Determining and displaying the turning maneuvers of a vehicle

Abstract

Method for determining and displaying turning maneuvers (200, 300, 400, 500) of a vehicle (201) comprising the steps: - Determining the location of a turning maneuver (200, 300, 400, 500), - Determining a path (205, 305, 405, 505) which the vehicle (201) is expected to follow at the location of the turning maneuver (200, 300, 400, 500), - Assess whether the turning maneuver (200, 300, 400, 500) is unexpected, i.e., not expected by other road users, and - Warning other road users if the turning maneuver (200, 300, 400, 500) is judged to be unexpected, whereby a) other road users are warned by a specific flashing signal issued by a direction indicator of the vehicle (201), or b) other road users are warned by the activation of at least one brake light of the vehicle (201), or by the activation of a specific warning light of the vehicle (201), or by a specific light animation produced by several lights of the vehicle lighting of the vehicle (201), or by an acoustic warning signal emitted by the vehicle (201), and / or c) other road users are warned by a warning message sent by the vehicle (201) via V2X communication.

Description

[0001] The invention relates to a method for determining and displaying turning maneuvers of a vehicle.

[0002] In this context, a turning maneuver is primarily understood as a change in the vehicle's direction of travel in road traffic at a location where the vehicle has several options for continuing its journey. Such a location would be, for example, an intersection or junction. Another example is a driveway into which the vehicle enters from a road or from which it enters a road. Changing lanes on a multi-lane roadway is also considered a turning maneuver.

[0003] Turning maneuvers involve various hazards. The change of direction itself often poses a risk, particularly when the vehicle's trajectory intersects that of another road user, such as another vehicle or a pedestrian. Such intersections increase the likelihood of a collision. Furthermore, turning maneuvers often involve braking, increasing the risk of a rear-end collision with a vehicle behind the turning vehicle. For these reasons, errors during turning maneuvers are among the most frequent causes of road accidents.

[0004] Therefore, the behavior during turning maneuvers is regulated by various legal provisions. Furthermore, turn signals are mandatory for motor vehicles such as cars, trucks, buses, and motorcycles. These are lighting devices that must visually indicate an intended turn. These lighting devices are vehicle lights on the right and left sides of the vehicle, which must be activated depending on the intended change in the vehicle's direction of travel. By activating a vehicle's turn signal, other road users are alerted to the intended turn, allowing them to adjust accordingly.

[0005] DE 10 2015 226 112 A1 describes a method for assisting the turning maneuver of a first motor vehicle at a road intersection, junction, or fork, and indicates to the driver of the first motor vehicle at which road segments meeting at the intersection he must yield to vehicles already there. The method includes the detection of an impending turning maneuver by the first motor vehicle. Once an impending turning maneuver has been detected, an analysis of the topology of the road intersection, junction, or fork follows with respect to one or more lanes with right-of-way, on which second motor vehicles traveling there have priority over the first motor vehicle.

[0006] At least for the priority lanes, current and / or future states of traffic signals are displayed and / or it is indicated that a traffic signal on at least one of the one or more priority lanes signals for this free passage.

[0007] DE 10 2012 103 630 A1 discloses a method for adjusting the swivel angle of cornering headlights of a vehicle in the area of ​​intersections or junctions, wherein a lookout distance is defined for adjusting the swivel angle, the expected route of the vehicle is determined on the basis of at least one criterion, in the case of an expected route of the vehicle which includes a turn at the intersection or into the junction, the lookout distance is limited to the distance of the vehicle to the intersection or junction while approaching the intersection or junction, and in the case of an expected route of the vehicle without a turn at the intersection or into the junction, no change in the lookout distance is made.

[0008] The invention is based on the objective of providing an improved method for determining and displaying turning maneuvers of a vehicle.

[0009] The problem is solved according to the invention by a method having the features of claim 1.

[0010] Advantageous embodiments of the invention are the subject of the dependent claims.

