METHOD FOR OPERATING A DRIVING ASSISTANCE SYSTEM, DRIVING ASSISTANCE SYSTEM

Abstract

One aspect of the invention relates to a driver assistance system for a vehicle, which is configured to operate in an active operating mode. Furthermore, the driver assistance system is configured to receive environmental data describing the vehicle's surroundings while the system is operating in this active mode. The driver assistance system is also configured to perform oncoming traffic detection, wherein the oncoming traffic detection recognizes an oncoming traffic object in an adjacent lane within the environmental data. Additionally, the driver assistance system is configured to perform lane separation detection, wherein the lane separation detection recognizes a barrier-like separation of the vehicle's ego lane from the adjacent lane.Finally, the driver assistance system is also designed to deactivate the active operating mode if the oncoming traffic detection recognizes an oncoming traffic object, and the lane separation detection does not recognize a barrier-like separation of the ego lane from the adjacent lane.

Description

[0001] The present invention relates to a method for operating a driver assistance system. Furthermore, the present invention relates to a driver assistance system.

[0002] Modern vehicles are equipped with a wide variety of driver assistance systems. These systems can, for example, support the driver in controlling the vehicle's longitudinal and / or lateral movements, or even take over these functions entirely. Typically, these systems can only operate within certain limits. Outside these limits, the driver assistance system cannot usually be activated, or it may be necessary to deactivate an activated system when operating outside these limits.

[0003] Driver assistance systems, such as so-called highway or traffic jam assistants, can often only be activated on highways. Therefore, it may be necessary for such a system to be deactivated or unable to be activated if the vehicle is not on a highway. In practice, it has been shown that such driver assistance systems have further system limitations, constraints, and the like, which necessitate deactivation to enhance the safety of these systems, particularly their usability.

[0004] For example, document DE 10 2014 215 276 A1 describes a method for controlling a motor vehicle. The method includes monitoring the vehicle's driving state while the vehicle is being controlled by an automated driving function, where the driving state comprises at least one vehicle-related or environment-related parameter. Furthermore, the method includes determining that the driving state lies outside a predetermined system boundary within which the automated driving function is to operate. The method described in that document also includes deactivating the automated driving function.

[0005] The object of the present invention is to provide a solution for improving the detection of system limits of a driver assistance system, in particular a motorway and / or traffic jam assistant.

[0006] This problem is solved by the features of the independent claims. Further advantageous embodiments of the invention are specified in the dependent claims.

[0007] In this document, the term "automated driving" refers to driving with automated longitudinal and / or lateral control. Automated driving can, for example, involve extended periods of driving on the highway or time-limited driving during parking maneuvers. The term "automated driving" encompasses automated driving at any level of automation. Examples of automation levels include assisted, partially automated, conditionally automated, highly automated, and fully automated driving (each with an increasing degree of automation). The five automation levels mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021. In assisted driving (SAE Level 1), the system performs longitudinal or lateral control in specific driving situations.In partially automated driving (SAE Level 2), the system takes over longitudinal and lateral control in certain driving situations, although the driver must continuously monitor the system, as with assisted driving. In conditionally automated driving (SAE Level 3), the system takes over longitudinal and lateral control in certain driving situations without the driver needing to continuously monitor the system; however, the driver must be able to take over vehicle control within a certain timeframe if requested by the system. In highly automated driving (SAE Level 4), the system takes over vehicle control in certain driving situations, even if the driver does not respond to a request to intervene, thus eliminating the driver as a fallback option. In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that a human driver can also handle.

[0008] In this document, the term "lane" refers to a traffic lane. A traffic lane can be defined, for example, as in Section 7 of the German Road Traffic Regulations (StVO), as a part of a roadway that a multi-track vehicle needs to travel unimpeded along the roadway.

[0009] The lane can be marked by road markings, such as a road edge, a lane boundary, or a guide line. A lane can be a through lane, an merging / deceleration lane, an acceleration / deceleration lane, a special lane for buses, taxis, or bicycles, or an additional lane within a specific section of road.

[0010] One aspect of the invention relates to a method for operating a vehicle's driver assistance system. The method comprises operating the driver assistance system in an active operating mode. Furthermore, the method comprises receiving environmental data that describes the vehicle's surroundings during the operation of the driver assistance system in the active operating mode. The method also includes performing oncoming traffic detection, wherein the oncoming traffic detection recognizes an oncoming traffic object in an adjacent lane within the environmental data. Additionally, the method comprises performing lane separation detection, wherein the lane separation detection recognizes a barrier-like separation of the vehicle's ego lane from the adjacent lane.Finally, the procedure includes deactivating the active operating mode of the driver assistance system if the oncoming traffic detection detects an oncoming traffic object in the adjacent lane, and the lane separation detection does not detect a barrier-like separation of the ego lane from the adjacent lane.

