Method for operating a vehicle and corresponding vehicle

Abstract

The invention relates to a method for operating a vehicle (10), in particular a motor vehicle, wherein the vehicle (10) comprises at least one assistance system for lateral guidance (12), wherein the vehicle (10) comprises at least one actuable device for indicating a change in the direction of travel (14). In a method in which the activation of a direction-of-travel indicator (14) can be interpreted without having to passivate the driver assistance system, it is provided that a preceding section (16) is evaluated by an evaluation device (18) when the direction-of-travel indicator (14) is activated, the evaluation device (18) checking whether at least a first criterion is met, the lateral guidance assistance system (12) remaining activated if at least the first criterion is met, the first criterion being met if the evaluation device (18) has determined that the vehicle (10) is at a fork (20) with a priority segment (22) and the direction-of-travel indicator (14) indicates a change of direction in the direction of the priority segment (22).

Description

[0001] The invention relates to a method for operating a vehicle, in particular a motor vehicle, wherein the vehicle comprises at least one assistance system for lateral guidance, and wherein the vehicle comprises at least one actuable device for indicating a change in the direction of travel.

[0002] Furthermore, the invention relates to a vehicle, in particular a motor vehicle, with at least one assistance system for lateral guidance, with at least one device for indicating a change in the direction of travel and with at least one evaluation device.

[0003] Lateral steering assistance systems, such as Travel Assist, now require approval. These systems can steer a vehicle laterally, for example, through a curve. For instance, lateral steering assistance systems are subject to the UN ECE R79 regulation. This regulation specifies, among other things, a maximum lateral acceleration that a vehicle must not exceed. Real-world driving tests have shown that various factors can influence lateral acceleration. During active control, a lateral acceleration is generated when driving through a curve, which acts on the vehicle. The lateral acceleration *a* depends, among other things, on the vehicle's speed *v* and the curve radius *R*, and can be calculated using the formula: *a* = *v*² / R. a=v2R, This can be described. Due to regulatory requirements, the permissible lateral acceleration is limited; that is, at higher cornering speeds, the limit, i.e., the threshold, of the lateral acceleration would be exceeded at a constant radius, and the lateral guidance function must ensure that the lateral acceleration is not exceeded.

[0004] Therefore, with assistance systems known from the state of the art, it is usually the case that they are deactivated when a direction indicator is activated, because the driver's intention is not clearly recognizable.

[0005] For cornering in general, US 2020 / 0 231 151 A1, for example, describes a driving assistance device with a processor for determining whether a vehicle ahead is outside an area encompassing an intersection and its surroundings. If the vehicle ahead is outside this area, the system determines whether the vehicle's turn signal is illuminated. If the turn signal is activated, a second driving assistance measure, different from the first, is implemented to follow the vehicle ahead.

[0006] US Patent 2011 / 0 029 195 A1 discloses a driver assistance device designed to reduce unnecessary driver assistance operations. The device provides assistance with stopping a vehicle at an intersection. As the vehicle approaches an intersection where an arrow-type light is installed on a traffic signal, the initiation time of the driver assistance operation is delayed. The assistance is then executed when the need for driver assistance to stop at the signal, as indicated by the illuminated arrow-type light, varies depending on the vehicle's route. Therefore, unnecessary driver assistance operations can be suppressed.

[0007] DE 10 2007 011 276 A1 discloses a method and a device for automatically determining the route of a motor vehicle. The motor vehicle is located in a lane within a carriageway, which is bounded by a right-hand and a left-hand boundary line. When an impending turning maneuver of the motor vehicle is detected, another carriageway is determined by defining a right-hand and a left-hand boundary line for this additional carriageway. The right-hand and left-hand boundary lines of the carriageway and the right-hand and left-hand boundary lines of the additional carriageway are each extended to a common intersection point. Starting from the existing lane, a transition lane is defined using the extended boundary lines, which merges the existing lane into a planned lane within the additional carriageway.

[0008] DE 10 2011 002 911 A1 relates to a method for guiding a vehicle in a lane using a lane-keeping system, in which the vehicle is guided in the lane by automatic steering interventions. To warn the driver in good time of a failure of the lane-keeping system, it is proposed to evaluate data about an upcoming section of road and determine whether a predefined system limit of the lane-keeping system will be exceeded when driving through the section, and to issue a signal to the driver if it is determined that the predefined system limit is likely to be exceeded.

