Method for operating an assistance system of an ego vehicle and vehicle

Abstract

The invention relates to a method for operating an assistance system of an ego vehicle (1) for longitudinal control of the ego vehicle (1) by means of a speed-dependent desired distance from a vehicle (2) traveling ahead. The invention provides that, in a roadway (13) having a branching region (5) forming a branching point (6), in which at least two turning lanes (3, 4) are directed in the same direction of travel in a branching region (20), the branching region (20) is divided into at least two adjacent control regions (7, 8, 9, 10), in which the longitudinal control of the ego vehicle (1) is specified with different control characteristics.

Description

[0001] The invention relates to a method for operating an assistance system of an ego vehicle for longitudinal control of the ego vehicle by means of a speed-dependent desired distance to a vehicle driving ahead, as well as to a vehicle.

[0002] Increasingly, assistance systems are being used in vehicles to control driving operations in order to support or relieve the driver in certain driving situations or during certain vehicle movements. Such assistance systems are now used in vehicles in a wide variety of forms, for example as electronic stability programs such as ESP or ESC, as emergency braking assistants, lane keeping assistants, overtaking assistants, turning assistants, start-off assistants, traffic jam assistants, parking assistants, or for longitudinal control of the vehicle, for example by means of an adaptive cruise control (ACC), in which a desired distance of the ego vehicle from a vehicle ahead can be set depending on the speed of the own vehicle, often referred to as the ego vehicle.

[0003] DE 10 2015 203 208 A1 discloses an automatic lane change assistance system for a vehicle with automatic lateral guidance. In this lane change assistance system, the driver's lane change request is signaled via a turn signal lever on the steering column or steering wheel, which can be operated by the driver. Depending on the operation of the turn signal lever, an automated lane change maneuver is performed from an exit lane to an adjacent side lane, with at least automatic lateral guidance of the vehicle.

[0004] Furthermore, DE 10 2005 045 018 A1 describes a device for longitudinal guidance of a motor vehicle using a sensor system. At a junction with a single lane branching off from two continuing lanes, a different longitudinal control of the vehicle is specified for these two different possible routes at the junction with regard to the permissible maximum speed on the respective route.

[0005] DE 10 2021 206 694 A1 describes a method for performing a lane change from a main lane to a deceleration lane as the outgoing lane. To improve the lane change from the main lane to the single-lane deceleration lane, swarm data from other vehicles is used in particular.

[0006] In addition, DE 10 2004 029 369 A1 describes a lane change assistant for motor vehicles with a cruise control system and an environment sensor system for detecting the traffic environment, including traffic in an adjacent lane, in which the longitudinal control of the motor vehicle is adapted depending on a lane change request when the motor vehicle is driving straight ahead.

[0007] Finally, DE 10 2015 203 208 A1 discloses a lane change assistance system for a motor vehicle, in which an automatic lane change of the motor vehicle can be carried out.

[0008] The invention is based on the object of specifying a method for operating an assistance system of an ego vehicle for longitudinal control of the ego vehicle by means of a speed-dependent desired distance to a vehicle in front, in which the longitudinal control is easily and comfortably implemented for an operator of the ego vehicle even in the case of a manual lane change and thus in the case of lateral guidance of the vehicle by an operator of the ego vehicle, even in the case of problematic traffic guidance of the lanes.

[0009] This object is achieved according to the invention by a method for operating an assistance system of an ego vehicle for longitudinal control of the ego vehicle with the features recited in patent claim 1.

[0010] Advantageous further developments of the method according to the invention for operating an assistance system of an ego vehicle and a vehicle are part of the further patent claims.

[0011] In the method according to the invention for operating an assistance system of an ego vehicle for longitudinal control of an ego vehicle by means of a speed-dependent desired distance to a vehicle in front, the longitudinal control of the ego vehicle is carried out in a user-friendly manner for the driver of the ego vehicle even in the case of a special traffic routing of the roadway in which a branching area forming a branching point has a branching area in which at least two turning lanes branch off in the same direction of travel.

