Method for detecting lane widening, lateral guidance system, computer program product and computer-readable storage medium

Abstract

The invention relates to a method (100) for detecting lane widening in an environment of a vehicle (300) for a lateral control function of the vehicle (300), comprising: - detecting (110) lane data (10) and / or providing (111) swarm data (20) in an environment of the vehicle (300), - calculating (120) an evaluation function (30) at least based on the detected lane data (10) or provided swarm data (20), wherein evaluation information (40) is created, - outputting (130) the evaluation information (40) at least to a lateral control function of the vehicle (300), wherein during the calculation (120) at least two evaluation factors (31) are determined, which at least partially determine the evaluation information. The invention further relates to a lateral guidance system (200), a computer program product, and a computer-readable storage medium.

Description

[0001] The invention relates to a method for detecting lane widening, a lateral guidance system, a computer program product and a computer-readable storage medium.

[0002] Driver assistance systems are used today in a wide variety of driving situations. The more complex the surrounding environment, the more challenging the lateral and longitudinal guidance of a vehicle becomes. Road widening poses a particular challenge in this context.

[0003] A lane widening (or lane widening) is a lane whose width (measured from the left to the right marking perpendicular to the vehicle) increases. Lane widening poses a problem for conventional center-guided lateral control because in many situations a lane widening leads to a splitting of the lane into two or more lanes (e.g. a turning lane). Center guidance in such a lane widening can result in the vehicle approaching the path exactly between the two lanes. To avoid this unwanted lateral control, many lateral control driving functions passivate (i.e. they are switched off and control is transferred to the driver). Other driving functions try to identify a lane marking that should be followed based on driver activity.However, this isn't always practical, as lane widening occurs in diverse and complex situations in road traffic where no clear solution can be found using lane markings. For example, lane widening occurs at intersections, at motorway exits, in turning lanes, and in many urban scenarios with curbs. Therefore, lane widening cannot be solved in a single, uniform way.

[0004] Detecting lane widening presents challenges because sensors do not always reliably detect lane markings, and a widening cannot be clearly identified. Technically speaking, any increase in lane width can be considered lane widening, even if the lane has not changed noticeably to humans. Another problem with detecting lane widening is that the widening must be detected early in order to respond effectively and provide user-friendly, safe lateral control. If a widening is detected too late, a change in the lateral control can lead to discomfort for the user.

[0005] A method for generating a lane change release is known from DE 10 2021 200 056 A1. DE 10 2018 212 555 A1 describes a method for detecting a lane for lateral guidance of a vehicle, and DE 10 2021 129 258 A1 discloses a method for checking a section of a vehicle's driving trajectory.

[0006] It is therefore an object of the present invention to at least partially overcome at least one of the disadvantages described above. In particular, the object of the invention is to provide a method for detecting lane widening, a lateral guidance system, a computer program product, and a computer-readable storage medium that can detect lane widening robustly yet at an early stage, thereby increasing safety and improving the user experience.

[0007] The above object is achieved by a method for detecting lane widening, by a lateral guidance system, by a computer program product, and by a computer-readable storage medium. Further features and details of the invention emerge from the subclaims, the description, and the drawings. Features and details described in connection with the method according to the invention naturally also apply in connection with the lateral guidance system according to the invention and / or in connection with the computer program product according to the invention and / or in connection with the computer-readable storage product according to the invention, and vice versa, so that with regard to the disclosure of the individual aspects of the invention, reference is or can always be made to each other.

[0008] According to the invention, a method is provided for detecting a lane widening in the environment of a vehicle for a lateral control function of the vehicle, comprising: - Acquisition of lane data and / or provision of swarm data in an environment of the vehicle, in particular by a computing unit, - Calculation of an evaluation function at least based on the recorded track data or provided swarm data, whereby evaluation information is created, in particular by the computing unit, - Output of the evaluation information at least to one lateral control function of the vehicle, in particular by the computing unit, wherein during the calculation at least two evaluation factors are determined which at least partially determine the evaluation information.