[0009] DE 10 2021 200 457 A1 discloses a method for operating a driver assistance system of a motor vehicle, wherein, by means of a predetermined selection routine, at least one potential route segment for travel by the motor vehicle, a presumptive route segment which the motor vehicle is most likely to follow, is determined from a captured environmental horizon of the motor vehicle. To determine the uncertainty risk as to whether the presumptive route segment will actually be traveled in the future, a probability value assigned to the presumptive route segment is compared with a predetermined uncertainty limit.Depending on the result of the comparison, the driver assistance system is put into an uncertainty mode by activating a display device assigned to the driver assistance system in order to adjust at least one driver instruction concerning current route data for a section of the route currently being traveled by the motor vehicle and / or future route data for the presumed section of the route.

[0010] The invention is based on the objective of providing a method for operating a vehicle and a vehicle in which the activation of a display can be interpreted as changing the direction of travel without having to passivate the driver assistance system.

[0011] This problem is solved in the present invention by the features of claim 1, in that a preceding section is evaluated by an evaluation device when the device for indicating the direction of travel is activated, wherein the evaluation device checks whether at least one first criterion is met, wherein the lateral guidance assistance system remains activated if at least the first criterion is met, wherein the first criterion is met if the evaluation device has determined that the vehicle is at a fork with a priority segment and the device for indicating a change in the direction of travel indicates a change in the direction of travel in the direction of the priority segment.

[0012] Lateral guidance refers in particular to cornering, i.e., guiding the vehicle when it is not traveling straight ahead. This can include lane changes, following a curved road, and turning maneuvers at an intersection. In the present invention, forks, i.e., the option to travel in at least two directions, are particularly relevant.

[0013] Relevant intersections are marked with a priority segment, meaning a yield sign that changes direction. According to German law, a vehicle must indicate its intention to follow this priority segment. This is done by activating the vehicle's turn signal.

[0014] The assistance system can comprise several components. These include control units and at least one evaluation unit that assesses situations and transmits corresponding commands to the control units, which in turn directly influence the vehicle's steering.

[0015] A primary advantage of the invention is that it allows the system to detect when the driver intends to follow a priority road that bends. Since following a priority road typically does not require interruption, the lateral guidance system can remain activated and safely guide the vehicle through the priority segment. This also increases driver comfort, as the driver is at least partially relieved of driving duties. Furthermore, it avoids confusing the driver, who might not perceive the priority segment as requiring them to take over driving simply because the system indicating a change in direction has been activated.

[0016] Further preferred embodiments of the invention result from the other features mentioned in the dependent claims.

[0017] In a first embodiment of the method according to the invention, the evaluation device uses map data and / or swarm data from other road users and / or traffic sign recognition data to determine whether the vehicle is at a fork in the road with a priority segment. When using map data, ideally offline map data, the vehicle can recognize well in advance that it is approaching a priority road that bends. The corresponding evaluation by the device can thus be initiated early. When using swarm data, additional aspects are included that are not covered by map data alone. For example, offline map data does not detect whether there is a construction site or an obstacle on the road. Current swarm data can reveal which route the majority of vehicles have taken.Although traffic sign recognition is only helpful shortly before reaching the priority segment, a combination of swarm data, for example through traffic sign recognition of vehicles ahead, can also provide an accurate indication that the vehicle is approaching a priority segment.

[0018] In a further embodiment of the method according to the invention, the evaluation device checks whether at least a second criterion is met, and the lateral guidance assistance system remains activated if the second criterion is met. The second criterion is met if the evaluation device determines that there is no vehicle ahead on the road. If there is no vehicle ahead on the road, it can be ruled out that the activation of the device to indicate a change in direction of travel is an indication of an impending overtaking maneuver.

[0019] In a further embodiment of the invention, the evaluation device assesses data from front sensors in the form of a front radar and / or a front camera and / or a lidar. Such sensors can be used to detect whether a vehicle is ahead on the road or to analyze the road contour.

