Method for controlling the driving operation of an ego vehicle and assistance system as well as motor vehicle

Abstract

The invention relates to a method for controlling the driving operation of an ego vehicle (1), in which a hands-off driving function is permitted in a release area (16) of a driving path of the ego vehicle (1) located on an ego lane (2). According to the invention, the ego lane (2) of the ego vehicle (1) is defined in the release area (16) depending on the separation (8, 9, 10) of the ego lane (2) from the opposite lane (14) and depending on the distance of the ego lane (2) to the nearest lane (4) of the opposite lane (14).

Description

[0001] The invention relates to a method for controlling the driving operation of an ego vehicle according to the preamble of claim 1.

[0002] Vehicles increasingly utilize driver assistance systems to control their operation, supporting or relieving the driver in specific driving situations or during certain vehicle movements. These systems are now used in a wide variety of forms, such as Electronic Stability Programs (ESP) or Electronic Stability Control (ESC), emergency braking systems, lane keeping assist, overtaking assist, turning assist, hill start assist, traffic jam assist, parking assist, or longitudinal control systems like adaptive cruise control (ACC), which allows the driver to set a desired distance between their vehicle (often referred to as the "ego vehicle") and the vehicle ahead, depending on the vehicle's speed.

[0003] These assistance systems are used particularly in assisted driving mode, automated driving mode, or autonomous driving mode. In these driving modes, the driver is permitted to take their hands off the steering wheel under certain conditions and in specific areas of the road, in a so-called hands-off driving function. In these areas, also known as the Operational Design Domain (ODD), the vehicle's centering, and thus its longitudinal and lateral control, is managed solely by the vehicle's assistance systems until the driver takes over again.

[0004] In connection with controlling the driving operation of an ego vehicle, a method for operating a hands-off driving function of an automated motor vehicle is known from DE 10 2022 110 551 A1. In this method, the hands-off driving function can also be operated in driving situations where there is no physical separation of the directions of travel, for example on highways with median strips between the lanes.

[0005] Furthermore, German patent application DE 10 2021 120 043 A1 discloses a method for monitoring a condition of permissibility for an automated driving mode of a motor vehicle. The condition of permissibility stipulates that the automated driving mode of the motor vehicle may only be active when driving on roads of a predetermined approved road class.

[0006] Finally, DE 10 2022 212 687 A1 describes a method for autonomous driving control in which the ego vehicle, in an autonomous driving mode, follows a target vehicle ahead using this autonomous driving control. To increase or maintain the stability of the autonomous driving mode, the ego vehicle can change lanes to an adjacent lane and follow a new target vehicle there.

[0007] The invention is based on the objective of specifying a generic method for controlling the driving operation of an ego vehicle, in which the ego vehicle is operated in a simple and reliable manner while adhering to safety aspects in an approved hands-off driving function.

[0008] This problem is solved according to the invention by a method for controlling the driving operation of an ego vehicle with the features listed in claim 1.

[0009] Advantageous further developments of the method according to the invention are part of the further patent claims.

[0010] In the inventive method for controlling the driving operation of an ego vehicle, during the driving of the ego vehicle in a hands-off driving function enabled in a release area of ​​a driving route, the ego lane for the ego vehicle is specified depending on the separation of the ego lane from the opposite lane and depending on the distance of the ego lane to the nearest lane of the opposite lane.

[0011] In a preferred embodiment of the invention, these two criteria—the separation of the ego lane from the oncoming lane and the distance of the ego lane to the nearest lane of the oncoming lane—are detected in a predetermined monitoring area in the direction of travel ahead of the ego vehicle and used to define the ego lane for the ego vehicle. For this purpose, sensor data from at least one sensor of at least one sensor system of the ego vehicle are provided to at least one assistance system of the ego vehicle, in particular for detecting the predetermined monitoring area in the direction of travel ahead of the ego vehicle.For example, sensor data from at least one optical sensor system of the ego vehicle is provided, such as at least one camera, at least one radar sensor system, at least one ultrasonic sensor system, and / or at least one lidar sensor system. Swarm data provided by other vehicles can also be used to cover the specified monitoring area in the direction of travel ahead of the ego vehicle. For example, a wide-ranging monitoring area of ​​1 km in the direction of travel ahead of the ego vehicle can be covered using swarm data provided by other vehicles, and a monitoring area of ​​300 m in the direction of travel ahead of the ego vehicle can be covered using optical sensor systems with cameras.The sensor data from the Ego vehicle's radar sensor systems can be used in particular for the precise localization of the Ego vehicle, especially for the precise localization of the Ego vehicle in a high-precision map.