[0011] The problem is solved according to the invention by a method for determining and displaying turning maneuvers of a vehicle comprising the following steps: - Determining the location of a turning maneuver, - Determining a path that the vehicle is likely to follow at the point of the turning maneuver, - Assess whether the turning maneuver is unexpected, i.e., not anticipated by other road users, and - Warning other road users if the turning maneuver is judged to be unexpected, whereby a) other road users are warned by a specific flashing signal issued by a direction indicator of the vehicle (201), or b) other road users are warned by the activation of at least one brake light of the vehicle (201), or by the activation of a specific warning light of the vehicle (201), or by a specific light animation produced by several lights of the vehicle lighting of the vehicle (201), or by an acoustic warning signal emitted by the vehicle (201), and / or c) other road users are warned by a warning message sent by the vehicle (201) via V2X communication.

[0012] The invention is based on the premise that an unexpected turning maneuver by a vehicle can pose a particular danger to other road users, as they are not prepared for the maneuver. The method according to the invention involves first detecting an impending turning maneuver by determining its location and the path the vehicle is likely to follow at that location. Subsequently, it is assessed whether the turning maneuver is unexpected for other road users. The detection and assessment of an impending turning maneuver are performed by a software module that processes various pieces of information and uses criteria for its evaluation. If the turning maneuver is deemed unexpected, other road users are alerted to the turning maneuver by a warning initiated by the software module.

[0013] In one embodiment of the invention, the location of the turning maneuver and the path that the vehicle is expected to follow at the location of the turning maneuver are determined. - based on a route planned for the vehicle, or - based on previous journeys of the vehicle or - due to the activation of a vehicle's direction indicator or - by means of at least one vehicle sensor that detects the vehicle's surroundings, or - by means of an eye tracker directed at the driver of the vehicle, or - by means of an electronic horizon of the vehicle.

[0014] A planned route for the vehicle is calculated, for example, by a navigation program using digital map data and a destination set by the user. The navigation program is executed, for example, by the vehicle's navigation system, the user's mobile device, or in the cloud. Alternatively, the vehicle's journey is compared with previous journeys. If it turns out that the vehicle is following a route that it has already traveled in the past, especially multiple times, this route can be used to determine the location of the turn and the path the vehicle is likely to follow at that point. This requires that previous journeys are stored, for example, in the vehicle's memory or in the cloud.A vehicle sensor that detects the vehicle's surroundings and is used to determine the location of the turning maneuver and the path the vehicle is likely to follow at that point is, for example, a camera, a lidar sensor, or a radar sensor. A vehicle's electronic horizon (eHorizon) includes, for example, data about road segments, their geometric properties, road classes, right-of-way rules, and traffic lights in the vehicle's vicinity. The electronic horizon can also store probabilities for the paths the vehicle is likely to follow at the location of a turning maneuver.

[0015] In a further embodiment of the invention, the turning maneuver is considered unexpected if, at the point of the turning maneuver, there are two junctions from a road traveled by the vehicle on the same side of the road, and the path that the vehicle is expected to follow at the point of the turning maneuver leads to the junction into which the vehicle requires the smaller turning radius. The turning radius of a turning maneuver of the vehicle is understood to be the reciprocal of the maximum curvature of the vehicle's trajectory during the turning maneuver.This embodiment of the invention takes into account that, at two junctions on the same side of the road where the vehicle is traveling, other road users do not know which of the two junctions the vehicle will turn into, even if the intention to turn is signaled by the vehicle's turn indicator. The assessment of the turning as unexpected when the turn is expected to be into the junction with the smaller turning radius considers that this turn generally requires more forceful braking than a turn into the junction with the larger turning radius.Particularly if the turn with the smaller turning radius leads, for example, into a driveway or a lightly trafficked road, other road users might expect a turn into the turn with the larger turning radius and therefore be surprised by the vehicle's sudden braking.

[0016] In a further embodiment of the invention, the turning maneuver is deemed unexpected if it comprises two independent changes of direction by the vehicle, which are separated by a distance below a predetermined threshold along the path the vehicle is expected to follow at the point of the turning maneuver. In other words, the turning maneuver is deemed unexpected if it comprises two closely spaced, independent changes of direction by the vehicle. Such a turning maneuver is considered unexpected because other road users might not expect the vehicle to make another change of direction so soon after the first.

[0017] In a further embodiment of the invention, the turning maneuver is considered unexpected if it involves the vehicle turning from a first street into, or immediately after a curve, a second street or driveway. Such a turning maneuver is considered unexpected because other road users may not expect the vehicle to turn into, or immediately after, a curve.

