Method and device for assisting in a lateral guidance maneuver

Abstract

A device for assisting the driver of a motor vehicle in performing a lateral steering maneuver is described. The device is configured to determine whether the lateral steering maneuver is performed automatically by the vehicle's driving system or not. Furthermore, the device is configured to emit a flashing signal during the execution of the lateral steering maneuver, the type of signal depending on whether the maneuver is performed automatically or not.

Description

The invention relates to a method and a corresponding device, each directed towards the output of a flashing tone when a motor vehicle is performing a lateral maneuver, in particular to assist the driver of the motor vehicle in performing the lateral maneuver. A vehicle may have one or more driving systems, in particular driver assistance systems, each designed to automatically guide the vehicle longitudinally and / or laterally. The vehicle may, in particular, have a lane change assistant designed to initiate an automated lane change of the vehicle to another lane. Alternatively or additionally, the vehicle may have a turning assistant designed to initiate an automated turning maneuver of the vehicle at a road intersection. This document addresses the technical challenge of increasing the comfort and / or safety of a lateral control maneuver, in particular an automated lateral control maneuver, of a (motor) vehicle. The problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim, without the features of the independent claim itself or only in combination with a subset of the features of the independent claim, can constitute a separate invention independent of the combination of all features of the independent claim, which can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can constitute an invention independent of the features of the independent claims. According to one aspect, a device for assisting the driver of a motor vehicle in performing a lateral steering maneuver is described. Examples of lateral steering maneuvers include: changing lanes, turning, and / or parking maneuvers, in particular exiting a parking space. The device is configured to determine whether the lateral control maneuver is being performed automatically by the vehicle's driving system. In particular, it can detect whether the automated execution of the lateral control maneuver has been started or terminated. The device can be configured to initiate the automated execution of the lateral control maneuver by the driving system in response to user input from the vehicle's driver. User input can include, for example, the driver looking in a rearview mirror and / or activating a turn signal control element (e.g., a turn signal lever). Alternatively or additionally, the device can be configured to terminate the automated execution of the lateral control maneuver in response to driver intervention in the vehicle's lateral control. Such intervention in the lateral control can include, for example,This includes operation of the vehicle's steering wheel. Alternatively or additionally, the device may be configured to detect that the automated execution of the lateral control maneuver has been terminated independently by the driving system (e.g., because the lateral control maneuver (e.g., the parking maneuver) has been completed, or because the automated lateral control maneuver could not be completed automatically due to an overly complex driving situation). The device is further equipped to emit or reproduce a flashing signal tone during the execution of the lateral steering maneuver. The flashing signal tone can be reproduced via a loudspeaker in the vehicle. The specific flashing signal tone reproduced can depend on whether the lateral steering maneuver is performed automatically or not. The device can be configured, in particular, to emit a first flashing tone sequence during the execution of the lateral guidance maneuver if the maneuver is performed automatically, and a second flashing tone sequence if the maneuver is not performed automatically. The first and second flashing tone sequences are different. The first and second flashing beep sequences typically each have a limited duration, ranging, for example, from 1 second to 5 seconds. The device can be configured to repeatedly (and continuously) play the first flashing beep sequence as long as the lateral maneuver is performed automatically. Alternatively or additionally, the device can be configured to repeatedly (and continuously) play the second flashing beep sequence as long as the lateral maneuver is performed manually by the driver of the vehicle. This document describes a device designed to emit different turn signal tones, in particular different turn signal sequences, during the execution of a lateral steering maneuver (with the turn signal activated), depending on whether the maneuver is performed automatically or manually. This allows for a particularly convenient and safe execution of the lateral steering maneuver. The device can be configured to detect whether the automated execution of the lateral guidance maneuver has started or ended. In response to this detection, a change in the flashing tone can then be triggered. Specifically, the flashing tone can change from the first to the second flashing sequence when it is detected that the automated execution of the lateral guidance maneuver has ended. Conversely, the flashing tone can change from the second to the first flashing sequence when it is detected that the automated execution of the lateral guidance maneuver has started. Changing the turn signal tone at the start or end of the automated execution of the lateral guidance maneuver can further increase the comfort and safety of the lateral guidance maneuver. The device can be configured to detect an urgency indicator so that the driver is informed of the detected start or end of the automated execution of the lateral control maneuver. The change in the turn signal tone, in particular the transition between two different turn signal tone sequences, can then be triggered depending on the urgency indicator. The device can be configured, in particular, to initiate the transition between the two different flashing tone sequences only after the respective