[0012] In a further preferred embodiment of the invention, the distance of the ego lane to the nearest lane of the oncoming carriageway is determined based on the lane marking of the ego lane and / or based on swarm data from other vehicles. In the former case, to determine the distance of the ego lane to the nearest lane of the oncoming carriageway, the width of the ego vehicle and the width of a potential oncoming vehicle are taken into account, starting from the lane marking of the ego lane. Here, for example, the outer edge of the ego lane and the outer edge of the oncoming carriageway, and thus of the nearest lane of the oncoming carriageway, can be determined using lane detection or lane recognition, and the width of the ego vehicle and the width of a potential oncoming vehicle are then added to the resulting distance.In the second case, a swarm trajectory is determined for the vehicles traveling in the nearest lane of the oncoming carriageway using swarm data from other vehicles. This allows the centering of the vehicles in the nearest lane of the oncoming carriageway, and thus the center position of the nearest lane of the oncoming carriageway as the average distance to the ego lane, to be determined. Here, too, the width of the ego vehicle and the width of a potential oncoming vehicle in the oncoming carriageway are taken into account.

[0013] Preferably, in the method according to the invention, a lane change of the ego vehicle from the ego lane to at least one lane further away from the opposite lane or a deactivation of the hands-off driving function is specified if, in the monitoring area, there is no structural separation of the ego lane from the opposite lane over a specified minimum length of the route and / or if the distance between the ego lane and the nearest lane of the opposite lane falls below a specified minimum distance.The predetermined lane change of the ego vehicle from its designated lane to at least one lane further away from the oncoming lane depends on the applicable traffic regulations. In right-hand traffic, this lane change is initially directed to a lane further to the right (as an auxiliary lane), and in left-hand traffic, it is directed to a lane further to the left (as an auxiliary lane). If, after the ego vehicle's lane change from its designated lane to the auxiliary lane, the minimum distance requirement is still not met, a further lane change is initiated, if possible, from the auxiliary lane it occupied as an ego lane following the first lane change, to a new lane even further away from the oncoming lane.

[0014] Deactivation of the hands-off driving function as a measure when the specified minimum distance is not maintained or when a physical barrier to the oncoming lane is not present, and especially when there is no physical barrier to the oncoming lane, is only specified if the preferred measure of the specified lane change of the ego vehicle from the ego lane to at least one lane further away from the oncoming lane cannot be carried out.

[0015] In a further preferred embodiment of the invention, the minimum distance between the ego lane and the nearest lane of the opposite carriageway is specified depending on the current driving conditions of the ego vehicle and / or depending on the dimensions of the ego vehicle and / or depending on the structural conditions of the route in the monitoring area and / or depending on the course of the route in the monitoring area and / or depending on the current weather conditions and / or depending on the return time of the driver of the ego vehicle.

[0016] The minimum distance between the ego lane and the nearest lane of the opposite carriageway, and thus the requirement for the ego vehicle to change lanes from the ego lane to at least one lane further away from the opposite carriageway, is determined in particular by the probability of the ego vehicle drifting into oncoming traffic on the opposite carriageway.The following criteria can be used cumulatively or alternatively as criteria for assessing the probability of the ego vehicle drifting into oncoming traffic on the opposite carriageway, and thus for determining the minimum distance between the ego lane and the nearest lane of the opposite carriageway, or for determining the minimum distance to potential oncoming traffic: the current driving conditions of the ego vehicle, the dimensions of the ego vehicle, the nature of the structural conditions of the route in the monitoring area, the route profile of the route in the monitoring area, the current weather conditions, and the return time of the driver of the ego vehicle.

[0017] Regarding the criterion of the current driving conditions of the ego vehicle, particular consideration is given to the current vehicle speed of the ego vehicle and / or the current drift speed or lateral speed of the ego vehicle, which, for example, should not exceed a value of 0.6 m / s.