[0009] The method can be implemented as a computer-implemented method.

[0010] The method steps can be performed at least partially simultaneously and / or sequentially, whereby the sequence of the method steps is not limited by the specified order, so that individual steps can be performed in different orders. Furthermore, individual or all steps can be performed repeatedly.

[0011] Detection of lane widening in an environment of the vehicle can be understood as meaning that the method is designed to determine that the width of the roadway has changed so significantly that it lies outside the normal fluctuations and therefore represents a real lane widening.

[0012] Transverse guidance of a vehicle can be understood as an at least partially automatic control of the vehicle with respect to its transverse axis. In other words, transverse guidance of the vehicle can at least partially determine the direction in which the vehicle travels. This is fundamentally different from longitudinal guidance of the vehicle, which determines, in particular, the speed at which the vehicle moves, particularly along its longitudinal axis. It can be provided that transverse guidance and longitudinal guidance are combined in one system.

[0013] The acquisition of lane data and / or the provision of swarm data can be carried out by a computing unit. It can be provided that at least one sensor, in particular at least one camera or radar sensor, is arranged on the vehicle for the acquisition of lane data. Furthermore, it can be provided that a communication unit is provided on the vehicle for the provision of swarm data, which is designed to provide swarm data at least for other vehicles or to retrieve swarm data from other vehicles or a central server system (or a cloud). Lane data can be understood as information about the nature, in particular the width and / or course of a lane. Swarm data is described in more detail in the context of the subclaims.

[0014] Calculating an evaluation function based at least on the acquired track data or provided swarm data can be understood as calculating a function value of a function in which at least acquired track data or provided swarm data is input and evaluation information is output. The calculation can be carried out by the computing unit. The method according to the invention is characterized in particular in that at least two evaluation factors are determined, which at least partially determine the evaluation information. An evaluation factor can be understood as a manner in which the evaluation information is determined. In other words, an evaluation factor can be a specific algorithm according to which the evaluation information is calculated. Different results can be determined for the two evaluation factors, which can be offset against one another.Variants of the evaluation factors are described in more detail in connection with the subclaims.

[0015] Outputting the evaluation information to at least one lateral guidance function of the vehicle can be understood to mean that the evaluation information is made available for retrieval, in particular via a corresponding interface. The output can be performed by the computing unit. Provision can be made for the evaluation information to be output to a lateral guidance function of the vehicle, and for the lateral guidance of the vehicle to be carried out based on the evaluation information. Furthermore, provision can be made for the evaluation information to also be output to other functions, such as a vehicle longitudinal guidance function. It is also conceivable for the evaluation function to be at least loaded into a cloud or made available to other vehicles.

[0016] Overall, the method according to the invention achieves the advantage that lane widening can be detected robustly yet at an early stage, thus increasing safety and improving the user experience. By recording lane data and / or providing swarm data, a solid database is created. Recorded lane data is particularly up-to-date and accurate, while swarm data can include information beyond the sensor range. The calculation of the evaluation function for determining the evaluation information represents the actual lane detection. Since at least two evaluation factors are determined during the calculation, which at least partially determine the evaluation information, a particularly high level of robustness of the calculation can be achieved.

[0017] Within the scope of the invention, it may be advantageous that the at least two evaluation factors include at least: - an assessment based on the recorded, particularly filtered, track data, - a clock-based evaluation based on the recorded track data, or - an assessment based on the swarm data.

[0018] Filtered lane data offers the advantage of being more robust against fluctuations, thus resulting in a more accurate evaluation factor. The lane width can be calculated based on a fixed point in front of the vehicle, for example, five meters in front of the vehicle, and a change in the lane width can be tracked. Furthermore, a threshold comparison can be provided to check whether the lane width is within a specified range. If the lane width exceeds the specified range, lane widening has occurred.