[0018] In a further embodiment of the invention, the turning maneuver is considered unexpected if it involves the vehicle turning from a first street into a second street or driveway, and another turn would be possible shortly thereafter on the same side of the street. Such a turning maneuver is considered unexpected because other road users might expect the vehicle to turn from the first street into the second street or driveway after passing the junction, for example, because this turn would lead into a busy third street.

[0019] In a further embodiment of the invention, the turning maneuver is deemed unexpected if the ratio of the turning radius to the distance traveled by the vehicle during the turning maneuver falls below a predetermined threshold. Such a turning maneuver is considered unexpected because a very small turning radius necessitates a sharp deceleration of the vehicle, which may not be anticipated by other road users, particularly if the distance traveled by the vehicle during the turning maneuver is relatively large.

[0020] In a further embodiment of the invention, in the event of a turning maneuver deemed unexpected, other road users are warned by a specific flashing signal emitted by a turn signal indicator of the vehicle. This specific flashing signal has, for example, a higher flashing frequency and / or greater brightness than a flashing signal typically emitted by the turn signal indicator. In this embodiment of the invention, the turn signals of the vehicle, which are also normally activated when turning, are used to alert other road users to a potentially unexpected turn by the vehicle, whereby the flashing signals emitted by the turn signals are modified compared to those typically emitted by the turn signals.

[0021] In a further embodiment of the invention, if a turning maneuver is deemed unexpected, other road users are warned by activating at least one brake light of the vehicle, or by activating a specific warning light of the vehicle, or by a specific light animation generated by several lights of the vehicle's lighting system, or by an acoustic warning signal emitted by the vehicle. In this embodiment of the invention, other road users are thus alerted to a potentially unexpected turning maneuver by the vehicle through the activation of vehicle lights that differ from the turn signals, or through an acoustic warning signal.

[0022] In a further embodiment of the invention, in the event of a turning maneuver deemed unexpected, other road users are warned by a warning message sent by the vehicle via V2X communication.

[0023] V2X communication, also known as Vehicle-to-Everything Communication, Car2X communication, or Car-to-X communication, enables the exchange of information and data between V2X communication participants. These participants are primarily road users and traffic infrastructure. Communication between V2X participants occurs via radio signals, which are exchanged, for example, using ITS-G5 / DSRC (Dedicated Short Range Communication) or in a mobile network, such as via PC5 or Uu interfaces.

[0024] Embodiments of the invention are explained in more detail below with reference to the drawings. These show: Fig. 1 a flowchart of an embodiment of the method according to the invention, Fig. 2 a first turning maneuver of a vehicle, Fig. 3 a second turning maneuver of a vehicle, Fig. 4 a third turning maneuver of a vehicle, Fig. 5 a fourth turning maneuver of a vehicle, Fig. 6 a block diagram of a first integration of the inventive method implementing software into an on-board network of a vehicle, Fig. 7 a block diagram of a second integration of the inventive method implementing software into an on-board network of a vehicle, Fig. 8 a block diagram of a third integration of the inventive method implementing software into a vehicle's on-board network, Fig. 9 a block diagram of a fourth integration of the inventive method implementing software into a vehicle's electrical system.

[0025] Corresponding parts are marked with the same reference symbols in the figures.

[0026] Fig. 1 ( Fig. 1) shows a flowchart 100 of an embodiment of the method according to the invention with process steps 101 to 104 for determining and displaying turning operations of a vehicle.

[0027] In a first procedural step 101, a location of a turning maneuver is determined.

[0028] In a second procedure step 102, a path is determined which the vehicle is expected to follow at the location of the turning maneuver determined in the first procedure step 101.

[0029] The location of the turning maneuver and the path that the vehicle is expected to follow at the location of the turning maneuver are determined, for example. - based on a route planned for the vehicle, or - based on previous journeys of the vehicle or - due to the activation of a vehicle's direction indicator or - by means of at least one vehicle sensor that detects the vehicle's surroundings, or - by means of an eye tracker directed at the driver of the vehicle, or - by means of an electronic horizon of the vehicle.

[0030] In a third procedural step 103, it is assessed whether the turning maneuver is unexpected, that is, not anticipated by other road users. Fig. Figures 2 to 5 show various examples of turning maneuvers 200, 300, 400, 500 of a vehicle 201, which are judged to be unexpected.