[0018] Furthermore, the dimensions of the ego vehicle, and in particular the width of the ego vehicle and, if necessary, a standard width for potential oncoming traffic vehicles, can also be taken into account.

[0019] With regard to the criterion of the structural conditions of the route in the monitoring area, particular attention is paid to the separation of the ego lane from the opposite lane and here the nature of the separation to the opposite lane.Here, a safety assessment is carried out, taking safety aspects into account, in particular that if guardrails are present between the ego lane and the oncoming lane as a structural separation of the ego lane from the oncoming lane, no minimum distance is specified between the ego lane and the nearest lane of the oncoming lane, and that if a buffer zone is present as a green area, asphalt surface or concrete surface without a guardrail as a structural separation of the ego lane from the oncoming lane, a smaller minimum distance is specified between the ego lane and the nearest lane of the oncoming lane than the minimum distance between the ego lane and the nearest lane of the oncoming lane when only a lane divider line is present as a separation between the ego lane and the nearest lane of the oncoming lane.

[0020] With regard to the criterion of the route of travel in the monitoring area, particular consideration is given to the road alignment of the route and / or the road gradient of the route and / or curves of the route in the monitoring area.

[0021] With regard to the criterion of current weather conditions, particular consideration is given to weather conditions that have an adverse effect on the sensor systems of the ego vehicle and their sensors for acquiring and evaluating the required sensor data. For example, lines on the road surface of the route may be incorrectly detected or incorrectly assigned as a result of sunlight or fog, which could also lead to incorrect determination of the distance values ​​to be determined according to the invention.

[0022] Regarding the criterion of the driver's return time for the ego vehicle, the reaction time of the driver to take over the driving function after a predetermined termination of the hands-off driving function is particularly taken into account. For example, a value of 2 seconds can be assigned to this return time for the driver to take over the driving function following the termination of the hands-off driving function.

[0023] Preferably, the currently defined minimum distance between the ego lane and the nearest lane of the opposite carriageway is specified by means of a hysteresis curve, so that short-term or short-range fluctuations in the determination of the minimum distance are compensated for or are not taken into account when specifying the lane change of the ego vehicle and / or when specifying the termination of the hands-off driving function.

[0024] Furthermore, a predetermined lane change by the ego vehicle from its own lane to at least one lane further away from the oncoming lane is preferably only carried out after the driver of the ego vehicle performs the necessary confirmation action. A predetermined lane change by the ego vehicle from its own lane to at least one lane further away from the oncoming lane must therefore be confirmed by a confirmation action from the driver of the ego vehicle.As confirmation by the driver of the ego vehicle, a corresponding gesture can be made by the driver of the ego vehicle within the framework of gesture control, such as the driver looking in the side mirror, or a voice input can be made by the driver of the ego vehicle within the framework of voice control, or an operation of a control element of the ego vehicle can be carried out, such as the operation of the turn signal of the ego vehicle using latching or comfort turn signals.

[0025] In a further preferred embodiment of the invention, a warning message is issued to the driver of the ego vehicle to initiate a lane change or to terminate the hands-off driving function of the ego vehicle if, when specifying a lane change of the ego vehicle from the ego lane to at least one lane further away from the oncoming lane, such a lane change of the ego vehicle is not possible due to the current traffic situation, or if the confirmation action required to carry out the lane change of the ego vehicle is not performed by the driver of the ego vehicle.

[0026] This warning message, issued as an acoustic warning message and / or as a visual warning message and / or as a haptic warning message to prompt the ego vehicle to change lanes or to terminate the hands-off driving function of the ego vehicle, is issued in the ego vehicle particularly when, in the absence of a confirmation action by the driver of the ego vehicle, the distance of the ego vehicle on the ego lane to the nearest lane of the opposite carriageway falls below a predetermined warning threshold.

[0027] The method according to the invention is used in particular in a vehicle assistance system that performs an independent movement process of the vehicle and, in particular, longitudinal guidance or longitudinal control of the vehicle and / or lateral guidance or lateral control of the vehicle, such as in a vehicle's ACC system (Adaptive Cruise Control System) as an assistance system in an assisted driving mode, an automated driving mode, or an autonomous driving mode. For this purpose, the vehicle's assistance system comprises at least one control unit, at least one sensor system with at least one sensor for generating sensor data, and a control unit for determining and specifying the operating range of the hands-off function. The data provided to the control unit is then processed accordingly by the control unit and used to control the assistance system.