[0012] For this purpose, the junction zone, which has at least two turning lanes in the same direction of travel, is preferably divided by the assistance system of the ego vehicle into at least two adjacent control zones. Within these control zones, the longitudinal control of the ego vehicle is specified differently by the assistance system of the ego vehicle. This means that different control characteristics for the longitudinal control of the ego vehicle are specified in the control zones within the junction zone.

[0013] In particular, according to the invention, the longitudinal control of the ego vehicle is specified by the assistance system of the ego vehicle in the control areas preferably defined by the assistance system of the ego vehicle within the junction area as a function of criteria characterizing a lane change probability of the ego vehicle to an adjacent lane or to an adjacent lane of the turning lane.

[0014] For this purpose, the type of turn signal lever operation of the ego vehicle is preferably used as the first criterion for assessing the ego vehicle's lane change probability into an adjacent lane or into an adjacent lane of the turning lane. Thus, the longitudinal control of the ego vehicle in the control areas is specified depending on the type of turn signal used by the ego vehicle driver as the first criterion characterizing the ego vehicle's lane change probability, and thus with different control characteristics depending on the turn signal mode of the ego vehicle.This means that depending on whether the driver of the ego vehicle uses comfort flashing as the flashing mode with a short tap of the turn signal lever or whether the driver of the ego vehicle uses latching flashing as the flashing mode with an actuation of the turn signal lever leading to the locking of the turn signal lever, this has corresponding effects on the specified control characteristics for the longitudinal control of the ego vehicle.

[0015] In addition to the indicator mode criterion as the first criterion for assessing the ego-vehicle's lane change probability, further criteria can be used to assess the ego-vehicle's lane change probability. In particular, the approach of the ego-vehicle to the lane markings separating the turning lanes can be used as a further criterion characterizing the ego-vehicle's lane change probability. Another criterion characterizing the ego-vehicle's lane change probability can be the crossing of the lane markings separating the turning lanes. Another criterion characterizing the ego-vehicle's lane change probability can be the change in the ego-vehicle's steering angle toward the lane markings separating the turning lanes.In addition or alternatively, the route for a navigation route of the ego vehicle can also be used as a further criterion characterizing the lane change probability of the ego vehicle, from whose navigation data a lane change that may be required by the ego vehicle can be derived.

[0016] In a preferred development of the invention, the junction zone of the roadway is preferably divided by the assistance system of the ego vehicle into an approach zone extending up to the junction point and a follow-on zone located after the junction point, which serve as control zones. In these control zones, the longitudinal control of the ego vehicle is then specified differently by the assistance system of the ego vehicle with different control characteristics.

[0017] In a further preferred development of the invention, the approach zone is preferably also subdivided by the assistance system of the ego vehicle, namely into a near zone located immediately in front of the junction point and extending to the junction point, and a far zone located at a distance from the junction point in front of the near zone. In these control zones, the longitudinal control of the ego vehicle is then also specified differently by the assistance system of the ego vehicle and thus with different control characteristics.

[0018] Furthermore, the end of the following area and thus also the end of the branching area when the at least two turning lanes merge into at least one straight-ahead lane is preferably determined by the assistance system of the ego vehicle based on the intersection point of the turning lanes with the at least one straight-ahead lane.

[0019] In a first preferred embodiment of the invention, the control areas defined by the assistance system of the ego vehicle, and thus in particular also the area boundaries of the individual control areas, are determined based on distance using navigation data stored in the ego vehicle. This means that fixed values ​​are determined for the individual control areas of the junction area based on map material available in the ego vehicle. In particular, these fixed values ​​for the area boundaries of the individual control areas are determined in relation to the branching point of the branching area, and in this case, relative to the branching point of the branching area.