[0020] Furthermore, in an additional or alternative embodiment of the method according to the invention, the evaluation device may verify whether at least a third criterion is met. The lateral guidance assistance system remains activated if the third criterion is met. The third criterion is met if the evaluation device determines that there is no further turning option in the direction of the priority segment between the fork in the road and the vehicle's current position. If another turning option exists, it cannot be clearly determined whether the driver intends to turn beforehand or actually drive through the priority segment. Therefore, if a turning option exists before the priority segment, the lateral guidance assistance system cannot remain active.

[0021] In a further preferred embodiment of the method according to the invention, the vehicle includes a navigation system, wherein the evaluation device checks whether at least a fourth criterion is met, and the lateral guidance assistance system remains activated if the fourth criterion is met. The fourth criterion is met if a set navigation route of the navigation system runs in the direction of the priority segment. In this way, a plausibility check can be performed. If a priority segment is detected, the device for indicating a change of direction of travel in the direction of the priority segment is activated, and simultaneously a navigation route is set that also passes through the priority segment, the probability that the driver of the vehicle intends to drive through the priority segment is further increased.

[0022] In a further advantageous embodiment of the invention, the evaluation device verifies whether at least a fifth criterion is met. The lateral guidance assistance system remains activated if the fifth criterion is met, specifically if the curvature of the priority segment is below a predefined curvature limit. In this way, the evaluation device can verify whether driving through the priority segment is even possible under the given conditions. If the curvature is too severe, simply driving through the priority segment could not be risk-free, as there is a danger of an accident.

[0023] In a further embodiment of the method according to the invention, the curvature limit is determined as a function of the vehicle's current speed. This allows for a situation-dependent decision as to whether cornering through the right-of-way segment is possible at the current speed. If not, the vehicle can be braked until the curvature limit is undercut and the fifth criterion is thus met. The lateral guidance assistance system can then remain activated.

[0024] In a further embodiment of the method according to the invention, the evaluation device verifies whether at least a sixth criterion is met. The lateral guidance assistance system remains activated if the sixth criterion is met. The sixth criterion is considered met if the evaluation device determines that a vehicle ahead is on the road and that an overtaking maneuver would be possible according to the prevailing traffic regulations. If a vehicle ahead is present, the driver's turn signal could also indicate an overtaking maneuver by the vehicle ahead. For this to be possible, the direction of the turn signal must be evaluated according to the prevailing traffic regulations.If the driver's turn signal indicates a direction in which an overtaking maneuver would be possible, and all other criteria are met, the lateral guidance can also be maintained according to the procedure; however, a further, shorter parameterizable distance applies, which the driver must signal before the assessed situation.

[0025] It may also be stipulated that various or all criteria must be met for the lateral guidance assistance system to remain activated. All permutations that can result from the first six criteria mentioned are conceivable, whereby the first criterion must always be met.

[0026] The aforementioned problem is also solved by a vehicle, in particular a motor vehicle, with at least one assistance system for lateral guidance, with at least one device for indicating a change in the direction of travel, and with at least one evaluation device. It is provided that the evaluation device is designed and configured to carry out a method according to the invention. The preceding descriptions concerning the method according to the invention also apply accordingly to the vehicle according to the invention.

[0027] Electronic or electrical devices and / or other relevant devices or components according to the embodiments of the present invention described herein, such as the described evaluation device and / or parts of the assistance system, can be implemented using any suitable hardware, firmware (for example, an application-specific integrated circuit), software, or a combination of software, firmware, and hardware. For example, the various components of these devices can be housed on an integrated circuit (IC) or on separate IC chips. Furthermore, the various components of these devices can be implemented on a flexible printed circuit board, a tape carrier package (TCP), a printed circuit board (PCB), or on a single substrate.Furthermore, the various components of these devices can be a process or thread running on one or more processors in one or more computer devices, executing computer program instructions, and interacting with other system components to perform the various functions described here. The computer program instructions are stored in memory, which can be implemented in a computer device using standard memory, such as main memory (RAM). The computer program instructions can also be stored on other non-transferable, computer-readable media, such as a CD-ROM, a flash drive, or similar devices.A competent person should also recognize that the functionality of different computer devices can be combined or integrated into a single computer device, or that the functionality of a particular computer device can be distributed among one or more other computer devices, without deviating from the scope of application of the exemplary embodiments of the present invention.

[0028] Unless otherwise stated in individual cases, the various embodiments of the invention mentioned in this application can be advantageously combined with one another.