[0011] The process can be carried out, for example, using a computing device. This computing device can be, for instance, at least one electronic control unit of the vehicle, comprising one or more programmable processors. Furthermore, the computing device can have a computer-readable storage medium on which a computer program is stored. To execute corresponding process steps, such as performing oncoming traffic detection, the computer program can be run on the computing device.

[0012] The invention is based on the idea that the use of a traffic jam and highway assistance system should only be possible when the vehicle is operating on a highway. In most cases, this can be ensured using highly accurate map data and a satellite navigation system. However, in practice, numerous borderline cases have emerged where such a comparison is insufficient. Highways normally consist of two structurally separated carriageways, each with at least two lanes. In practice, it has been shown that a structural separation of the carriageways cannot be assumed in all countries and / or situations (construction sites and / or temporary lane-keeping regulations, such as in the Lincoln Tunnel).

[0013] To ensure that the traffic jam and highway assistance system, or a comparable driver assistance system, operates only on highways, or on highways with appropriate safety standards, oncoming traffic detection can be combined with lane separation detection. For example, if an oncoming traffic object is detected, the vehicle may still be on a highway. Therefore, it can also be checked whether there is a physical barrier between the oncoming traffic object in the adjacent lane and the vehicle's lane. If such a barrier exists, the driver assistance system can continue to operate in an active mode or can be activated (be in an activatable state). The invention thus improves safety in general as well as operational safety.

[0014] Within the context of this document, the term "adjacent lane" can be understood to mean a lane of an oncoming carriageway, whereby the carriageway running in the opposite direction to the (ego) vehicle is referred to as the oncoming carriageway.

[0015] The procedure for operating the vehicle's driver assistance system therefore first requires operation in active mode. Active mode can, for example, involve activated longitudinal and / or lateral vehicle control. Specifically, active mode can include automated or semi-automated driving according to SAE Levels 2, 3, and 4 as defined in SAE J3016. The driver assistance system can be a traffic jam assist system, a highway assist system, a lane change assist system, or similar. In other words, it can include any driver assistance system specifically designed for operation on highways.

[0016] While the driver assistance system is operating in active mode, it can receive environmental data. This environmental data can be received, for example, from a vehicle's environmental sensor. It can also consist of fused data from multiple sensors or environmental sensors. In particular, the environmental data can also be data from an environmental model. Radar, lidar, ultrasonic sensors, and cameras are particularly suitable as environmental sensors.

[0017] By performing oncoming traffic detection, an oncoming traffic object can now be identified in the surrounding data. This is possible, for example, by detecting an object (especially a vehicle) and comparing its movement patterns (relative position and speed) or by assigning the detected object to a lane. If a detected object is an (oncoming) object that can be assigned to an adjacent lane, then the detected oncoming object can be classified as an oncoming traffic object.

[0018] Finally, lane separation detection is also performed. This detection system can then verify whether a barrier-like separation (also called a physical barrier) exists between the oncoming object classified as an opposing traffic object in the adjacent lane and the vehicle (the "ego" vehicle, which is in an "ego" lane). This barrier-like separation can take the form of metal or concrete guardrails (concrete barriers), as is common on German autobahns. It can also consist of plastic modules or tension cable systems (USA).In other words, the barrier-like separation can be a vehicle restraint system in the form of a passive safety device, designed to protect vehicles leaving the roadway and their occupants, as well as other road users from leaving vehicles. Pylons, structural measures that can be more or less easily driven over by a vehicle, or the like do not constitute a barrier-like separation within the meaning of the invention.

[0019] Finally, the active operating mode of the driver assistance system is deactivated if an oncoming traffic object is detected in the adjacent lane and no barrier-like separation is detected.

[0020] Another embodiment of the method provides that the driver assistance system continues to operate in active mode if the lane separation detection system detects a barrier-like separation of the ego lane from the adjacent lane. This step can serve to confirm that the vehicle is indeed on a highway. Typically, vehicles that, according to a high-precision map, are driving on a highway but detect oncoming traffic, deactivate the driver assistance system. However, if a barrier-like separation, acting as a road restraint system, is present, deactivating the driver assistance system or its active operating mode is generally unnecessary. Such unnecessary deactivation of the driver assistance system's active operating mode can be prevented with the help of the invention, particularly with the aid of lane separation detection.Overall, this ensures higher system availability.

