Lane change assist system for a vehicle

Abstract

The invention relates to a lane change assistance system (1) for an ego vehicle (2) for automatically performing a lane change onto a target lane (Z), comprising an environment sensor system (3) configured to detect at least a portion of the target lane (Z) in the rear area of ​​the ego vehicle (2), a processing unit (4) wherein the processing unit (4) is configured to evaluate a longitudinal distance between the ego vehicle (2) and a vehicle (5) approaching in the rear area on the target lane (Z) from the sensor data transmitted by the environment sensor system (3), and a control unit (6) configured to perform the lane change automatically, wherein the processing unit (4) is configured to enable the automated lane change at least only ifThe longitudinal distance evaluated by the computing unit (4) should maintain a predetermined minimum distance between the ego vehicle (2) and the approaching vehicle (5).

Description

[0001] The invention relates to a lane change assistance system for an ego-vehicle for automatically performing a lane change onto a target lane, comprising an environmental sensor system configured to detect at least a portion of the target lane in the rear area of ​​the ego-vehicle, a processing unit configured to evaluate a longitudinal distance between the ego-vehicle and a vehicle approaching in the rear area on the target lane from the sensor data transmitted by the environmental sensor system, and a control unit configured to perform the lane change automatically. The invention further relates to a vehicle with such a lane change assistance system, a method for automatically performing a lane change, and a computer program product.

[0002] For the development of automated, and especially autonomous, driving systems, a safe, automated lane change assist system is essential. In existing lane change assist systems, the system actively intervenes in the lateral guidance to automatically perform a lane change to an adjacent lane. Lane change assist systems require an overview of the area behind the vehicle to determine whether a safe, collision-free, and, ideally, comfortable lane change for all road users is possible. This area behind the vehicle is captured using a sensor system such as a reversing camera.

[0003] A lane change assistance system of this type is known, for example, from publication DE102015203208A1.

[0004] Automated lane changes are only permitted if all road users are not endangered. This requires maintaining a safe distance from any approaching vehicle entering the lane to be changed, ensuring a safe lane change. For example, UN ECE (United Nations Economic Commission for Europe) Regulation R79 requires that the vehicle maintain a minimum distance to the rear at the start of an automated lane change that does not endanger approaching vehicles. The specified minimum distance is preferably calculated according to UN ECE Regulation R79 as follows: scritical=(vrear−vfront)tB+(vrear−vfront)22a+vfronttG s criticaı: specified minimum distance V rear : Speed ​​of the approaching vehicle V front : Speed ​​of the Ego vehicle t B =0.4s: Reaction time of the approaching vehicle a=3m / s 2: Delay of the approaching vehicle t G =1s: Time gap between approaching vehicle and ego vehicle after completion of the lane change

[0005] When determining the specified minimum distance, it is intended to take into account a reasonable deceleration of the approaching vehicle when changing lanes, in particular a deceleration value of 3 m / s. 2 The amount must not be exceeded.

[0006] UN ECE Regulation R157 also requires that the driver of the approaching vehicle be given sufficient time, preferably one second, to detect the impending lane change by the vehicle ahead into their own lane. This results in a requirement for the detection range of the vehicle sensors that monitor the area behind the vehicle. The requirement can be formulated as follows: sperception=scritical+(vrear−vfront)∗1s s perception: Detection range of vehicle sensor s critical : specified minimum distance V rear : Speed ​​of the approaching vehicle V front : Speed ​​of the Ego vehicle

[0007] Taking into account regulations R79 and R157, the following results are obtained for various theoretically conceivable absolute speeds V front , V rear The following required detection ranges of the vehicle sensors are required for the ego vehicle and the approaching vehicle:

[0008] The resulting minimum distance and correspondingly the required detection range of the vehicle sensors can be 300 meters or even significantly more, depending on the speed distribution of the lane-changing vehicle and the approaching vehicle. In particular, lane changes involving a slow-moving vehicle and a rapidly approaching object vehicle result in very large required detection ranges of over 500 meters, which cannot be guaranteed by onboard line-of-sight vehicle sensors such as cameras, radar, or lidar due to system limitations, resolution, and / or weather conditions. Furthermore, the detection of traffic behind the vehicle by the sensors is often limited by high traffic volume and curves. Therefore, a lane-change maneuver cannot be considered safe based solely on sensor performance.