flashing tone sequence has been completely reproduced, if the urgency indicator shows a level of urgency lower than a certain urgency threshold. Alternatively or additionally, the device can be configured to initiate the transition between the two different flashing tone sequences immediately after detection of the start or end of the automated execution of the lateral control maneuver, even if this interrupts the respective flashing tone sequence being reproduced, if the urgency indicator shows a level of urgency higher than the urgency threshold. The device can be configured, for example, to initiate the transition from the second flashing tone sequence to the first flashing tone sequence only after the second flashing tone sequence has been completely played, following a detected start of the automated execution of the lateral maneuver. Alternatively or additionally, the device can be configured to initiate the transition from the first flashing tone sequence to the second flashing tone sequence immediately after the detection of the end of the automated execution of the lateral maneuver, even if this interrupts the second flashing tone sequence. By adjusting the transition between the different flashing tone sequences to the urgency, a particularly comfortable and safe execution of the lateral guidance maneuver can be achieved. The device can be configured to check whether the vehicle's turn signal is activated or not. Specifically, it can check whether the vehicle's turn signal control (e.g., the turn signal lever) is in a state that activates the turn signal. The turn signal audible signal may only be triggered if it is determined that the vehicle's turn signal is activated, and in particular, if the vehicle's turn signal control is in a state that activates the turn signal. Conversely, the audible signal may be suppressed. According to another aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described that includes the device described in this document. According to another aspect, a method for assisting the driver of a motor vehicle in performing a lateral control maneuver (e.g., a lane change maneuver) is described. The method includes determining whether the lateral control maneuver is performed automatically by a driving system of the motor vehicle or not. In particular, it can be determined whether the automated execution of the lateral control maneuver has been started or terminated. Furthermore, the procedure includes the playback of a flashing tone during the execution of the lateral steering maneuver, the flashing tone depending on whether the lateral steering maneuver is performed automatically or not. It should be noted that the aspects described in connection with the device, in particular the claims described in connection with the device, are also applicable to the method as corresponding process features. Another aspect described is a software (SW) program. The SW program can be configured to run on a processor (e.g., on a vehicle's control unit) and thereby execute the procedure described in this document. Another aspect describes a storage medium. This storage medium can include a software program configured to run on a processor and thereby execute the procedure described in this document. It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways. Features listed in parentheses are to be understood as optional features. The invention will now be described in more detail with reference to exemplary embodiments. Figure 1a shows exemplary components of a vehicle; Figure 1b shows an exemplary lateral maneuver; Figure 2 shows exemplary turn signal tones, in particular exemplary turn signal tone sequences, during the execution of a lateral maneuver; and Figure 3 shows a flowchart of an exemplary method for emitting a turn signal tone during the execution of a lateral maneuver. As stated at the outset, this document deals with increasing the comfort and / or safety of a vehicle during the (automated) execution of a lateral control maneuver. In this context, Fig. 1a shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to acquire sensor data (also referred to as environmental data) relating to the vehicle 100's surroundings. Exemplary environmental sensors 102 are a camera, a radar sensor, a lidar sensor, and / or an ultrasonic sensor. A (control) device 101 of the vehicle 100 can be configured to evaluate environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the vicinity of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral control of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral control actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle can be controlled. The vehicle 100 can thus have a driving system for automated longitudinal and / or lateral control of the vehicle 100. The driving system can be configured to perform automated lateral control maneuvers in which the vehicle 100 is automatically guided laterally. Examples of lateral control maneuvers include a lane change maneuver and / or a turning maneuver and / or a parking maneuver. Fig. 1b shows an example of a lane change maneuver 111 in which the vehicle 100 is automatically guided laterally (and optionally longitudinally) from a first lane of a multi-lane roadway 110 to a second lane of the same multi-lane roadway 110. The driving system, in particular the control device 101 of the vehicle 100, can be configured to activate a turn signal of the vehicle 100 during the automated execution of a lateral maneuver, in particular to indicate to one or more road users in the vicinity of the vehicle 100 that the vehicle 100 is performing a lateral maneuver (e.g., a lane change or a turning maneuver). Alternatively or additionally, the driving system, in particular the control device 101 of the vehicle 100, can be configured to emit a flashing tone (while the turn signal is activated), in particular to inform the driver of the vehicle 100 that the turn signal is activated and / or that the vehicle 100 is performing an (automated) lateral maneuver. The driving system, in particular the control device 101, can be configured, for example, to recognize, based on sensor data from one or more environmental sensors 102, that an automated lateral control maneuver (e.g., a lane change) can be performed, for example, to carry out an overtaking