle (1) from the virtual gate (VG) and to output it as information to the driver of the vehicle (1).Driver assistance system (2) according to one of the preceding claims, characterized in that the evaluation unit (6) is designed, when a utilization of the virtual gate (VG) by a motorcycle (5) is detected, to activate a control unit (8) for carrying out a course-correcting lateral control of the vehicle (1).Driver assistance system (2) according to Claim 5, characterized in that the control unit (8) is designed to carry out the transverse regulation in such a way that the vehicle (1) is prevented from entering the virtual gate (VG) and / or a lateral minimum distance (AVGs) from the virtual gate (VG) is observed.Driver assistance system (2) according to Claim 5, characterized in that the evaluation unit (6) is designed to deactivate the control unit (8) within a predeterminable or predetermined waiting time if a further use of the virtual gate (VG) by a further motorcycle (5) is not detected.Method for assisting a driver of a vehicle (1) with at least one driver assistance system (2), wherein - a lane (F1) on a multi-lane roadway (F) which is traveled by the vehicle (1) is detected by means of a first detection unit (3), - adjacent vehicles (9) are detected by means of a second detection unit (4), and - data of the detection units (3, 4) which are detected by means of an evaluation unit (6) are evaluated, characterized in that - a distance (A) between the vehicle (1) and at least one adjacent vehicle (9) is determined by means of the evaluation unit (6) in the case of a traffic situation on a multi-lane roadway (F), and a virtual lane (VG) which is traveled by a motorcycle (5) is generated on the basis of the distance (A) when a predefined minimum width is fulfilled, wherein at least one piece of information relating to the virtual gate (VG) is output to a driver of the vehicle (1) by means of at least one output unit (7) coupled to the evaluation unit (6).Method according to Claim 8, characterized in that, when a utilization of the virtual gate (VG) by a motorcycle (5) is detected, a control unit (8) for carrying out a course-correcting lateral control of the vehicle (1) is activated, wherein the lateral control is carried out in such a way that entry of the vehicle (1) into the virtual gate (VG) is prevented and / or a lateral minimum distance (AVGs) to the virtual gate (VG) is maintained.Method according to Claim 8 or 9, characterized in that a traffic jam situation is detected if it is determined by means of the evaluation unit (6) that the vehicle (1) is moving at a driving speed of at most 60 km / h for a predefined period of time.

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