[0009] Against this background, the invention aims to provide a lane change assistance system and a corresponding method by which both the feasibility and the safety of an automated lane change are improved.

[0010] The problem is solved by a lane-change assistance system with the features of independent claim 1. Preferred embodiments are the subject of the dependent claims. A vehicle with a lane-change assistance system is the subject of dependent claim 9. A method for automatically performing a lane change is the subject of dependent claim 10. A computer program is the subject of dependent claim 13.

[0011] The invention relates to a lane change assistance system for an ego vehicle for the automated execution of a lane change to a target lane. The lane change assistance system is, in particular, designed with an SAE (Society of Automotive Engineers) automation level of 3, 4, or higher. The target lane is a secondary lane or one of the lanes adjacent to the exit lane.

[0012] The lane change assist system includes an environmental sensor system designed to detect at least a portion of the target lane in the rear area, in particular one or both of the side rear areas of the Ego vehicle. The environmental sensor system comprises at least one sensor, preferably at least two or more sensors of the same or different sensor types. The at least one sensor is, for example, a radar, lidar, camera, or ultrasonic sensor. The at least one sensor is, for example, located in the rear and / or side area of ​​the Ego vehicle.

[0013] Furthermore, the lane change assist system includes a processing unit designed to evaluate the longitudinal distance between the ego vehicle and an approaching vehicle detected behind it in the target lane, based on sensor data acquired by the environmental sensors. The evaluated distance is, for example, the current longitudinal distance or an estimated distance after a lane change has been completed. The processing unit is also designed to determine the speed of the detected approaching vehicle. The processing unit can be, for example, an ECU or a component of a central ECU in the ego vehicle.

[0014] The lane change assist system comprises a control unit designed to automate lane changes, i.e., to automatically steer the vehicle from an exit lane to the target lane, at least with automatic lateral guidance, as part of an automated lane change maneuver. The control unit can include, in particular, a microcontroller or microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), an ASIC (application-specific integrated circuit), an FPGA (field-programmable gate array), and similar components, as well as software for executing the corresponding process steps. For example, the automated lane change maneuver is initiated by a driver action such as activating the turn signal.As an alternative example, it is also possible for the automated lane change maneuver to be initiated by the system, for example when a motorway exit is to be reached or an overtaking maneuver of a vehicle ahead is planned.

[0015] The processing unit is designed to allow the lane change only if the longitudinal distance evaluated by the processing unit maintains a predetermined minimum distance between the ego vehicle and the approaching vehicle. In other words, the planned lane change is specifically prevented if the evaluated longitudinal distance falls below the predetermined minimum distance. The predetermined minimum distance s critical For example, it is determined using regulation R79 according to the following mathematical formula: scritical=(vrear−vfront)tB+(vrear−vfront)22a+vfronttG⊲

[0016] The required minimum distance is determined according to the mathematical formula as a function of the relative speed of the ego vehicle and the approaching vehicle. Preferably, the reaction time tB of the approaching vehicle is set to 0.4 seconds in all embodiments described in this application. Preferably, the time gap tG between the ego vehicle and the approaching vehicle after completion of the lane change is set to 1 second in all embodiments described in this application.

[0017] The processing unit is designed to determine the minimum detection range of the environmental sensors required to capture the specified minimum distance. This detection range refers specifically to the sensor range of the environmental sensors, which varies depending on the sensor technology and type.

[0018] Advantageously, determining the required minimum detection range based on the situation allows for verification that the sensor range of the environmental sensors achieves, or can achieve, the required minimum distance to be detected. Thus, a lane change only occurs if it has been verified that the environmental sensors meet the required detection range. In this way, automated lane changes can be implemented, which largely ensures safe handling in non-critical situations involving vehicles approaching from behind.