[0029] The invention is explained below using exemplary embodiments with reference to the accompanying drawings. These show: Fig. 1 a schematic representation of a vehicle during the execution of an embodiment of a method according to the invention and Fig. 2 A schematic representation of various steps of an embodiment of a method according to the invention in a block diagram.

[0030] Fig. Figure 1 shows a vehicle 10. The vehicle 10 comprises a lateral guidance assistance system 12 and a device for indicating a change in direction of travel 14. The vehicle 10 is located on a track 16, the preceding track 16 being evaluated by an evaluation device 18 when the device for indicating the direction of travel 14 is activated. The evaluation device 18 checks whether a first criterion is met that results in the activation of the lateral guidance assistance system 12 remaining active even after the device for indicating a change in direction of travel 14 has been activated.

[0031] The first criterion is met if the evaluation device 18 has determined that the vehicle 10 is at a fork 20 with a priority segment 22 and the device for indicating a change of direction 14 indicates a change of direction in the direction of the priority segment 22.

[0032] Using suitable data and sensors, the evaluation device 18 can precisely determine whether the lateral guidance assistance system 12 remains activated or whether the driver of vehicle 10 must take over the driving task in this section of the route 16. In this embodiment, the evaluation device 18 uses map data 24, swarm data 26 from other road users, and data from a traffic sign recognition system 28 to determine whether vehicle 10 is at a fork in the road 20 with a priority segment 22. When using map data, ideally offline map data, it is possible to detect well in advance that vehicle 10 is approaching a priority road with a bend. The corresponding evaluation by the evaluation device 18 can thus be initiated early.

[0033] When using swarm data 26, additional aspects are included that are not covered by map data 24 alone. For example, offline map data does not detect whether there is a construction site or an obstacle on route 16. Current swarm data 26 can reveal which route the majority of vehicles have taken. Although traffic sign recognition 28 is only helpful shortly before reaching the priority segment 22, a combination of swarm data 26, for example, traffic sign recognition from vehicles ahead, can provide precise information that vehicle 10 is approaching a priority segment 22.

[0034] Fig.Figure 2 shows various steps of a procedure for operating a vehicle 10. In step 100, the driver of the vehicle 10 activates the device for indicating a change of direction 14. The system must then evaluate the driver's request using the evaluation device 18. The activation of the device for indicating a change of direction 14 can occur for various reasons. In the present procedure, it is assumed that the driver wishes to turn.

[0035] In step 102, the evaluation device 18 checks whether a first criterion is met, the first criterion being met if the evaluation device 18 has determined that the vehicle 10 is on a fork 20 with a priority segment 22 and the device for indicating a change of direction 14 indicates a change of direction in the direction of the priority segment 22.

[0036] In step 104, the evaluation device 18 checks whether a second criterion is met. The second criterion is met if the evaluation device 18 determines that there is no vehicle ahead on track 16. If there is no vehicle ahead on track 16, it can be ruled out that the activation of the device to indicate a change in direction 14 is an indication of an impending overtaking maneuver.

[0037] In step 106, the evaluation unit checks whether a third criterion is met. This third criterion is met if the evaluation unit 18 determines that there is no further turning option towards the priority segment 22 between the fork 20 and the current position of vehicle 10. If another turning option exists, it cannot be clearly determined whether the driver of vehicle 10 intends to turn beforehand or whether they actually want to drive through priority segment 22.

[0038] In step 108, the evaluation device 18 checks whether a fourth criterion is met. This fourth criterion is met if a set navigation route of a navigation system runs in the direction of priority segment 22. This allows for a plausibility check. If priority segment 22 is detected, the device for indicating a change of direction 14 in the direction of priority segment 22 is activated, and simultaneously a navigation route is set that also passes through priority segment 22, the probability that the driver of vehicle 10 intends to drive through priority segment 22 is further increased.

[0039] In step 110, the evaluation unit 18 checks whether a fifth criterion is met. This fifth criterion is met if the curvature of the priority segment 22 is below a predefined curvature limit. In this way, the evaluation unit 18 can verify whether driving through the priority segment is even possible under the given conditions. If the curvature is too sharp, simply driving through the priority segment would not be risk-free, as there is a danger of an accident.