[0020] In a preferred embodiment of the invention that is an alternative to the first preferred embodiment of the invention, the control areas defined by the assistance system of the ego vehicle, and thus in particular also the area boundaries of the individual control areas, are determined based on the swarm data generated by other vehicles. This is done based on probability considerations and thus on a frequency of lane changes within the junction area determined for other vehicles, from which the individual different control areas within the junction area can then be derived. In particular, the area boundaries of the individual control areas can then also be dynamically adapted to the current conditions.

[0021] In the method according to the invention, the assistance system of the ego vehicle preferably predetermines early control of the ego vehicle to a vehicle traveling ahead in a different turning lane in the junction area as an adjacent lane object when the ego vehicle activates a comfort indicator in the far area of ​​the junction area. This is thus interpreted as a desire of the driver of the ego vehicle to change lanes to an adjacent lane of the turning lane, where longitudinal control of the ego vehicle with respect to a vehicle traveling ahead can then be performed.

[0022] Furthermore, in the method according to the invention, the assistance system of the ego vehicle preferably prescribes early control of the ego vehicle to a vehicle driving ahead in the junction area on another turning lane as an adjacent lane object if the ego vehicle is flashing in the far area of ​​the junction area and at least one further of the aforementioned criteria characterizing a lane change probability of the ego vehicle is present.

[0023] In the method according to the invention, the assistance system of the ego vehicle preferably prescribes early control of the ego vehicle to a vehicle driving ahead in the junction area on another turning lane as an adjacent lane object if, in the vicinity of the junction area or in the area following the junction area, the driver of the ego vehicle operates the turn signal lever of the ego vehicle independently of the turn signal mode and at least one further of the aforementioned criteria characterizing a lane change probability of the ego vehicle is present.

[0024] Also claimed is an assistance system of the ego vehicle designed as a distance assistant of the ego vehicle for longitudinal control of the ego vehicle and an ego vehicle having such an assistance system for longitudinal control of the ego vehicle.

[0025] With the proposed method for operating an assistance system of an ego vehicle for longitudinal control of the ego vehicle, a user-friendly and thus comfortable longitudinal control of the ego vehicle can advantageously be carried out for a driver of the ego vehicle in a simple and intuitive manner, even in an often unclear traffic situation in a junction area which has a junction area with at least two turning lanes leading in the same direction of travel.

[0026] The invention also includes combinations of the features of the described embodiments.

[0027] An exemplary embodiment of the invention is described below. It shows: Fig. 1 the traffic situation in a junction with two turning lanes leading in the same direction; Fig. 2 a schematic representation of the branching area with the individual control areas within the branching area.

[0028] The exemplary embodiment explained below is a preferred exemplary embodiment of the invention. In this exemplary embodiment, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also considered components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiment can also be supplemented by further features of the invention already described.

[0029] In the figures, functionally identical elements are provided with the same reference numerals.

[0030] The assistance system of the ego vehicle performs an analysis on the route of the ego vehicle 1 based on the map material stored in the ego vehicle 1 regarding the occurrence of branching areas 5 in which a branching area 20 is formed with at least two turning lanes or turning lanes 3, 4 leading in the same direction of travel. For example, such an analysis regarding the occurrence of branching areas 5 with a branching area 20 having at least two turning lanes or turning lanes 3, 4 leading in the same direction of travel is carried out on the route of the ego vehicle 1 in an area lying on the route in front of the ego vehicle 1, for example, at least 150 m to 500 m.

[0031] In the Fig. 1 shows such a traffic situation with a branching area 5 having a branching area 20, in which on the roadway 13 in the branching area 20, two turning lanes or turning lanes 3, 4 branch off as right-turn lanes in the same direction of travel to the right from the straight-ahead lane or straight-ahead lane 19. In the branching area 5, the two turning lanes or turning lanes 3, 4 are led together next to each other until the end of the branching area 5, where they merge into the through lane or through lane 12 at the junction point 11 and are transferred into this through lane 12 or are led over into this through lane 12.Within the junction area 20 with the two turning lanes or turning lanes 3, 4, the ego vehicle 1 is located in the left turning lane or on the left turning lane 3. Furthermore, within the junction area 20 with the two turning lanes or turning lanes 3, 4, a vehicle 2 driving ahead of the ego vehicle 1 is also located in the right turning lane or on the right turning lane 4 in front of the ego vehicle 1.