[0019] An analysis and evaluation of naturalistic driving data, including lane-change collisions, derived regular driving parameters for critical and non-critical lane-change maneuvers. Relevant parameters such as driving speeds, lane-change times, and adherence to cycle times were analyzed. Based on this, the detection ranges of the ego vehicle were determined, ensuring safe lane changes in urban and highway traffic. It was found that the requirements for the rear sensor range are significantly lower than theoretical extreme situation assumptions. Specifically, this means that extreme situation assumptions requiring a minimum distance of up to 550 meters do not occur in reality. Real-world lane-change maneuvers do not exceed a minimum distance of 250 meters and are therefore considerably below the fictitiously defined worst-case scenarios.

[0020] This finding makes it particularly advantageous to use speed data from real-world datasets of observed lane-change situations to determine the minimum required detection range of the environmental sensors. The requirement for rear sensor perception is thus based on generally experienced parameters and not on potential extreme situation assumptions. Using real-world datasets therefore ensures that extreme situation assumptions are disregarded when determining the minimum required detection range of the environmental sensors. Advantageously, eliminating these extreme situation assumptions due to perceived collision risks now allows for lane-change maneuvers that were previously prevented. The ability to perform realistically feasible lane-change maneuvers is not only convenient for the driver but also essential for autonomous driving.

[0021] A provided real-world dataset includes, for example, speed data of the vehicle changing lanes and the approaching vehicle from actual lane-changing situations, particularly those involving accidents. Specifically, the speed data includes at least one absolute speed value, V. front of the lane-changing vehicle and an absolute speed value V rear of the approaching vehicle. Thus, each real data set includes at least or exactly one absolute velocity V. front of the lane-changing vehicle and at least or exactly one absolute speed V rear of an approaching vehicle, captured from a real lane-changing situation.

[0022] It is possible that the provided real-world data sets were stored and analyzed by the Ego vehicle's processing unit during lane-change maneuvers. Alternatively, or optionally, the provided real-world data sets were collected externally and transmitted to the Ego vehicle's processing unit, for example, via car-to-X communication.

[0023] Preferably, the minimum required detection range of the environmental sensors is determined using at least one of the provided real-world data sets, ensuring compliance with a specified maximum permissible deceleration value for an approaching vehicle. The specified maximum permissible deceleration value is, in particular, 3 m / s². 2 , which reflects a reasonable delay for the traffic behind.

[0024] Preferably, to determine the minimum required detection range of the environmental sensors, the minimum required detection range of the environmental sensors is determined for each provided real data set. Preferably, each of the provided real data sets is iterated, in particular with upward iteration. The iteration calculation is terminated, in particular, if the smallest detection range has been determined across all real data sets, within which the specified maximum permissible deceleration value for an approaching vehicle is maintained.

[0025] Furthermore, the necessary deceleration of the approaching vehicle is preferably determined for several assumed detection ranges of the environmental sensors. Preferably, the process iterates through several assumed detection ranges. For example, the iteration through the assumed detection ranges is performed in ascending steps of defined intervals. As a purely illustrative example, 10-meter intervals starting from 50 meters and increasing to 250 meters are mentioned. In particular, the iteration calculation is terminated when, within a real data set, the smallest determined detection range is found for which the necessary deceleration of the approaching vehicle equals the defined maximum permissible deceleration value for an approaching vehicle.

[0026] Subsequently, the largest of all determined minimum detection ranges from the various real data sets, which meet the specified maximum permissible delay value a, will be selected. necThe required minimum detection range for an approaching vehicle is selected. In other words, the largest of all determined minimum detection ranges, in which no necessary deceleration of the approaching vehicle exceeds the maximum permissible deceleration value, is selected for evaluating the required minimum distance.

[0027] The necessary delay a nec preferably using the mathematical formula anec=(vrear−vfront)22(sperception−(vrear−vfront)∗(1s+tB)−vfronttG) determined.