[0019] Furthermore, the evaluation can be carried out on a cycle-based basis. In other words, the track widths can be calculated at least at specific time intervals or spatial intervals, in particular at intervals of two meters. It can be provided that the cycle-based evaluation takes place within an evaluation range. It is conceivable that the evaluation range comprises an area from the rear axle of the vehicle to an area in front of the vehicle, in particular twice the control range of at least one lateral or longitudinal function of the vehicle. It can also be provided that the evaluation range is determined by the speed of the vehicle, for example as two seconds times the vehicle speed. These measures serve to improve the accuracy and robustness of the calculation of the evaluation factor.

[0020] Furthermore, an evaluation can be performed based on the swarm data. If the swarm data includes swarm track data, the evaluation factors can be calculated as described in connection with the acquired track data (i.e., based on the track width and cycle-based). If the swarm data includes swarm trajectories, it can also be determined whether a split point is present.

[0021] Within the scope of the invention, it is conceivable that the swarm data comprise at least swarm lane data, swarm road edge data, or swarm trajectories. It can then be determined whether the trajectories split at a point. If such a point is detected, the evaluation factor can indicate lane widening. In particular, it can be provided that the number of trajectories is evaluated. Furthermore, trajectories pointing in the opposite direction of the vehicle, i.e., corresponding to oncoming traffic, can be evaluated during the calculation. This makes the calculation factor particularly reliable.

[0022] It can be provided within the scope of the invention that the evaluation information comprises at least - Allowing a centering of a lateral control function of the vehicle, - Instruction to use swarm data for lateral control of the vehicle, or - Passivation of the cross control.

[0023] Allowing a vehicle's lateral control function to center the lane may correspond to evaluation information that hasn't detected lane widening. In this case, it's generally more convenient for the user if the vehicle continues to drive in the center of the lane.

[0024] Furthermore, it can be provided that a widening has been detected or that there is low confidence in the detection, so that the vehicle should be guided based on swarm data, i.e., along already known trajectories. Alternatively or additionally, it can also be provided that the vehicle follows a vehicle ahead.

[0025] It can also be provided that the lateral control is at least passivated or deactivated. In other words, the user must steer the vehicle themselves in this situation and cannot activate the lateral control. However, thanks to the method according to the invention, this situation is detected early on, so that the user can be alerted to the passivation early on, thus maintaining driving comfort.

[0026] It is also conceivable that the calculation of an evaluation function includes determining whether two detected lane boundaries are parallel to each other. In other words, the determination of whether lane widening is present can be based on whether a left and right lane boundary are parallel to each other. The lane boundary can be either a lane marking or the edge of a road. The lane marking can be a line, which can be either solid or dashed. However, a variety of other lane markings are conceivable, for example, guardrails, light strips, or radio signals.

[0027] It is also conceivable that the calculation of an evaluation function includes determining whether a swarm trajectory splits at a point. In other words, part of the calculation of the evaluation function can be to determine whether the path described by preceding vehicles has split at a certain position. Such a point indicates that lane widening has occurred. It is particularly advantageous that this indication of lane widening can be detected even before the vehicle's sensors can detect the situation. This way, the vehicle user can be alerted to the situation very early and / or lateral guidance can be transferred to them.

[0028] According to the invention, the swarm data is only used in the calculation up to a certain speed limit. This provides the advantage of using particularly up-to-date data. It can be provided that the evaluation information can only include the permission for centering of a vehicle's lateral control function or the passivation of the lateral control.

[0029] The above object is further achieved by a lateral guidance system according to the invention for detecting a lane widening in an environment of a vehicle for the lateral control function of the vehicle, in particular designed to carry out a method according to the invention, comprising a computing unit which is designed to: - Collecting lane data and / or providing swarm data in the vehicle’s environment, - Calculating an evaluation function based at least on the acquired track data or swarm data, whereby evaluation information is created, - Outputting the evaluation information to at least one lateral control function of the vehicle, wherein during the calculation at least two evaluation factors are determined which at least partially determine the evaluation information.

[0030] Thus, a transverse guidance system according to the invention has the same advantages as have been described in detail in connection with the method according to the invention.