[0021] Another embodiment of the method involves additionally determining the longitudinal extent of any detected barrier-like separation in the vehicle's direction of travel during lane separation detection. This longitudinal extent ensures that the adjacent lane, containing the oncoming traffic object, remains separated from the vehicle's lane for a sufficient distance or duration. This, for example, ensures that the barrier-like separation is still in place when the oncoming traffic object and the vehicle pass each other. Overall, this enhances the safety of the driver assistance system, particularly in active mode.

[0022] Another embodiment of the method provides that the driver assistance system continues to operate in active mode if the lane separation detection system detects a barrier-like separation of the ego lane from the adjacent lane, and the longitudinal extent of the barrier-like separation extends at least over a predetermined first area, preferably 3 to 10 meters in front of the vehicle. The predetermined first area can therefore be a fixed value, such as 10 meters. However, the predetermined first area can also depend on the vehicle's speed and / or the speed of oncoming traffic. Furthermore, it is also conceivable that the predetermined first area depends on other parameters.

[0023] Another embodiment of the method provides that, during lane separation detection, an additional check is performed to determine whether the detected barrier-like separation is located in a predetermined second area of ​​a detected oncoming traffic object. The driver assistance system then continues to operate in active mode if the lane separation detection system identifies a barrier-like separation of the ego lane from the adjacent lane and this separation is located in the predetermined second area of ​​the detected oncoming traffic object. Checking whether the barrier-like separation is present in the predetermined second area ensures that the oncoming traffic object in the adjacent lane is indeed separated from the ego lane. The predetermined second area could, for example, be 3, 10, 20, 50, 70, 100, 150, or 200 meters ahead of the oncoming traffic object.The predetermined second area can therefore extend from the oncoming traffic object in the longitudinal direction of the oncoming traffic object (in the direction of travel of the oncoming traffic object).

[0024] The predetermined second zone can also depend on other parameters. For example, the predetermined second zone can depend on the speed of the oncoming traffic object, road surface characteristics, or similar factors. The predetermined second zone can also depend on the relative speed of the oncoming traffic object, i.e., the difference in speed between the oncoming traffic object and the vehicle. This check—that is, whether the barrier-like separation is present in the predetermined second zone of the detected oncoming traffic object—ensures, in particular, that a barrier-like separation exists at the level of the oncoming traffic object. Furthermore, it ensures that the barrier-like separation is also present when the vehicle passes the oncoming traffic object or when the oncoming traffic object and the vehicle pass each other. Overall, this enhances the safety of the driver assistance system.The performance of the driver assistance system in active operating mode can be increased. Furthermore, higher system availability can be ensured.

[0025] Another embodiment of the method provides that the driver assistance system is configured to take over lateral control of the vehicle. In particular, driver assistance systems such as a lane change assistant, which performs a lane change at least partially automatically, or a traffic jam and / or highway assistant can take over lateral control of the vehicle. In other words, the method according to the invention is therefore particularly suitable for driver assistance systems with an SAE level 2, 3 and / or 4 according to SAE standard J3016 dated April 30, 2021, as well as for driver assistance systems that comply with an analogous standard.

[0026] Another embodiment of the method provides that operating the driver assistance system in active mode requires driving on a motorway, whereby a comparison of the vehicle's position with road information stored on a high-precision map is carried out.

[0027] Another aspect of the invention relates to a driver assistance system for a vehicle, which is configured to operate in an active operating mode. Furthermore, the driver assistance system is configured to receive environmental data describing the vehicle's surroundings while the system is operating in this active mode. The driver assistance system is also configured to perform oncoming traffic detection, wherein the oncoming traffic detection recognizes an oncoming traffic object in an adjacent lane within the environmental data. In addition, the driver assistance system is configured to perform lane separation detection, wherein the lane separation detection recognizes a barrier-like separation of the vehicle's ego lane from the adjacent lane.Finally, the driver assistance system is also designed to deactivate the active operating mode if the oncoming traffic detection recognizes an oncoming traffic object, and the lane separation detection does not recognize a barrier-like separation of the ego lane from the adjacent lane.

[0028] Finally, the present invention also relates to a vehicle comprising an assistance system according to the invention. The vehicle can, in particular, be designed as a passenger car.

[0029] The preferred embodiments and their advantages presented with reference to the method according to the invention also apply accordingly to the driver assistance system according to the invention. Furthermore, the preferred embodiments and their advantages presented with reference to the method according to the invention also apply to the vehicle according to the invention.