[0028] In particular, the reaction time tB of the approaching vehicle is set at 0.4 seconds and the time gap tG between the ego vehicle and the approaching vehicle after completion of the lane change is set at one second, as specified by the UN ECE R79 and R157 regulations.

[0029] Preferably, the computing unit of the lane change assistance system is designed to perform the evaluations described above.

[0030] According to a preferred embodiment, the processing unit is configured to prevent automated lane changes if the detection range of the environmental sensors falls below the specified minimum detection range. This ensures that lane changes are only performed when the range of the environmental sensors is sufficiently reliable.

[0031] Preferably, the environmental sensor system includes at least one vehicle camera. Vehicle cameras are reliable and increasingly used sensors for environmental perception. Their range is typically adjustable, but robustness decreases with increasing range due to rising false-positive rates. Robustness is crucial to avoid false alarms or misinterpretations of traffic situations. Therefore, there is a inherent conflict between the range and robustness settings of vehicle cameras used in driver assistance systems.

[0032] Against this background, it is preferred that the processing unit dynamically adjusts the detection range of the at least one vehicle camera based on the determined minimum detection range. This ensures an optimized detection range that achieves the best possible robustness while guaranteeing the detection of approaching traffic from behind. Furthermore, using real-world data to determine the required minimum detection range has the synergistic effect of avoiding unnecessarily long sensor ranges, which are associated with false-positive rates.

[0033] According to a further preferred embodiment, the environmental sensor system comprises at least one vehicle camera, one radar sensor, one lidar sensor, and / or at least one ultrasonic sensor, wherein the processing unit is configured to select the environmental sensor for rear-facing environmental sensing that meets the determined minimum required detection range. If several environmental sensors meet the required detection range, it is further preferred to select the one with the greater robustness.

[0034] Furthermore, the present invention claims a (self-driving) vehicle which has a lane change assistance system according to the preceding description or a lane change assistance system which is operated using the following method according to the invention.

[0035] Furthermore, the present invention claims a method for automatically performing a lane change to a target lane, the method comprising the following steps: At least a portion of the target lane in the rear area of ​​the ego vehicle is detected. A longitudinal distance between the ego vehicle and a vehicle approaching in the rear area on the target lane is evaluated from the sensor data transmitted by the environmental sensors. The lane change is only enabled if the evaluated longitudinal distance maintains a predetermined minimum distance between the ego vehicle and the approaching vehicle. A minimum detection range for the environmental sensors is determined, which is necessary to detect the specified minimum distance.

[0036] According to a preferred embodiment, real-world data sets from lane-change maneuvers are provided to determine the minimum detection range of the environmental sensors. Real-world data are recorded actual driving data from executed lane-change maneuvers, which can also include accident data. The use of real-world accident and naturalistic driving data advantageously supports the development of a safe automated lane-change function. The minimum detection range of the environmental sensors is determined for each real-world data set. Furthermore, the necessary decelerations of the approaching vehicle are calculated for assumed detection ranges of the environmental sensors. The necessary decelerations are determined for each detection range, with the smallest detection range found within a real-world data set, in which no necessary deceleration of the approaching vehicle exceeds 3 m / s², serving as the success criterion.As a success criterion across all real-world data sets, the smallest detection range is determined for each data set, ensuring that the required deceleration of the approaching vehicle does not exceed 3 m / s². The smallest detection range identified for each data set, where no required deceleration of the approaching vehicle exceeds 3 m / s², is determined, and the largest of these minimum detection ranges from the various data sets is selected as the required minimum detection range for the environmental sensors.

[0037] Preferably, the determination of the minimum required detection area is performed internally within the vehicle, for example, via a central processing unit of the ego vehicle. Alternatively, the determination of the minimum required detection area can also be performed externally, and the evaluated minimum required detection areas can be transmitted to the processing unit of the ego vehicle via car-to-X communication. Based on the transmitted results, the lane change assist system can analyze the current lane change situation.