[0031] Fig. 2 ( Fig. Figure 2) shows a turning maneuver 200 in which the vehicle 201 travels on a first road 202. At the location of the turning maneuver 200, determined in the first procedure step 101, a second road 203 and a third road 204 branch off from the first road 202. The path 205, determined in the second procedure step 102, which the vehicle 201 is expected to follow at the location of the turning maneuver 200, leads from the first road 202 into the second road 203. The turning maneuver 200 is considered unexpected because turning the vehicle 201 into the second road 203 requires a smaller turning radius than turning the vehicle 201 into the third road 204.

[0032] Fig. 3 ( Fig. Figure 3) shows a turning maneuver 300 in which the vehicle 201 travels on a first road 302. At the location of the turning maneuver 300 determined in the first procedure step 101, a second road 303 branches off from the first road 302, and a third road 304 branches off from the second road 303. The path 305 determined in the second procedure step 102, which the vehicle 201 is expected to follow at the location of the turning maneuver 300, leads from the first road 302 to the second road 303 and from the second road 303 to the third road 304.The turning maneuver 300 is judged to be unexpected because it involves two closely successive, independent changes of direction of travel of the vehicle 201, namely a first change of direction when turning from the first street 302 into the second street 303 and a second change of direction when turning from the second street 303 into the third street 304, whereby these two changes of direction are separated by a distance that falls below a specified distance threshold.

[0033] Fig. 4 ( Fig. Figure 4) shows a turning maneuver 400 in which the vehicle 201 travels on a first road 402. At the location of the turning maneuver 400, determined in the first procedure step 101, a second road 403 branches off from the first road 402. The path 405, determined in the second procedure step 102, which the vehicle 201 is expected to follow at the location of the turning maneuver 400, leads from the first road 402 into the second road 403. The turning maneuver 400 is considered unexpected because it involves the vehicle 201 turning from the first road 402 into the second road 403 at the exit of a curve in the first road 402.

[0034] Fig. 5 ( Fig. Figure 5) shows a turning maneuver 500 in which the vehicle 201 travels on a first road 502. At the location of the turning maneuver 500, determined in the first procedure step 101, a second road 503 branches off from the first road 502. The path 505, determined in the second procedure step 102, which the vehicle 201 is expected to follow at the location of the turning maneuver 500, leads from the first road 502 into the second road 503. The turning maneuver 500 is considered unexpected because shortly after the vehicle 201 turns from the first road 502 into the second road 503, a further turn into a third road 504 would be possible on the same side of the road, which is expected by other road users, for example, because the third road 504 is a main road, while the second road 503 is a side road or residential street.

[0035] In addition to the ones based on the Fig. In addition to the 2 to 5 exemplary turning maneuvers described, further turning maneuvers may be judged as unexpected, for example a turning maneuver in which the ratio of a turning radius of the turning maneuver to a distance traveled by the vehicle 201 during the turning maneuver falls below a predetermined threshold.

[0036] In a fourth procedural step 104, other road users are warned if the turning maneuver is judged to be unexpected in the third procedural step 103.

[0037] For example, other road users are warned by a specific flashing signal emitted by a direction indicator of vehicle 201. For example, the specific flashing signal has a higher flashing frequency and / or a brighter intensity than a flashing signal normally emitted by the direction indicator.

[0038] Alternatively or additionally, other road users are warned by switching on at least one brake light of the vehicle 201, or by switching on a specific warning light of the vehicle 201, or by a specific light animation produced by several lights of the vehicle lighting of the vehicle 201, or by an acoustic warning signal emitted by the vehicle 201.

[0039] Alternatively or additionally, other road users are warned by a warning message sent by vehicle 201 via V2X communication.

[0040] The method according to the invention is implemented, for example, by a software module that is executed by an electronic control unit (ECU) of the vehicle 201 and is hereinafter referred to as DTD (abbreviation for Dangerous Turn Detector). Fig. Figures 6 to 9 show block diagrams of various integration possibilities of the DTD into a vehicle network of the vehicle 201.