[0031] It can be provided that the lateral guidance system has at least one sensor, in particular at least one camera or radar sensor, arranged on the vehicle for detecting lane data. Furthermore, it can be provided that a communication unit is provided on the vehicle for providing swarm data, which is designed to provide swarm data at least for other vehicles or to retrieve swarm data from other vehicles or a central server system (or a cloud).

[0032] The above object is further achieved by a computer program product according to the invention, comprising instructions which, when the program is executed by a computer, in particular by a computing unit of a lateral guidance system according to the invention, cause the computer to carry out a method according to the invention.

[0033] Thus, a computer program product according to the invention has the same advantages as have been described in detail in connection with the lateral guidance system according to the invention and / or a method according to the invention.

[0034] The above object is further achieved by a computer-readable storage medium according to the invention, comprising instructions which, when executed by a computer, in particular by a computing unit of a lateral guidance system according to the invention, cause the system to carry out a method according to the invention.

[0035] Thus, a computer-readable storage medium according to the invention has the same advantages as have been described in detail in connection with the computer program product according to the invention and / or a lateral guidance system according to the invention and / or a method according to the invention.

[0036] Further advantages, features, and details of the invention will become apparent from the following description, which describes several embodiments of the invention in detail with reference to the drawings. The features mentioned in the claims and in the description may be essential to the invention individually or in any combination.

[0037] The invention is shown in the following figures: Fig. 1: a method according to the invention, Fig. 2: an overview of the data that can be used in a method according to the invention, and Fig. 3: a transverse guidance system according to the invention.

[0038] Fig. 1 shows a method 100 according to the invention for detecting a lane widening in an environment of a vehicle 300 for a lateral control function of the vehicle 300, comprising: - Acquisition 110 of lane data 10 and / or provision 111 of swarm data 20 in an environment of the vehicle 300, in particular by a computing unit 210, - Calculation 120 of an evaluation function 30 at least based on the acquired track data 10 or provided swarm data 20, wherein evaluation information 40 is created, in particular by the computing unit 210, - Output 130 of the evaluation information 40 to at least one lateral control function of the vehicle 300, in particular by the computing unit 210, wherein in the calculation 120 at least two evaluation factors 31 are determined, which at least partially determine the evaluation information 40.

[0039] Overall, the method 100 according to the invention achieves the advantage that lane widening can be detected robustly but at the same time early, thus increasing safety and improving the user experience. By recording 110 lane data 10 and / or providing 111 swarm data 20, a solid database is created. Recorded lane data 10 is particularly up-to-date and accurate, while swarm data 20 can include information beyond the sensor range. The calculation 120 of the evaluation function 30 for determining the evaluation information 40 represents the actual lane detection. Since at least two evaluation factors 31 are determined during the calculation 120, which at least partially determine the evaluation information 40, a particularly high level of robustness of the calculation 120 can be achieved.

[0040] Fig. Figure 2 shows an overview of the data that can be used in a method according to the invention. In principle, the method can access lane data 10 and swarm data 20. Swarm data can include at least swarm lane data 21, swarm road edge data 22, or swarm trajectories 23. According to the invention, an evaluation function 30 is calculated, which accesses the lane data 10 and / or the swarm data 20, wherein evaluation information 40 is then created. It is particularly advantageous that the method 100 uses at least two evaluation methods 31 in the calculation 120.

[0041] Within the scope of the invention, it may be advantageous that the at least two evaluation factors 31 at least include: - an evaluation based on the recorded, particularly filtered, track data 10, - a clock-based evaluation based on the recorded track data 10, or - an assessment based on swarm data 20.

[0042] Filtered lane data 10 offers the advantage of being more robust against fluctuations and thus resulting in a more accurate evaluation factor. The lane width can be calculated based on a fixed point in front of the vehicle 300, for example, five meters in front of the vehicle 300, and a change in the lane width can be tracked. Furthermore, a threshold comparison can be provided to check whether the lane width is within a specified range. If the lane width exceeds the specified range, lane widening has occurred.