[0028] Furthermore, a vehicle having at least one such assistance system is also claimed. The invention thus also includes a vehicle with an assistance system according to the invention, wherein the vehicle with the assistance system according to the invention can be designed in particular as a motor vehicle or motor car, especially as a passenger car, or as a truck or as a passenger bus.

[0029] The method according to the invention advantageously takes into account certain traffic situations in a specific driving mode of the ego vehicle, where, due to special circumstances, there is a particular need for assistance when operating the ego vehicle. According to the invention, these special movements of the ego vehicle are thus advantageously controlled in a simple manner while adhering to safety aspects, particularly when operating the ego vehicle in a hands-off driving function. In particular, the problem of the ego vehicle slowly drifting into oncoming traffic, which occurs in a hands-off driving function, and thus the risk of a collision with an oncoming vehicle, can be effectively prevented without unnecessarily unsettling or frightening the driver through abrupt interventions in the driving operation of the ego vehicle.

[0030] The invention also includes combinations of the features of the described embodiments. The invention therefore also includes realizations that each exhibit a combination of the features of several of the described embodiments, provided that the embodiments have not been described as mutually exclusive.

[0031] The following describes exemplary embodiments of the invention. To this end, we will show: Fig. 1 a schematic representation of a traffic situation with two lanes separated from each other by guardrails; Fig. 2 a schematic representation of a traffic situation with two lanes initially separated by guardrails and subsequently by a lane line and Fig. 3 A schematic representation of a traffic situation with two carriageways separated by a green strip.

[0032] The embodiments described below are preferred embodiments of the invention. In these embodiments, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiments can also be supplemented by other features of the invention already described.

[0033] In the Fig. Figure 1 depicts a traffic situation with an ego vehicle 1 moving along the ego lane 2 of a multi-lane roadway 13 in the direction of travel 15. The ego vehicle 1, equipped with various assistance systems, can be operated in corresponding assisted driving modes and / or automated driving modes when these systems are activated. The roadway 13 is separated from the also multi-lane opposite lane 14 by guardrails 10, and in particular, in a monitoring zone 7 located in front of the ego vehicle 1 in the direction of travel 15, these guardrails 10 also serve as a physical barrier. The ego vehicle 1 is moving along the ego lane 2, which is directly adjacent to the guardrails 10 and thus also adjacent to the nearest lane 4 of the opposite lane 14.Due to this structural separation by means of the guardrails 10 from the oncoming traffic 5 on the opposite carriageway 14, a hands-off driving function of the ego vehicle 1 is enabled by a control unit of an assistance system of the ego vehicle 1 in this permitted area, designated as release area 16. This permitted area, designated as release area 16, with the enabled hands-off driving function of the ego vehicle 1, extends in particular into the monitoring area 7 located in the direction of travel 15 in front of the ego vehicle 1, since a structural separation by means of the guardrails 10 from the oncoming traffic 5 on the opposite carriageway 14 is also present in this entire monitoring area 7. For example, the monitoring area 7 is detected over a length of 300 m in front of the ego vehicle 1 by means of an optical sensor system of the ego vehicle 1, in particular using cameras of the ego vehicle 1.