maneuver. Furthermore, the driving system, in particular the control device 101, can be configured to output a notification regarding the automated lateral control maneuver to the driver of the vehicle 100 via a user interface 104 of the vehicle 100. In particular, the driver of the vehicle 100 can be notified that the automated lateral control maneuver can be initiated by user input from the driver. Examples of user input include the activation of a control element 106, in particular a turn signal lever, of the vehicle 100 and / or the driver looking in a rearview mirror of the vehicle 100.In response to the detected user input, the driving system, in particular the control device 101, can initiate the automated execution of the lateral control maneuver. During the automated execution of the lateral control maneuver, an acoustic flashing tone 105 can be emitted (via a loudspeaker of the user interface 104 of the vehicle 100). The emitted flashing tone 105 can depend on whether the lateral control maneuver is performed automatically or manually. In particular, a (first) flashing tone 211 can be provided for automated lateral control maneuvers (e.g., TEK-TAK in Fig. 2) and a different (second) flashing tone 212 for manual lateral control maneuvers (e.g., TIK-TOK in Fig. 2). The driving system, in particular the control device 101, can be configured to cause the flashing tone 211 for automated lateral control maneuvers to be emitted when an automated lateral control maneuver is performed. Conversely, it can be configured to cause the flashing tone 212 for manual lateral control maneuvers to be emitted when a manual lateral control maneuver is performed. If a transition from a manual lateral control maneuver to an automated lateral control maneuver (or vice versa) occurs, a change from the flashing tone 212 for manual lateral control maneuvers to the flashing tone 211 for automated lateral control maneuvers can be initiated (as exemplified in Fig. 2 for the transition at time 201). Depending on the urgency, this can be an immediate transition (Fig. 2, top) or a delayed transition after completion of a full flashing tone sequence (Fig. 2, bottom). In the upper part of Fig. 2, an immediate transition occurs from the second flashing tone sequence 212 to the first flashing tone sequence 211, resulting in the playback of the second flashing tone sequence 212 being interrupted at time 201 (and thus the playback of a fraction 213 of the second flashing tone sequence 212). Conversely, in the lower part of Fig. 2, a delayed transition occurs from the second flashing tone sequence 212 to the first flashing tone sequence 211, following the complete playback of the second flashing tone sequence 212. It is therefore possible to change the turn signal tone 105 when the driving system is active (compared to the turn signal tone 105 during a manual lateral control maneuver) to consciously or subconsciously signal to the driver that the driving system is performing an automated lateral control maneuver. This eliminates the need for an activation tone that would otherwise indicate acceptance of the offer to perform the automated lateral control maneuver, thus further increasing vehicle comfort 100. The driving system can be configured to issue an offer to perform a lane change 111 via the user interface 104 when a need or possibility for such a change is detected (e.g., based on a visual and / or audible indication). If a lane change 111 is deemed necessary, the intensity of the indication can be increased over time, if necessary, according to a predefined escalation strategy. The driver can confirm the lane change, for example, by looking or by operating a control element 106. As a result, the automated lane change is initiated. Furthermore, the vehicle's turn signal 100 is activated. A different turn signal tone 105 (e.g., the first turn signal tone sequence 211 "TEK - TAK", in Fig. 2) can be used for an automated lane change than for a manual lane change (e.g., the second turn signal tone sequence 212 "TIK - TOK", in Fig. 2). During the automated lane change 111, the driver may intervene manually. For example, the driver may counter-steer, and this intervention may be detected. As a result, the automated lane change 111 may be aborted, and a transition to a manual lane change 111 may occur. Consequently, the flashing tone 105 may change from the flashing tone for automated lateral maneuvers (e.g., from the first flashing tone sequence 211 "TEK - TAK", in Fig. 2) to the flashing tone for manual lateral maneuvers (e.g., the second flashing tone sequence 212 "TIK - TOK", in Fig. 2). Alternatively or additionally, the turn signal tone 105 can be used when the driver initiates an automated lateral control maneuver. This provides the driver with direct feedback as to whether the initiation was successful or not (e.g., because a certain speed threshold was not reached). The driver can cancel the automated lateral control maneuver by flashing the turn signal and will receive direct acoustic feedback about the cancellation of the automated lateral control maneuver through a change in the turn signal tone 105. In another example, the driving system provides an automated parking function. Here, the driver can be notified, when the turn signal is engaged and a parking maneuver has begun, when it is time to switch to manual driving after the automated maneuver has finished, and thus when the turn signal can be deactivated (by the driver). Fig. 3 shows a flowchart of an exemplary (possibly computer-implemented) method 300 for assisting the driver of a motor vehicle 100 in performing a lateral control maneuver 111 of the motor vehicle 100. The method 300 can be executed by a control device 101 of the motor vehicle 100. The method 300 includes determining 301 whether the lateral control maneuver 111 is performed automatically by a driving system of the motor vehicle 100 or not. If the lateral control maneuver 111 is not performed automatically, this can mean that the lateral control maneuver 111 has been completed and / or that the lateral control maneuver 111 is performed or must be performed manually by the driver. Furthermore, the method 300 includes the reproduction 302 of a flashing tone 105 during the execution of the lateral steering maneuver 111, wherein the flashing tone 105 depends on whether the lateral steering maneuver 111 is performed automatically or not. In particular, a first flashing tone sequence 211 can be reproduced if (especially as long as) the lateral steering maneuver 111 is performed automatically. On the other hand, a second flashing tone sequence 212 can be reproduced if the lateral steering maneuver 111 is not performed automatically. The measures described in this document can result in particularly comfortable and safe lateral steering maneuvers of a vehicle 100. The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