[0041] Fig. 6 ( Fig. Figure 6) shows an initial integration 600 of the DTD 601 into the vehicle electrical system. The DTD 601 is implemented by a control unit 602, which is connected to a vehicle bus 604 of the vehicle electrical system via a protocol-specific transport layer 603. The vehicle bus 604 is, for example, a CAN bus (CAN: abbreviation for Controller Area Network) or an Automotive Ethernet bus.

[0042] The DTD 601 retrieves data required for carrying out the method according to the invention from a map data provider 605 (English: Map Data Base Access Provider), a position data provider 606 (English: Map Matched Position Provider) and a route provider 607 (English: Route Provider).

[0043] The map data provider 605 provides access to a map database containing information about the road network, such as intersections, road classes, road geometries, turning angles, and right-of-way rules. The map database can be stored locally in the vehicle's memory 201 or remotely, for example, in a data cloud.

[0044] The position data provider 606 distributes position data of vehicle 201 related to roads in the map database.

[0045] The route provider 607 provides route information for routes. These routes can include routes to a destination defined by a user of the vehicle 201, for example, by entering the destination into the vehicle 201's navigation system, and / or "learned" routes that have been traveled by the vehicle 201 in the past, particularly multiple times, and are stored in the vehicle 201's memory and / or in a data cloud. The routes (as a sequence of road segments) are compared, for example, with the map database and position data.

[0046] The DTD 601 determines, based on data retrieved from the map data provider 605, the position data provider 606 and the route provider 607, and, where applicable, further data provided, for example, by at least one vehicle sensor that detects the vehicle's surroundings and / or an eye tracker directed at the driver of the vehicle 201 and / or signaling the activation of a turn indicator of the vehicle 201, a location of a turning maneuver of the vehicle 201 and a path 205, 305, 405, 505 which the vehicle 201 is likely to follow at the location of the turning maneuver 200, 300, 400, 500, and assesses whether the turning maneuver 200, 300, 400, 500 is unexpected. If the turning operation 200, 300, 400, 500 is judged to be unexpected, the DTD 601 generates a warning information 608.

[0047] Warning information 608 includes, for example, - a degree of unexpectedness of the turning maneuver 200, 300, 400, 500, - a type of turning maneuver 200, 300, 400, 500, for example a change of direction or a sequence of changes of direction of the vehicle 201 during the turning maneuver 200, 300, 400, 500, - an absolute change of direction of the vehicle 201 depending on a distance from the point of the turning maneuver 200, 300, 400, 500, - a probability for path 205, 305, 405, 505, taking into account the route information provided by route provider 607 and / or - a probability for path 205, 305, 405, 505, if the route information provided by route provider 607 is ignored.

[0048] Warning information 608 is transmitted by transport layer 603 to vehicle bus 604 to make warning information 608 available to a receiver connected to vehicle bus 604 or to several such receivers.

[0049] For example, a receiver of warning information 608 is a control unit that controls a direction indicator, a brake light and / or a specific warning light of the vehicle 201.

[0050] Fig. 7 ( Fig. Figure 7) shows a second integration 700 of the DTD 601 into the vehicle network. In this integration 700, the DTD 601 is integrated into an eHorizon Provider 709. The eHorizon Provider 709 provides an eHorizon 710 (short for Electronic Horizon). The eHorizon 710 includes, for example, data about road segments, their geometric properties, road classes, right-of-way rules, and traffic lights in the vicinity of the vehicle 201. Furthermore, probabilities for potential paths 205, 305, 405, and 505 can be stored in the eHorizon 710. The eHorizon provider 709 retrieves data from the map data provider 605, the position data provider 606, and the route provider 607, which are used by the DTD 601. The eHorizon 710 is transmitted to the vehicle bus 604 via the transport layer 603.

[0051] Fig. 8 ( Fig. Figure 8) shows a third integration 800 of the DTD 601 into the vehicle electrical system. In this integration 800, the DTD 601 receives the data required for carrying out the method according to the invention from the eHorizon 710. The eHorizon provider 709 and the DTD 601 are implemented by the same control unit 602.