[0034] In the Fig. Figure 2 depicts a corresponding traffic situation with an ego vehicle 1 moving in the direction of travel 15 on the ego lane 2 of a multi-lane roadway 13. The ego vehicle 1, which also features various assistance systems, can be operated in corresponding assisted and / or automated driving modes when these systems are activated. The roadway 13 is initially separated from the also multi-lane opposite lane 14, and thus also from the oncoming traffic 5 located on the opposite lane 14, analogous to the situation shown in Figure 2. Fig. The traffic situation depicted in Figure 1 is separated by guardrails 10 as a physical barrier. Thus, in the release zone 16, the hands-off driving function of the ego vehicle 1 is permitted and enabled by a control unit of an assistance system of the ego vehicle 1, with the physical barrier provided by the guardrails 10 separating it from the oncoming traffic 5 on the opposite carriageway 14. In the monitoring zone 7 located in the direction of travel 15 in front of the ego vehicle 1, the carriageway 13 is no longer separated from the oncoming carriageway 14, and therefore also from the oncoming traffic 5 on the opposite carriageway 14, due to road construction measures, for example, not by guardrails 10, but by a solid line 8 as a lane boundary.The Ego vehicle 1 initially moves within release area 16 on Ego lane 2, which is directly adjacent to the solid line 8 as a lane boundary and thus also adjacent to the nearest lane 4 of the opposite carriageway 14. In monitoring area 7, where carriageway 13 is separated from the opposite carriageway 14 by the solid line 8 as a lane boundary, a minimum distance between Ego lane 2 and the nearest lane 4 of the opposite carriageway 14 must be maintained in order to enable the hands-off driving function of Ego vehicle 1 and thus maintain the previously permitted hands-off driving function of Ego vehicle 1.This minimum distance between the ego lane 2 and the nearest lane 4 of the opposite carriageway 14 is specified, for example, as 10 m and preferably 7 m, without a physical separation of carriageway 13 and thus of ego lane 2 from the opposite carriageway 14, and also without a buffer zone separating ego lane 2 and the nearest lane 4 of the opposite carriageway 14. The distance between ego lane 2 and the nearest lane 4 of the opposite carriageway 14 in monitoring area 7, determined, for example, by the position of lane line 11 on carriageway 13 and by the position of lane line 12 on the opposite carriageway 14, is, for example, only 6 m.Since the specified minimum distance between the ego vehicle's lane 2 and the nearest lane 4 of the opposite carriageway 14 is thus undercut, an assistance system of the ego vehicle 1 initiates a lane change 6 for the ego vehicle 1 from its initially occupied ego lane 2 to the adjacent lane 3 located further to the right. On this adjacent lane 3, the distance between the adjacent lane 3 and the nearest lane 4 of the opposite carriageway 14 is, for example, 10.5 m and therefore exceeds the specified minimum distance to the nearest lane 4 of the opposite carriageway 14. Consequently, while the ego vehicle 1 is driving on the adjacent lane 3, its hands-off driving function can remain enabled and thus be maintained.However, the specified lane change 6 of the ego vehicle 1 from the initially occupied ego lane 2 to the adjacent lane 3 further to the right must be confirmed by a confirmation action from the driver of the ego vehicle 1, for example, by the driver looking in the right-hand side mirror of the ego vehicle 1. If this confirmation action is performed by the driver of the ego vehicle 1, and thus the lane change 6 of the ego vehicle 1 from the initially occupied ego lane 2 to the adjacent lane 3 further to the right is carried out, the hands-off driving function of the ego vehicle 1 is maintained and thus continues to be enabled by a control unit of an assistance system of the ego vehicle 1, without the need to deactivate the hands-off driving function of the ego vehicle 1 due to the problematic structural conditions in the monitoring area 7.

[0035] In the Fig.Figure 3 depicts a corresponding traffic situation with an ego vehicle 1 moving in the direction of travel 15 on the ego lane 2 of a multi-lane roadway 13. The ego vehicle 1, which also features various assistance systems, can be operated in corresponding assisted and / or automated driving modes when these systems are activated. The roadway 13 is separated from the opposite multi-lane roadway 14, and thus also from the oncoming traffic 5 on the opposite roadway 14, by the median strip 9.If the hands-off driving function of the Ego vehicle 1 is to be enabled when the lane 13 is separated from the opposite lane 14 by the green strip 9 as a distance area, or when the Ego lane 2 is separated from the nearest lane 4 of the opposite lane 14 by the green strip 9 as a distance area, a minimum distance must again be maintained between the Ego lane 2 and the nearest lane 4 of the opposite lane 14. This minimum distance between the Ego lane 2 and the nearest lane 4 of the opposite carriageway 14 is specified without a structural separation of carriageway 13 and thus of the Ego lane 2 from the opposite carriageway 14 and thus from the nearest lane 4 of the opposite carriageway 14, if a separation is provided by the green strip 9 as a distance area between the Ego lane 2 and the nearest lane 4 of the opposite carriageway 14, for example to 5 m and preferably to 3.50 m.The distance between the Ego vehicle's lane 2 and the nearest lane 4 of the opposite carriageway 14, determined, for example, by the position of lane line 11 on carriageway 13 and the position of lane line 12 on the opposite carriageway 14, is 8 m in monitoring area 7. Since the specified minimum distance between the Ego vehicle's lane 2 and the nearest lane 4 of the opposite carriageway 14 is thus exceeded, the hands-off driving function of the Ego vehicle 1 is enabled in monitoring area 7 by a control unit of an assistance system of the Ego vehicle 1. Reference symbol list 1 Ego vehicle 2 Ego lane 3 auxiliary lanes 4 nearest lane 5 Oncoming traffic 6 lane changes 7 Monitoring area 8 solid line as lane boundary 9 green strips 10 guardrail 11 lane line 12 lane line 13 lanes 14 opposite lane 15 Direction of travel 16 Release area 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 10 2022 110 551 A1