[0043] Furthermore, the evaluation can be performed on a cycle-based basis. In other words, the track widths can be calculated at least at specific time intervals or spatial intervals, in particular at intervals of two meters. It can be provided that the cycle-based evaluation takes place within an evaluation range. It is conceivable that the evaluation range encompasses an area from the rear axle of the vehicle 300 to an area in front of the vehicle 300, in particular twice the control range of at least one transverse or longitudinal function of the vehicle 300. It can further be provided that the evaluation range is defined by the speed of the vehicle 300, for example, as two seconds times the vehicle speed. These measures serve to improve the accuracy and robustness of the calculation 120 of the evaluation factor.

[0044] Furthermore, an evaluation can be performed based on the swarm data 20. If the swarm data 20 includes swarm track data 21, the evaluation factors 31 can be calculated as described in connection with the acquired track data 10 (i.e., based on the track width and clock-based). If the swarm data 20 includes swarm trajectories 23, it can also be detected whether a split point is present.

[0045] Within the scope of the invention, it is conceivable that the swarm data 20 comprise at least swarm lane data 21, swarm road edge data 22, or swarm trajectories 23. It can then be determined whether the trajectories split at a point. If such a point is detected, the evaluation factor can indicate lane widening. In particular, it can be provided that the number of trajectories is evaluated. Furthermore, during the calculation 120, those trajectories that point in the opposite direction of the vehicle 300, i.e., correspond to oncoming traffic, can be evaluated. This makes the calculation factor particularly reliable.

[0046] It can be provided within the scope of the invention that the evaluation information 40 comprises at least - Allowing a center guidance of a lateral control function of the vehicle 300, - Instruction to use swarm data 20 for lateral control of the vehicle 300, or - Passivation of the cross control.

[0047] Allowing a center-aligned lateral control function of the vehicle 300 may correspond to evaluation information 40 that has not detected any lane widening. In this case, it is generally particularly convenient for the user if the vehicle 300 continues to drive in the center of the lane.

[0048] Furthermore, it can be provided that a widening has been detected or that there is a low confidence in the detection, so that the vehicle 300 is to be guided based on swarm data 20, i.e., along already known trajectories. Alternatively or additionally, it can also be provided that the vehicle 300 follows a vehicle traveling ahead.

[0049] It can also be provided that the lateral control is at least passivated or deactivated. In other words, in this situation, the user must control the vehicle 300 themselves and cannot activate the lateral control. However, thanks to the method 100 according to the invention, this situation is detected early on, so that the user can be alerted to the passivation early on, thus maintaining driving comfort.

[0050] It is further conceivable that the calculation 120 of an evaluation function 30 includes determining whether two detected lane boundaries are parallel to one another. In other words, the determination of whether lane widening is present can be based on whether a left and a right lane boundary are parallel to one another. The lane boundary can be either a lane marking or the edge of a road. The lane marking can be embodied as a line, which can in particular be solid or dashed. However, a variety of other lane markings are conceivable, for example, guardrails, light strips, or radio signals.

[0051] It is also conceivable that the calculation 120 of an evaluation function 30 includes determining whether a split in a swarm trajectory occurs at a point. In other words, part of the calculation 120 of the evaluation function 30 can be to determine whether the path described by preceding vehicles 300 has split at a specific position. Such a point indicates that lane widening is occurring. It is particularly advantageous that this indication of lane widening can already be detected when sensors of the vehicle 300 cannot yet detect the situation. In this way, the user of the vehicle 300 can be informed of the situation particularly early and / or lateral guidance can be transferred to them.

[0052] Within the scope of the invention, it is optionally possible for the swarm data 20 to be used only up to a limit speed in the calculation 120. This provides the advantage of using particularly up-to-date data. It can be provided that the evaluation information 40 can only include the permission for a centering of a lateral control function of the vehicle 300 or the passivation of the lateral control.