[0052] Fig. 9 ( Fig. Figure 9) shows a fourth integration 900 of the DTD 601 into the vehicle electrical system. In this integration 900 as well, the DTD 601 receives the data required for carrying out the method according to the invention from the eHorizon 710. In contrast to the integration shown in Fig.In the integration 800 of the DTD 601 into the vehicle network shown in Figure 8, the DTD 601 is not executed by a control unit 602, on which the eHorizon provider 709 also runs, but by a control unit 902, which also runs an eHorizon reconstructor 911. The eHorizon reconstructor 911 deserializes eHorizon objects of the eHorizon 710 and provides, for example, services to improve the driving safety, driving comfort, and / or driving economy of the vehicle 201. The eHorizon reconstructor 911 is connected to the vehicle bus 604 via a transport layer 903 of the control unit 902. Reference symbol list 100 Flowchart 101, 102, 103, 104 Procedure step 200, 300, 400, 500 Turning maneuver 201 vehicles 202, 302, 402, 502 first street 203, 303, 403, 503 second street 204, 304, 504 third street Path 205, 305, 405, 505 600, 700, 800, 900 Integration of software into an on-board network 601 DTD (Software module) 602, 902 control unit 603, 903 Transport layer 604 vehicle bus 605 map data providers 606 Position Data Providers 607 route providers 608 Warning Information 709 eHorizon providers 710 eHorizon (electronic horizon) 911 eHorizon Reconstructor

Claims

[1] Method for determining and indicating turning maneuvers (200, 300, 400, 500) of a vehicle (201) comprising the steps: - Determining the location of a turning maneuver (200, 300, 400, 500), - Determining a path (205, 305, 405, 505) which the vehicle (201) is expected to follow at the location of the turning maneuver (200, 300, 400, 500), - Assess whether the turning maneuver (200, 300, 400, 500) is unexpected, i.e., not expected by other road users, and - Warning other road users if the turning maneuver (200, 300, 400, 500) is judged to be unexpected, whereby a) other road users are warned by a specific flashing signal issued by a direction indicator of the vehicle (201), or b) other road users are warned by the activation of at least one brake light of the vehicle (201), or by the activation of a specific warning light of the vehicle (201), or by a specific light animation produced by several lights of the vehicle lighting of the vehicle (201), or by an acoustic warning signal emitted by the vehicle (201), and / or c) other road users are warned by a warning message sent by the vehicle (201) via V2X communication. [2] Method according to claim 1, wherein the location of the turning operation (200, 300, 400, 500) and the path (205, 305, 405, 505) which the vehicle (201) is expected to follow at the location of the turning operation (200, 300, 400, 500) are determined. - based on a route planned for the vehicle (201), or - based on previous journeys of the vehicle (201) or - due to the activation of a direction indicator of the vehicle (201) or - by means of at least one vehicle sensor that detects the vehicle's surroundings (201), or - by means of an eye tracker directed at the driver of the vehicle (201), or - by means of an electronic horizon of the vehicle (201). [3] Method according to one of the preceding claims, wherein the turning operation (200) is judged to be unexpected if, at the location of the turning operation (200), there are two junctions from a road (202) traveled by the vehicle (201) on the same side of the road (202), and the path (205) which the vehicle (201) is expected to follow at the location of the turning operation (200) leads to the junction into which a turn by the vehicle (201) requires the smaller turning radius. [4] Method according to one of the preceding claims, wherein the turning operation (300) is judged to be unexpected if the turning operation (300) comprises two independent changes of direction of travel of the vehicle (201) which, along the path (305) which the vehicle (201) is expected to follow at the location of the turning operation (300), are spaced apart from each other at a distance which is less than a predetermined distance threshold. [5] Method according to any of the preceding claims, wherein the turning operation (400) is deemed to be unexpected if it involves the vehicle (201) turning from a first road (402) into, or immediately after a curve into, a second road (403) or property entrance. [6] Method according to one of the preceding claims, wherein the turning operation (500) is deemed to be unexpected if it involves the vehicle (201) turning from a first street (502) into a second street (503) or property entrance and shortly thereafter another turning would be possible on the same side of the street. [7] Method according to one of the preceding claims, wherein the turning operation (200, 300, 400, 500) is judged to be unexpected if the ratio of a turning radius of the turning operation (200, 300, 400, 500) to a distance traveled by the vehicle (201) during the turning operation (200, 300, 400, 500) falls below a predetermined threshold. [8] Method according to any of the preceding claims, wherein the specific flashing signal has a higher flashing frequency and / or a higher brightness than a signal typically given by: Flashing signal issued by the direction indicator.

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