[0032] In order to provide a comfortable and user-friendly longitudinal control of the ego-vehicle 1 by the assistance system of the ego-vehicle 1 in the branching area 5 and in particular in the branching area 20 for the driver of the ego-vehicle 1, the branching area 20 is divided into several control areas 7, 8, 9, 10, in which different control characteristics for the longitudinal control of the ego-vehicle 1 are specified by the assistance system of the ego-vehicle 1.

[0033] According to the Fig.2, two adjacent control areas 7, 8 are defined for the branching area 20, which are related in particular to the branching point 6 of the branching area 5, an approach area 7 located before the branching point 6 of the branching area 5 and a follow-up area 8 located after the branching point 6 of the branching area 5. The beginning of the approach area 7 or the area start 15 of the approach area 7 is defined based on distance, for example at a distance of 100 m to 200 m before the branching point 6 of the branching area 5 on the basis of navigation data available in the ego vehicle 1.In particular, the approach area 7 begins at the point where the branching area 20 begins and the two turning lanes or turning lanes 3, 4 branch off, i.e. the area start 15 of the approach area 7 is located at the point where the two turning lanes or turning lanes 3, 4 are separated from the straight-ahead lane or straight-ahead lane 19. The end of the approach area 7 or the area end 17 of the approach area 7 and thus simultaneously the beginning of the following area 8 or the area start 17 of the following area 8 is determined by the branching point 6 of the branching area 5 and in particular coincides with the branching point 6 of the branching area 5.The end of the following area 8 or the area end 18 of the following area 7 is determined based on distance, for example, at a distance of 10 m to 20 m behind the junction point 6 of the junction area 5 based on navigation data available in the ego vehicle 1. In particular, however, the end of the following area 8 is determined based on the intersection point of the two turning lanes 3, 4 with the through lane 12, i.e., the end of the following area 8 is located at the junction point 11 of the two turning lanes 3, 4 and the through lane 12.

[0034] The approach area 7 is preferably additionally subdivided into two adjacent control areas 9, 10, namely a near area 10 located immediately in front of the branching point 6 of the branching area 5 and a far area 9 adjacent to the near area 10 and located at a distance from the branching point 6 of the branching area 5 in front of the near area 10. The area start 15 of the far area 9 thus corresponds to the area start 15 of the approach area 7, the area end 17 of the near area 10 thus corresponds to the area end 17 of the approach area 7. For example, when subdividing the approach area 7, the area end 16 of the far area 9 and thus simultaneously the area start 16 of the near area 10 is distance-based at a distance of 50 m in front of the branching point 6 of the branching area 5 on the basis of Ego-vehicle 1's available navigation data.

[0035] To define the area boundaries 15, 16, 17, 18 of the control areas 7, 8, 9, 10 or to specify the distance-based defined area boundaries 15, 16, 17, 18 of the control areas 7, 8, 9, 10, swarm data obtained by other vehicles driving through the junction area 20 can also be used. This means that it is determined from this at which position vehicles in the junction area 20 usually enter the two turning lanes or turning lanes 3, 4 and whether and at which position these vehicles usually change lanes within the junction area 20 from one turning lane 3, 4 to the other turning lane 4, 3.

[0036] Depending on the control areas 7, 8, 9, and 10 traversed by the ego-vehicle 1 in the junction area 20, the longitudinal control of the ego-vehicle 1 is specified differently by the assistance system of the ego-vehicle 1, i.e., it is carried out with different control characteristics. In particular, the respective turn signal mode of the ego-vehicle 1 in the junction area 20 is also taken into account when implementing the longitudinal control of the ego-vehicle 1.