[0053] Fig. 3 finally shows a lateral guidance system 200 according to the invention for detecting a lane widening in an environment of a vehicle 300 for the lateral control function of the vehicle 300, in particular designed to carry out a method 100 according to the invention, comprising a computing unit 210 which is designed to: - Acquiring lane data 10 and / or providing 111 swarm data 20 in an environment of the vehicle 300, - Calculating an evaluation function 30 based at least on the acquired track data 10 or swarm data 20, whereby evaluation information 40 is created, - Outputting the evaluation information 40 at least to one lateral control function of the vehicle 300, wherein in the calculation 120 at least two evaluation factors 31 are determined, which at least partially determine the evaluation information 40.

[0054] Thus, a transverse guidance system 200 according to the invention has the same advantages as have been described in detail in connection with the method 100 according to the invention.

[0055] In the following figures, identical reference numerals are used for the same technical features, even in different embodiments.

[0056] The above explanation of the embodiments describes the present invention exclusively by way of examples. Of course, individual features of the embodiments can be freely combined with one another, provided they are technically feasible, without departing from the scope of the present invention. List of reference symbols 10 track data 20 swarm data 21 Swarm track data 22 Swarm road edge data 23 swarm trajectories 30 Rating function 31 evaluation factors 40 Rating information 100 procedures 110 Recording 111 Provision 120 Calculation 130th issue 200 lateral guidance system 210 computing unit 300 vehicles

Claims

[1] Method (100) for detecting a lane widening in an environment of a vehicle (300) for a lateral control function of the vehicle (300), comprising: - providing (111) swarm data (20) in an environment of the vehicle (300), - Calculating (120) an evaluation function (30) at least based on the provided swarm data (20), whereby evaluation information (40) is created, - output (130) of the evaluation information (40) to at least one lateral control function of the vehicle (300), wherein during the calculation (120) at least two evaluation factors (31) are determined which at least partially determine the evaluation information, wherein the swarm data (20) are only used up to a limit speed in the calculation (120). [2] Method (100) according to claim 1, characterized by , that a detection (110) of lane data (10) is provided in an environment of the vehicle (300), and / or that a calculation (120) of the evaluation function (30) is provided at least on the basis of the recorded track data (10). [3] Method (100) according to one of the preceding claims, characterized by that the at least two assessment factors (31) include at least: - an assessment based on the recorded, in particular filtered, track data (10), - a clock-based evaluation based on the recorded track data (10), or - an assessment based on swarm data (20). [4] Method (100) according to one of the preceding claims, characterized by that the swarm data (20) comprise at least swarm track data (21), swarm road edge data (22) or swarm trajectories (23). [5] Method (100) according to one of the preceding claims, characterized by that the evaluation information (40) includes at least: - allowing a centering of a lateral control function of the vehicle (300), - Instruction for the use of swarm data (20) for lateral control of the vehicle (300), or - Passivation of the cross control. [6] Method (100) according to claim 2, characterized by that the calculation (120) of an evaluation function (30) comprises determining whether two detected lane boundaries are parallel to each other. [7] Method (100) according to one of the preceding claims, characterized by that the calculation (120) of an evaluation function (30) comprises determining whether a division of a swarm trajectory takes place at a point. [8] Transverse guidance system (200) for detecting a lane widening in an environment of a vehicle (300) for the transverse control function of the vehicle (300), designed to carry out a method according to one of claims 1 to 7, comprising a computing unit (210) which is designed to: - providing (111) swarm data (20) in an environment of the vehicle (300), - calculating (120) an evaluation function (30) at least based on the swarm data (20), whereby evaluation information (40) is created, - outputting (130) the evaluation information (40) at least to one lateral control function of the vehicle (300), wherein during the calculation (120) at least two evaluation factors (31) are determined which at least partially determine the evaluation information. [9] Computer program product, comprising instructions which, when the program is executed by a computer, in particular by a computing unit (210) of a lateral guidance system (200) according to claim 8, cause the computer to carry out a method according to one of claims 1 to 7. [10] Computer-readable storage medium comprising instructions which, when executed by a computer, in particular by a computing unit (210) of a lateral guidance system (200) according to claim 8, cause the latter to carry out a method according to one of claims 1 to 7.

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