[0038] The necessary delay a nec The approaching vehicle's distance is preferably calculated using the mathematical formula anec=(vrear−vfront)22(sperception−(vrear−vfront)∗(1s+tB)−vfronttG).

[0039] Advantageously, the methods according to the invention can be purely computer-implemented, wherein the term "computer-implemented method" as used in the invention describes a process plan or procedure that is implemented or carried out using a computer. The computer, such as a computer, a computer network, an evaluation and / or control unit (e.g., ECU or Electronic Control Unit or ADCU or Assisted & Automated Driving Control Unit), a computing device therein, or another programmable device known from the prior art, can process the relevant data by means of programmable calculation instructions. With regard to the method or system according to the invention, the essential properties can be achieved, for example, by a new program, new programs, an algorithm, or the like, which is executed on the control unit.

[0040] Furthermore, the present invention also includes 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 other programmable computer known from the prior art.

[0041] Furthermore, the present invention comprises a computer-readable storage medium comprising instructions which cause the computer on which they are executed to carry out a method according to at least one of the preceding claims.

[0042] Further developments, advantages, and possible applications of the invention will also become apparent from the following description of exemplary embodiments and from the figures. All features described and / or illustrated are, individually or in any combination, fundamentally the subject matter of the invention, irrespective of their compilation in the claims or their cross-reference. The content of the claims is also incorporated into the description.

[0043] They show: Fig. 1. An exemplary schematic representation of a lane change assistance system for an Ego vehicle; Fig. 2 in a schematic representation the determination of the minimum required detection range of the environmental sensors from Fig. 1 for the detection of a defined minimum distance between the ego vehicle and a vehicle approaching in the target lane; Fig. Figure 3 shows in a schematic diagram the conflict of objectives between sensitivity and specificity when setting the detection range of a vehicle camera; Fig. 4 A flowchart illustrating the process steps of the procedure for automatically performing a lane change to a target lane.

[0044] Fig. Figure 1 schematically shows a bird's-eye view of an ego-vehicle 2 intending to change lanes from an exit lane to a target lane Z, in this case the adjacent lane. The ego-vehicle 2 includes a lane-change assistance system 1, which is designed to perform the lane change to the target lane Z automatically.

[0045] The lane change assist system 1 includes an environmental sensor system 3 for detecting the area behind the Ego vehicle 2. By way of example, the environmental sensor system 3 includes at least one camera sensor, one radar sensor, and one ultrasonic sensor. Of course, other configurations are also possible, such as two or more vehicle sensors of the same type or just one vehicle sensor.

[0046] The lane change assistance system 1 includes a computing unit 4, which is designed to evaluate the rear traffic, in this case a vehicle 5 approaching on the target lane Z, from the sensor data acquired by the environmental sensors 3.

[0047] Furthermore, the lane change assistance system 1 includes a control unit 6, which is configured to perform the lane change to the target lane Z. A predetermined minimum longitudinal distance between the ego vehicle 2 and the approaching vehicle 5 is evaluated as a decision criterion for performing the lane change. The predetermined minimum longitudinal distance is intended to ensure that the risk of an accident between the ego vehicle and the traffic behind it during a lane change is avoided or reduced as much as possible. The processing unit 4 is configured to evaluate the longitudinal distance between the ego vehicle 2 and the approaching traffic behind it 5. Furthermore, the processing unit 4 is configured to compare the evaluated longitudinal distance with the predetermined minimum distance s. critical to compare. Should the evaluated longitudinal distance be below the specified minimum distance s criticalIf the lane change is not within the currently evaluated lane change situation, it will be prevented. However, if the evaluated longitudinal distance does not exceed the specified minimum distance s critical If the lane change criteria are met, and other criteria such as sufficient lateral clearance are also fulfilled, the control unit 6 is able to automatically control the lane change.

[0048] The specified minimum distance s critical is dependent on the relative speed of the Ego vehicle 2 and the approaching vehicle 5. The specified minimum distance is greater the lower the absolute speed V. front of the Ego vehicle 1 as the absolute speed V rear of the approaching vehicle 5.