Device (101) for assisting a driver of a motor vehicle (100) in performing a lateral steering maneuver (111) of the motor vehicle (100); wherein the device (101) is configured to determine whether the lateral steering maneuver (111) is performed automatically by a driving system of the motor vehicle (100) or not; and to emit a flashing tone (105) during the execution of the lateral steering maneuver (111); wherein the flashing tone (105) depends on whether the lateral steering maneuver (111) is performed automatically or not. Device (101) according to claim 1, wherein the device (101) is configured to: - reproduce a first flashing tone sequence (211) when the lateral guidance maneuver (111) is performed automatically; and - reproduce a second flashing tone sequence (212) when the lateral guidance maneuver (111) is not performed automatically; wherein the first and the second flashing tone sequence (211, 212) are different. Device (101) according to claim 2, wherein: - the first and the second flashing tone sequence (211, 212) each have a limited sequence duration; - the sequence duration is in particular between 1 second and 5 seconds; and - the device (101) is configured to: - repeatedly reproduce the first flashing tone sequence (211) as long as the lateral steering maneuver (111) is performed automatically; and / or - repeatedly reproduce the second flashing tone sequence (212) as long as the lateral steering maneuver (111) is performed manually by the driver of the motor vehicle (100). Device (101) according to one of the preceding claims, wherein the device (101) is configured to detect that the automated execution of the lateral guidance maneuver (111) is started or terminated; and in response to the detection, to cause a change in the flashing tone (105), in particular to cause a transition from a first flashing tone sequence (211) to a second flashing tone sequence (212) when it is detected that the automated execution of the lateral guidance maneuver (111) has been terminated; and / or to cause a transition from the second flashing tone sequence (212) to the first flashing tone sequence (211) when it is detected that the automated execution of the lateral guidance maneuver (111) has been started. Device (101) according to claim 4, wherein the device (101) is configured to: - determine an urgency indicator to inform the driver of the detected start or end of the automated execution of the lateral guidance maneuver (111); and - effect the change of the flashing tone (105), in particular the transition between two different flashing tone sequences (211, 212), depending on the urgency indicator. Device (101) according to claim 5, wherein the device (101) is configured to: - effect the transition between the two different flashing tone sequences (211, 212) only after the respective flashing tone sequence (211, 212) has been completely reproduced, if the urgency indicator indicates an urgency that is less than an urgency threshold; and / or - effect the transition between the two different flashing tone sequences (211, 212) immediately after detection of the start or end of the automated execution of the lateral guidance maneuver (111), even if this interrupts the respective flashing tone sequence (211, 212) being reproduced, if the urgency indicator indicates an urgency that is greater than the urgency threshold. Device (101) according to one of claims 4 to 6, wherein the device (101) is configured: - as a result of a detected start of the automated execution of the lateral guidance maneuver (111), to effect the transition from the second flashing tone sequence (212) to the first flashing tone sequence (211) only after the second flashing tone sequence (212) has been completely reproduced; and / or - as a result of a detected end of the automated execution of the lateral guidance maneuver (111), to effect the transition from the first flashing tone sequence (211) to the second flashing tone sequence (212) immediately after detection of the end of the automated execution of the lateral guidance maneuver (111), even if this interrupts the second flashing tone sequence (212). Device (101) according to any one of claims 4 to 7, wherein the device (101) is configured to: - in response to user input from the driver of the motor vehicle (100) to cause the driving system to initiate the automated execution of the lateral control maneuver (111); wherein the user input particularly includes the driver looking in a rearview mirror of the motor vehicle (100) and / or actuating a turn signal control element (106) of the motor vehicle (100); and / or - in response to an intervention by the driver of the motor vehicle (100) in the lateral control of the motor vehicle (100) to terminate the automated execution of the lateral control maneuver (111); wherein the intervention in the lateral control particularly includes actuating a steering wheel of the motor vehicle (100). Device (101) according to one of the preceding claims, wherein the lateral guidance maneuver (111) comprises: - a lane change; - a turning maneuver; and / or - a parking maneuver, in particular a parking maneuver. Method (300) for assisting a driver of a motor vehicle (100) in performing a lateral steering maneuver (111) of the motor vehicle (100); wherein the method (300) comprises: - Determining (301) whether the lateral steering maneuver (111) is performed automatically by a driving system of the motor vehicle (100) or not; and - Reproducing (302) a flashing tone (105) during the performance of the lateral steering maneuver (111); wherein the flashing tone (105) depends on whether the lateral steering maneuver (111) is performed automatically or not.

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