[0030] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures alone, can be used not only in the combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0031] The invention will now be explained in more detail with reference to preferred embodiments and the accompanying drawings. These show: Fig. 1 a schematic representation of a vehicle comprising a driver assistance system according to the invention; Fig. 2 a schematic representation of a traffic situation which requires deactivation of the active operating mode of the driver assistance system; Fig. 3a, b exemplary representation of structural measures which do not constitute a barrier-like separation.

[0032] In the figures, identical or functionally equivalent elements are given the same reference symbols.

[0033] Fig. Figure 1 shows a schematic representation of a vehicle 1 comprising a driver assistance system 2 according to the invention. The driver assistance system 2 can be, for example, a traffic jam and / or highway assistance system, a lane change assistance system, or the like. In particular, it can be a driver assistance system specifically designed for operation on a highway.

[0034] In this embodiment, the driver assistance system 2 comprises a radar sensor 3 and a camera 4. Furthermore, in this embodiment, the driver assistance system 2 also includes a map module 5 for providing high-precision map data and a navigation satellite system 6, which allows the vehicle 1 to be located within the high-precision map data. The map module 5 can provide road information stored in the high-precision map data. For example, it can determine whether the vehicle 1 is on a highway.

[0035] The data from the radar sensor 3, the camera 4, the map module 5 and the navigation satellite system 6 can be processed by a computing unit 7.

[0036] The computing device 7 can, for example, be configured as at least one electronic control unit of the vehicle 1, comprising one or more programmable processors. Furthermore, the computing device 7 can have a computer-readable storage medium on which a computer program is stored. To execute corresponding process steps of the method according to the invention, the computer program can be executed on the computing device 7. The computing device 7 can also be configured to execute driving functions of the driver assistance system 2.

[0037] The driver assistance system 2 is configured to operate in an active operating mode. Furthermore, the driver assistance system 2 is configured to receive environmental data describing the environment 8 of the vehicle 1 while the driver assistance system 2 is operating in this active mode. This environmental data can be provided by the radar sensor 3 and the camera 4. The environmental data can also consist of fused data from multiple sensors or environmental sensors. In particular, the environmental data can also be data from an environmental model.

[0038] The driver assistance system 2 is also configured to perform oncoming traffic detection, whereby the oncoming traffic detection recognizes an oncoming traffic object 9 on an adjacent lane 10 in the surrounding data. Furthermore, the driver assistance system 2 is configured to perform lane separation detection, whereby the lane separation detection recognizes a barrier-like separation 12 of an ego lane 11 of the vehicle 1 from the adjacent lane 10.

[0039] For lane separation detection, for example, environmental data from camera 4 can be used. This makes it possible to determine whether a barrier-like separation 12 is present or whether it is only a traversable physical separation.

[0040] Finally, the driver assistance system 2 is designed to deactivate the active operating mode of the driver assistance system 2 if the oncoming traffic detection recognizes an oncoming traffic object 9, and the lane separation detection does not recognize a barrier-like separation 12 of the ego lane from the adjacent lane or only recognizes a traversable structural separation.

[0041] Fig. Figure 2 shows a schematic representation of a traffic situation that requires deactivation of the active operating mode of the driver assistance system 2. The oncoming traffic detection of the driver assistance system 2 detects an oncoming traffic object 9. Subsequently, the lane separation detection of the driver assistance system 2 checks whether a barrier-like separation 12 is present. In the Fig. In the traffic situation shown in Figure 2, the barrier-like separation 12 extends only to line 15 and continues as a traversable structural separation 13 in the direction of travel of vehicle 1.

[0042] In one embodiment of the method or the driver assistance system 2, it is provided that, during lane separation detection, a longitudinal extent of a detected barrier-like separation 12 in the direction of travel of the vehicle 1 is additionally determined. The longitudinal extent of the detected barrier-like separation ensures that the adjacent lane 10, in which the oncoming traffic object 9 is located, is separated from the ego lane 10 for a sufficient distance or duration. This is described in the Fig. However, this is not the case in the example shown. The oncoming traffic object 9 and the vehicle 1 will only be separated by the traversable physical barrier 13 when they pass each other. The active operating mode of the driver assistance system 2 is therefore deactivated, since the oncoming traffic detection recognizes the oncoming traffic object 9 in the adjacent lane 10, and the lane separation detection does not detect a barrier-like barrier 12, or only a barrier-like barrier 12 whose longitudinal extent is insufficient to separate the vehicle 1 from the oncoming traffic object 9 when they pass each other.