[0049] The computing unit 4 is configured to determine the minimum detection range of the environmental sensors 3, in particular to define the range required to maintain the specified minimum distance s.critical to detect. In this way, it can be verified whether the rear traffic, which the processing unit 4 is to detect at the required minimum distance, is covered by the detection range of the environmental sensors 3. A collision-hazardous lane change due to undetected critically approaching vehicles 5 can thus be prevented.

[0050] To determine the required minimum detection range of the environmental sensors 3, the necessary decelerations of an approaching vehicle 5 are determined in a first step for various assumed detection ranges of the environmental sensors 3 with given speed distributions of the ego vehicle 1 and the approaching vehicle 5.

[0051] Fig. Figure 2 shows a schematic sequence illustrating the determination of the required minimum detection range. This determination can be performed, for example, by the computing unit 4 of the Ego vehicle 2. However, it is also possible for the determination of the required minimum detection range to be performed externally and for the required minimum detection range to be transmitted to the computing unit 4 of the Ego vehicle 2 via car-to-X communication.

[0052] To determine the required minimum detection range of the environmental sensors 3, speed data from a lane-changing vehicle and an approaching vehicle are used, derived from real-world datasets of observed lane-change situations. These real-world datasets consist of recorded data from lane-change maneuvers in real-world traffic. A real-world dataset preferably originates from a completed lane-change maneuver. Determining the required detection range based on real-world datasets enables the automated execution of lane changes under real-world conditions.

[0053] The real-world data sets were collected, for example, in the Ego vehicle 2 during the journey and stored by the computing unit 4. However, it is also possible that the real-world data sets were recorded by other vehicles and collected centrally. Furthermore, it is possible that the transmission of the real-world data or the minimum detection range determined from it to the computing unit 4 of the Ego vehicle 2, according to the described procedure, took place, for example, via car-to-X communication 4.

[0054] To determine the minimum required detection range, S1 is used in a first step. Fig. 2, represented by loop S1, determines the minimum required detection range of the environmental sensors 3 for each provided real data set. For example, an iteration is performed through all available real data sets. As a termination criterion for the iteration calculation, the smallest detection range is determined across all real data sets at which the specified maximum permissible delay value a is exceeded. nec for an approaching vehicle 5. The maximum permissible deceleration value is specifically set at 3 m / s².

[0055] In a further step, in Fig. 2, represented by loop S2, determines the necessary delays a nec of the approaching vehicle 5 for several assumed detection areas of the environmental sensors 5. The necessary delay a is calculated for each assumed detection area. necThe process is determined. For example, an iteration through the assumed detection areas is performed in ascending order in defined steps. The sequence of the assumed detection areas is preferably defined such that a precise minimum detection area is determined while simultaneously minimizing the computational effort required to determine the necessary decelerations. The termination criterion for the iteration calculation within a real data set is the smallest determined detection area at which the necessary deceleration of the approaching vehicle 5 equals the defined maximum permissible deceleration value a. nec for an approaching vehicle 5 is adhered to. In other words, the determination of the necessary delays a nec the approaching vehicle 5 ends as soon as the calculated necessary deceleration exceeds the specified maximum permissible deceleration value.

[0056] The necessary delay a necThe approaching vehicle 5 is preferably calculated using the mathematical formula anec=(vrear−vfront)22(sperception−(vrear−vfront)∗(1s+tB)−vfronttG).

[0057] The reaction time tB of the approaching vehicle 5 is preferably set to 0.4 seconds. The time gap tG between ego vehicle 2 and the approaching vehicle 5 after completion of the lane change is preferably set to 1 second.

[0058] In a further step, the largest of all determined minimum detection ranges that meet the specified maximum permissible delay value a is selected. nec for an approaching vehicle 5, as the required minimum detection range s perceptionThe largest of the identified minimum detection ranges from all used real-world datasets ensures a reliable automatic lane-change function as required for the necessary detection range of the environmental sensors 3 to detect approaching vehicles 5. With the selected minimum detection range, it is possible to verify whether the environmental sensors 3 meet this requirement.