[0037] When driving through the far area 9 of the approach area 7, the ego-vehicle 1 is still at a greater distance in front of the junction point 6 of the junction area 5 in the junction area 20. When the ego-vehicle 1 uses comfort turn signals within the far area 9 of the approach area 7, i.e. in a turn signal mode in which the turn signal lever of the ego-vehicle 1 is tapped only once and the direction indicator or the turn signal of the ego-vehicle 1 then flashes briefly, for example flashes three times, it is assumed that the driver of the ego-vehicle 1 thereby intends to change lanes from its own turning lane or from its own turning lane 3 to the other turning lane or to the other turning lane 4.This results in an early reaction of the assistance system for the longitudinal control of the ego-vehicle 1 to the vehicle 2 driving ahead as an adjacent lane object in the turning lane or on the turning lane 4. In the case of a latching flashing of the ego-vehicle 1 within the far-range area 9 of the approach area 7, i.e. in a flashing mode in which the turn signal lever of the ego-vehicle 1 engages and remains engaged and the direction indicator or the turn signal of the ego-vehicle 1 thus flashes until the turn signal lever of the ego-vehicle 1 is returned to its starting position, it is assumed that the driver of the ego-vehicle 1 merely wishes to indicate a turn request from the straight-ahead lane or from the straight-ahead lane 19 onto the turning lane or onto the turning lane 3.In order to generate a response from the assistance system for longitudinal control of the ego-vehicle 1 to the vehicle 2 driving ahead in the turning lane or on the turning lane 4, in addition to the actuation of the turn signal lever of the ego-vehicle 1 in the latching flashing mode, the presence of at least one further criterion characterizing a high lane change probability of the ego-vehicle 1 is required. Such a criterion for a high lane change probability of the ego-vehicle 1 can be, for example, an approach of the ego-vehicle 1 to the lane marking 14 separating the two turning lanes or turning lanes 3, 4, or a crossing of this lane marking 14 by the ego-vehicle 1, or a change in the steering angle of the ego-vehicle 1 in the direction of the lane marking 14.If at least one of these additional criteria for a high lane change probability of the ego vehicle 1 is present, the assistance system for longitudinal control of the ego vehicle 1 also reacts early to the vehicle 2 driving ahead in the turning lane or on the turning lane 4 as an adjacent lane object.

[0038] However, if the direction indicator or the turn signal of the ego vehicle 1 was already activated before entering the far area 9 and thus also before entering the approach area 7 and the ego vehicle 1 is therefore already flashing when entering the far area 9 and thus also when entering the approach area 7, in this case the assistance system for the longitudinal control of the ego vehicle 1 will also react early to the vehicle 2 driving ahead in the turning lane or on the turning lane 4 as an adjacent lane object.

[0039] When driving through the near area 10 of the approach area 7, the ego-vehicle 1 is located in the junction area 20 at a relatively short distance before the junction point 6 of the junction area 5. When the turn signal lever of the ego-vehicle 1 is activated within the near area 10 of the approach area 7, the assistance system for longitudinal control of the ego-vehicle 1 reacts to the vehicle 2 driving ahead in the turning lane or on the turning lane 3 as an adjacent lane object only if, regardless of the selected indicator mode, at least one further criterion characterizing a high lane change probability of the ego-vehicle 1 is present when the turn signal lever of the ego-vehicle 1 is activated. The aforementioned criteria can again be used as such criteria for a high lane change probability of the ego-vehicle 1.

[0040] Similarly, when entering the following area 8, the assistance system for longitudinal control of the ego-vehicle 1 reacts to the vehicle 2 driving ahead in the turning lane or on the turning lane 3 as an adjacent lane object only if, regardless of the selected turn signal mode, at least one further criterion characterizing a high lane change probability of the ego-vehicle 1 is present when the turn signal lever of the ego-vehicle 1 is actuated. The aforementioned criteria can again be used as such criteria for a high lane change probability of the ego-vehicle 1.