[0043] Fig. 3a and Fig.Figure 3b shows schematic representations of real highways 14, whose opposing lanes are separated only by a traversable physical barrier 13. In such situations, the driver assistance system 2 may operate in active mode, as it actually assumes that it is on a highway, but due to the structural conditions, the manufacturer may not intend for the system to be activated. Numerous other examples of this exist in practice. The Lincoln Tunnel, which connects Weehawken with Manhattan (New York City), is a prime example.

[0044] Each of the Lincoln Tunnel's three tubes has two lanes. Traffic flows from Manhattan to Weehawken through the north tube, and in the opposite direction through the south tube. Traffic flow through the middle tube is dynamically controlled. During the morning rush hour, both lanes are open only to traffic heading towards Manhattan, with one lane reserved for buses. In the late afternoon, the tube is opened only to vehicles heading towards New Jersey. Outside of these times, both lanes are open to two-way traffic. Consequently, at certain times in the middle tunnel, the only physical barrier separating the adjacent lane from the one-way lane is a traversable barrier. Reference symbol list 1 vehicle 2 Driver assistance systems 3 radar sensor 4 cameras 5 card module 6 Navigation satellite system 7 Computer equipment 8 Environment 9 Oncoming traffic object 10 adjacent lanes 11 Ego lanes 12 barrier-like separation 13 traversable structural separations 14 motorway Line 15 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 2014 215 276 A1

[0004]

Claims

Method for operating a driver assistance system (2) of a vehicle (1), comprising the steps of: - operating the driver assistance system (2) in an active operating mode; - receiving environmental data describing an environment (8) of the vehicle (1) during the operation of the driver assistance system (2) in the active operating mode; - performing oncoming traffic detection, wherein the oncoming traffic detection detects an oncoming traffic object (9) on an adjacent lane (10) in the environmental data; - performing lane separation detection, wherein the lane separation detection detects a barrier-like separation (12) of an ego lane (11) of the vehicle (1) from the adjacent lane (10);- Deactivating the active operating mode of the driver assistance system (2) if: ▪ the oncoming traffic detection detects an oncoming traffic object (9) in the adjacent lane (10), and ▪ the lane separation detection does not detect a barrier-like separation (12) of the ego lane (11) from the adjacent lane (10). Method according to claim 1, characterized in that the driver assistance system (2) continues to operate in the active operating mode if the lane separation detection detects a barrier-like separation (12) of the ego lane (11) from the adjacent lane (10). Method according to claim 1, characterized in that, when performing the lane separation detection, an additional longitudinal extent of a detected barrier-like separation (12) in the direction of travel of the vehicle (1) is determined. Method according to claim 3, characterized in that the driver assistance system (2) continues to operate in the active operating mode if the lane separation detection detects a barrier-like separation (12) of the ego lane (11) from the adjacent lane (10) and the longitudinal extent of the barrier-like separation (12) extends at least over a predetermined first area, preferably 3 to 10 meters in front of the vehicle (1). Method according to one of the preceding claims, characterized in that: ▪ when performing lane separation detection, it is additionally checked whether the detected barrier-like separation (12) is located in a predetermined second area of ​​a detected oncoming traffic object (9), and ▪ the driver assistance system (2) continues to operate in active mode if the lane separation detection detects a barrier-like separation (12) of the ego lane (11) from the adjacent lane (10) and this is located in the predetermined second area of ​​the detected oncoming traffic object (9). Method according to one of the preceding claims, characterized in that the driver assistance system (2) is configured to provide lateral guidance to the vehicle (1). Method according to one of the preceding claims, characterized in that the operation of the driver assistance system (2) in the active operating mode requires driving on a motorway (14), wherein for this purpose a comparison of a position of the vehicle (1) with road information stored on a high-precision map is carried out. A driver assistance system (2) for a vehicle (1) which is configured to: - operate in an active operating mode; - receive environmental data describing the environment (8) of the vehicle (1) while the driver assistance system (2) is operating in the active operating mode; - perform oncoming traffic detection, wherein the oncoming traffic detection recognizes an oncoming traffic object (9) on an adjacent lane (10) in the environmental data; - perform lane separation detection, wherein the lane separation detection recognizes a barrier-like separation (12) of an ego lane (11) of the vehicle (1) from the adjacent lane (10); - deactivate the active operating mode if: ▪ the oncoming traffic detection recognizes an oncoming traffic object (9), and ▪ the lane separation detection does not recognize a barrier-like separation (12) of the ego lane (11) from the adjacent lane (10). Vehicle (1), in particular passenger car, comprising a driver assistance system (2) according to claim 8 .

Images