[0059] With vehicle cameras, it is possible to adjust the detection range, i.e., the sensor range. Fig. Figure 3 shows the dynamic adjustment of the vehicle camera's detection range by changing the discriminator between sensitivity and specificity. Increasing the range is associated with increasing sensitivity. Conversely, the requirement for high robustness, i.e., the lowest possible false-positive rate, is associated with a short sensor range. Therefore, it is preferable to set the detection range of the at least one vehicle camera of the environmental sensor system 3 to the selected minimum detection range required, so that the best possible robustness, i.e., the lowest possible false-positive rate, is achieved while ensuring the detection of approaching traffic from behind. The dynamic adjustment of the vehicle camera's detection range can be performed, for example, via the processing unit 4 of the ego vehicle 2, or alternatively or optionally, externally via car-to-X communication.

[0060] Fig. Figure 4 shows a schematic flowchart illustrating the steps of the procedure for automatically performing a lane change to a target lane Z.

[0061] In this process, at least a portion of the target lane Z is detected in the area behind the ego vehicle 2. A longitudinal distance between the ego vehicle 2 and a vehicle 5 approaching from behind in the target lane Z is evaluated based on sensor data S200 transmitted by the environmental sensors 3. A lane change is only permitted if the evaluated longitudinal distance meets a predefined minimum distance between the ego vehicle 2 and the approaching vehicle 5 S300. A minimum detection range for the environmental sensors 3 is determined, which is necessary to detect the defined minimum distance S400. The lane change is enabled by the processing unit 4 and initiated by the control unit 6 when the lane change criteria specified by the processing unit 4, such as the required minimum distance, are met.

[0062] The invention has been described above using exemplary embodiments. It is understood that numerous modifications and adaptations are possible without thereby departing from the scope of protection defined by the patent claims. Reference symbol list 1 Lane Change Assist System 2 Ego Vehicles 3 Environmental sensors 4 Calculation unit 5 Approaching vehicle 6 Control unit a nec necessary delay of the approaching vehicle S critical required minimum distance between the self-driving vehicle and the approaching vehicle S perception Detection range of the environmental sensors V rear Speed ​​of the approaching vehicle V front Speed ​​of the Ego vehicle t B Reaction time of the approaching vehicle t GTime gap between approaching vehicle and ego vehicle after completion of the lane change Z Destination lane QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 102015203208A1

[0003]