[0040] If these criteria are met, in step 112 a command is transmitted from the evaluation unit 18 to the lateral guidance assistance system 12, indicating that the lateral guidance assistance system 12 can remain activated. If one of the criteria is not met, the lateral guidance assistance system 12 is deactivated and the driver of the vehicle 10 takes over the driving task or at least the lateral guidance of the vehicle 10. Reference symbol list 10 vehicles 12 Assistance system for lateral guidance 14 Device for indicating a change in direction of travel 16 route 18 Assessment institution 20 Fork 22 Priority segment 24 map data 26 swarm data 28 Traffic sign recognition 100th procedural step - Activation of the device 14 102 Procedure step - Verification by facility 18 as to whether a first criterion is met 104 Procedure step - Verification by facility 18 as to whether a second criterion is met 106 Procedure step - Verification by facility 18 as to whether a third criterion is met 108 Procedure step - Verification by facility 18 as to whether a fourth criterion is met 110th procedural step - Verification by facility 18 as to whether a fifth criterion is met 112 Procedure step - Transmission of command to system 12

Claims

[1] Method of operating a vehicle (10), in particular a motor vehicle, wherein the vehicle (10) includes at least one lateral guidance assistance system (12), wherein the vehicle (10) includes at least one operable device for indicating a change in direction of travel (14), wherein a preceding section (16) is evaluated by an evaluation device (18) when the device for indicating the direction of travel (14) is activated (100), wherein the evaluation device (18) checks whether at least one first criterion is met (102), the lateral guidance assistance system (12) remains activated if at least the first criterion is met, the first criterion is met if the evaluation device (18) has determined that the vehicle (10) is at a fork (20) with a priority segment (22) and the device for indicating a change of direction of travel (14) indicates a change of direction of travel in the direction of the priority segment (22). [2] Method according to claim 1, wherein the evaluation device (18) determines, depending on map data (24) and / or swarm data (26) from other road users and / or data from a traffic sign recognition system (28), whether the vehicle (10) is at a fork in the road (20) with a priority segment (22). [3] Method according to claim 1 or 2, wherein the evaluation device (18) checks whether at least one second criterion is met (104), wherein the lateral guidance assistance system (12) remains activated when the second criterion is met, wherein the second criterion is met when the evaluation device (18) determines that there is no vehicle ahead on the track (16). [4] Method according to any one of claims 1 to 3, wherein the evaluation device (18) evaluates data from a front sensor system in the form of a front radar and / or a front camera and / or a lidar. [5] Method according to one of claims 1 to 4, wherein the evaluation device (18) checks whether at least a third criterion is met (106), wherein the lateral guidance assistance system (12) remains activated when the third criterion is met, wherein the third criterion is met when the evaluation device (18) has determined that there is no further turning option in the direction of the priority segment (22) between the fork (20) and the current position of the vehicle (10). [6] Method according to any one of claims 1 to 5, wherein the vehicle (10) comprises a navigation system, wherein the evaluation device (18) checks whether at least a fourth criterion is met (108), wherein the lateral guidance assistance system (12) remains activated when the fourth criterion is met, wherein the fourth criterion is met when a set navigation route of the navigation system runs in the direction of the priority segment (22). [7] Method according to one of claims 1 to 6, wherein the evaluation device (18) checks whether at least one fifth criterion is met (110), wherein the lateral guidance assistance system (12) remains activated when the fifth criterion is met, wherein the fifth criterion is met if a curvature profile of the priority segment (22) is below a predefined curvature limit value. [8] Method according to claim 7, wherein the curvature limit is determined as a function of the current speed of the vehicle (10). [9] Method according to one of claims 1 to 3, wherein the evaluation device (18) checks whether at least a sixth criterion is met, wherein the lateral guidance assistance system (12) remains activated when the sixth criterion is met, wherein the sixth criterion is met when the evaluation device (18) determines that a vehicle ahead is on the track (16) and that an overtaking maneuver would be possible according to the prevailing traffic logic. [10] Vehicle (10), in particular motor vehicle, with at least one assistance system for lateral guidance (12), with at least one device for indicating a change in the direction of travel (14) and with at least one evaluation device (18), wherein the evaluation device (18) is designed and configured to perform a method according to one of claims 1 to 9.

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