[0041] If the direction indicator or turn signal of the ego vehicle 1 was activated within the junction area 20 and thus in the approach area 7 or in the following area 8 and is also still active when leaving the following area 8 and thus when leaving the junction area 20, the control characteristic specified within the junction area 20 by the assistance system of the ego vehicle 1 remains in place. This means that a reaction of the assistance system for the longitudinal control of the ego vehicle 1 to a vehicle ahead is only carried out after leaving the following area 8 and thus after leaving the junction area 5 if, in addition to the actuation of the turn signal lever of the ego vehicle 1, at least one other criterion characterizing a high lane change probability of the ego vehicle 1 is present.Only when the direction indicator or the turn signal of the ego vehicle 1 has been deactivated again will the standard longitudinal control of the ego vehicle 1 be specified again by the assistance system of the ego vehicle 1.

Claims

[1] Method for operating an assistance system of an ego vehicle (1) for longitudinal control of the ego vehicle (1) by means of a speed-dependent desired distance to a preceding vehicle (2), characterized by , that in a roadway (13) with a branching area (5) forming a branching point (6), in which at least two turning lanes (3, 4) are guided in the same direction of travel in a branching area (20), the branching area (20) is divided into at least two adjacent control areas (7, 8, 9, 10), and that the longitudinal control of the ego vehicle (1) in the control areas (7, 8, 9, 10) is specified with a different control characteristic depending on criteria characterizing a lane change probability of the ego vehicle (1). [2] Method according to claim 1, characterized bythat the branching area (20) of the branching area (5) is divided into an approach area (7) extending upstream of the branching point (6) to the branching point (6) and a following area (8) located downstream of the branching point (6) as control areas, in which the longitudinal control of the ego vehicle (1) is specified with a different control characteristic. [3] Method according to claim 2, characterized by that the approach area (7) is divided into a near area (10) located immediately in front of the branching point (6) and extending to the branching point (6) and into a far area (9) located at a distance from the branching point (6) in front of the near area (10), in which the longitudinal control of the ego vehicle (1) is specified with a different control characteristic. [4] Method according to claim 2 or 3, characterized bythat when the at least two turning lanes (3, 4) of the branching area (20) merge at the end (18) of the branching area (20) into at least one through lane (12), the end (18) of the following area (8) is determined based on the intersection point (11) of the at least two turning lanes (3, 4) with the at least one through lane (12). [5] Method according to one of claims 1 to 4, characterized by that the control areas (7, 8, 9, 10) are determined on a distance-based basis by means of navigation data stored in the ego vehicle (1) and / or are determined based on probability considerations on the basis of the swarm data generated by other vehicles. [6] Method according to one of claims 1 to 5, characterized by that the longitudinal control of the ego vehicle (1) in the control areas (7, 8, 9, 10) is specified depending on the type of operation of the indicator lever of the ego vehicle (1). [7] Method according to one of claims 1 to 6, characterized by that a longitudinal control of the ego vehicle (1) towards a vehicle (2) driving ahead in the branching area (5) on another turning lane (4) is specified when a comfort indicator of the ego vehicle (1) is carried out in the far area (9) or when a latching indicator of the ego vehicle (1) is carried out in the far area (9) and at least one further criterion characterizing a lane change probability of the ego vehicle (1) is present or when an actuation of the indicator lever of the ego vehicle (1) is carried out in the near area (10) or in the following area (8) and at least one further criterion characterizing a lane change probability of the ego vehicle (1) is present. [8] Method for operating an assistance system designed as a distance assistant of the ego vehicle (1) according to one of claims 1 to 7. [9] Vehicle (1) with an assistance system operated according to a method of claims 1 to 8.

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