Claims

[1] Lane change assistance system (1) for an ego vehicle (2) for automatically performing a lane change to a target lane (Z), comprising an environment sensor system (3) which is designed to detect at least one area of the target lane (Z) in the rear area of the ego vehicle (2), with a computing unit (4), wherein the computing unit (4) is designed to evaluate a longitudinal distance between the ego vehicle (2) and a vehicle (5) approaching in the rear area on the target lane (Z) from the sensor data transmitted by the environmental sensor system (3), with a control unit (6) which is designed to carry out the lane change automatically, wherein the computing unit (4) is designed to enable the automated lane change to be carried out at least only if the longitudinal distance evaluated by the computing unit (4) maintains a predetermined minimum distance between the ego vehicle (2) and the approaching vehicle (5), wherein the collision avoidance computing unit (4) is designed to determine the minimum detection range of the environmental sensor system (3) required to detect the predetermined minimum distance. [2] Lane change assistance system (1) according to claim 1, characterized by that to determine the minimum required detection range of the environmental sensors (3), speed data from a lane-changing vehicle and an approaching vehicle are used from real data sets on observed lane-changing situations. [3] Lane change assistance system (1) according to claim 2, characterized bythat the determination of the minimum required detection range of the environmental sensor system (3) is carried out by means of at least one provided real data set with which a specified maximum permissible deceleration value a nec for an approaching vehicle. [4] Lane change assistance system (1) according to claim 2 or 3, characterized by that for each provided real data set, the minimum required detection range of the environmental sensor system (3) is determined, whereby an iteration is carried out through each of the provided real data sets, whereby the iteration calculation is terminated, the smallest detection range should have been determined across all real data sets in each case, for which the specified maximum permissible delay value a nec for an approaching vehicle (5), whereby the determination of the necessary decelerations a necof the approaching vehicle (5) for several assumed detection areas of the environmental sensor system (3), wherein an iteration is carried out through assumed detection areas, wherein the iteration calculation is terminated when, within a real data set, the smallest determined detection area in which the necessary deceleration of the approaching vehicle (5) exceeds the specified maximum permissible deceleration value a nec for an approaching vehicle (5), wherein the largest of all determined minimum detection areas from the various real data sets, which exceed the specified maximum permissible deceleration value a nec for an approaching vehicle (5) is selected as the minimum required detection range. [5] Lane change assistance system (1) according to one of the preceding claims 3 or 4, characterized by that the necessary delay a nec using the mathematical formula anec=(vrear−vfront)22(sperception−(vrear−vfront)∗(1s+tB)−vfronttG) is determined. [6] Lane change assistance system (1) according to one of the preceding claims, characterized by that the computing unit (4) is designed to prevent the automated lane change, the detection range of the environmental sensors (3) should be below the certain minimum required detection range. [7] Lane change assistance system (1) according to one of the preceding claims, characterized by that the environmental sensor system (3) comprises at least one vehicle camera, wherein a dynamic adjustment of the detection range of the at least one vehicle camera takes place on the basis of the determined minimum required detection range. [8] Lane change assistance system (1) according to one of the preceding claims, wherein the environmental sensor system (3) comprises at least one vehicle camera, a radar sensor, a lidar sensor and / or at least one ultrasonic sensor, wherein the computing unit (4) is designed to select the environmental sensor for rear environmental detection which satisfies the determined minimum required detection range. [9] Vehicle (2) with a lane change assistance system (1) according to one of the preceding claims. [10] A method for automatically performing a lane change to a target lane, the method comprising the following steps: - detecting at least one area of the target lane (Z) in the rear area of the ego vehicle (2) (S100), - evaluating a longitudinal distance between the ego vehicle (2) and a vehicle (5) approaching in the rear area on the target lane (Z) from the sensor data (S200) transmitted by the environmental sensor system (3), - whereby the lane change is only possible if the evaluated longitudinal distance maintains a specified minimum distance between the ego vehicle (2) and the approaching vehicle (5) (S300), - Determination of a minimum detection range of the environmental sensors (3) required to detect the specified minimum distance (S400). [11] Method according to claim 10, characterized bythat real data sets from lane change maneuvers are provided to determine the minimum required detection range, wherein the minimum detection range of the environmental sensors is determined for each real data set, wherein the necessary decelerations of the approaching vehicle (5) are calculated for assumed detection ranges of the environmental sensors (3), wherein necessary decelerations are determined for each detection range, wherein the smallest detection range found is determined as a success criterion within a real data set, in which no necessary deceleration of the approaching vehicle (5) exceeds the value 3m / s2 in terms of amount (S2), wherein the smallest detection range is determined as a success criterion across all real data sets in each case in which no necessary deceleration of the approaching vehicle (5) exceeds the value 3m / s2 in terms of amount (S1), wherein the smallest determined detection range,in which no necessary deceleration of the approaching vehicle exceeds the value 3m / s2 in terms of amount, is determined for each real data set, whereby the largest of these determined minimum detection ranges from all determined minimum detection ranges from the various real data sets is selected as the required minimum detection range of the environmental sensor system (3). [12] Method according to claim 10 or 11, characterized by that the required minimum detection range is determined internally or externally within the vehicle, whereby in the case of an external determination the result is transmitted to the lane change assistance system (1) of the ego vehicle (2). [13] Computer program with program code for carrying out a method according to one of the preceding claims 10 to 12, when the computer program is executed by a computer.

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