[0004] DE 10 2021 120 043 A1

[0005] DE 10 2022 212 687 A1

[0006]

Claims

[1] Method for controlling the driving operation of an ego vehicle (1) in which a hands-off driving function is permitted in a release area (16) of a driving path of the ego vehicle (1) located on an ego lane (2), characterized by , that the ego lane (2) of the ego vehicle (1) in the release area (16) is specified depending on the structural separation (8, 9, 10) of the ego lane (2) from the opposite lane (14) and depending on the distance of the ego lane (2) to the nearest lane (4) of the opposite lane (14). [2] Method according to claim 1, characterized by , that the separation (8, 9, 10) of the ego lane (2) from the opposite lane and the distance of the ego lane (2) to the nearest lane (4) of the opposite lane (14) in a specified monitoring area (7) in the direction of travel (15) in front of the ego vehicle (1) is detected and is used to specify the ego lane (2) of the ego vehicle (1). [3] Method according to claim 1 or 2, characterized by , that the distance of the Ego lane (2) to the nearest lane (4) of the opposite lane (14) is determined based on the lane marking (11) of the Ego lane (2) and / or based on swarm data of other vehicles (5). [4] Method according to any one of claims 1 to 3, characterized by , that a lane change (6) of the ego vehicle (1) from the ego lane (2) to at least one lane (3) further away from the opposite lane (14) or a deactivation of the hands-off driving function is specified if in the monitoring area (7) there is no physical separation (10) of the ego lane (2) from the opposite lane (14) over a specified minimum length of the route and / or if the distance between the ego lane (2) and the nearest lane (4) of the opposite lane (14) falls below a specified minimum distance. [5] Method according to claim 4, characterized by, that the minimum distance between the Ego lane (2) and the nearest lane (4) of the opposite carriageway (14) is specified depending on the current driving conditions of the Ego vehicle (1) and / or depending on the dimensions of the Ego vehicle (1) and / or depending on the structural conditions of the route in the monitoring area (7) and / or depending on the route of the route in the monitoring area (7) and / or depending on the current weather conditions and / or depending on the return time of the driver of the Ego vehicle (1). [6] Method according to claim 4 or 5, characterized by , that the minimum distance between the ego lane (2) and the nearest lane (4) of the opposite lane (14) is specified by means of a hysteresis curve. [7] Method according to any one of claims 4 to 6, characterized by, that a predetermined lane change (6) of the ego vehicle (1) from the ego lane (2) to the lane (3) that is at least one lane further away from the opposite lane (14) is carried out when a confirmation action is performed by the driver of the ego vehicle (1). [8] Method according to any one of claims 4 to 7, characterized by , that if a lane change (6) of the ego vehicle (1) is specified from the ego lane (2) to at least one lane (3) further away from the oncoming lane (14) and a lane change (6) of the ego vehicle (1) cannot currently be realized due to the traffic situation or the driver of the ego vehicle (1) fails to perform a confirmation action, a warning message is issued to the driver of the ego vehicle (1) to carry out the lane change (6) of the ego vehicle (1) or to end the hands-off driving function of the ego vehicle (1). [9] Assistance system of an ego vehicle (1) comprising at least one control unit and at least one sensor system for generating sensor data, in which a method according to one of claims 1 to 8 is used. [10] Ego vehicle (1) with at least one assistance system operated according to claim 9.

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