Method and system for facilitating the following of a lead vehicle along a road

Abstract

Method for facilitating the driving of a vehicle (1) along a road (R), comprising at least the steps of: - continuously determining (601) the track of the vehicle (1); - determining (603) a historical track (T1, T2, T3, T4) of at least one other vehicle (2, 3, 4, 5) along the road (R) ahead of the vehicle (1); - comparing (605) the track of the vehicle (1) with the historical track (T1, T2, T3, T4) of the at least one other vehicle (2, 3, 4, 5); - selecting (617, 619) the historical track (T1, T2, T3, T4) of the at least one other vehicle (2, 3, 4, 5) based on at least one criterion, wherein the at least one criterion comprises checking (607) that the vehicle (1) is in the historical track (T1, T2, T3, T4) of the at least one other vehicle (2, 3, 4, 5). vehicle (2, 3, 4, 5) has been followed for at least a specified time and / or distance; and- taking into account (621, 623) the selected lane when driving the vehicle (1).

Description

TECHNICAL AREA

[0001] The invention relates to a method for facilitating the driving of a vehicle along a road according to the preamble of claim 1. The invention also relates to a system for facilitating the driving of a vehicle along a road. The invention also relates to a vehicle. The invention also relates to a computer program and a computer program product. TECHNICAL BACKGROUND

[0002] When driving along a road, rollover accidents on curves are a problematic type of accident. The main reason for such rollovers is that the vehicle is traveling at too high a speed. To control the vehicle's driving, the vehicle must be able to determine the road ahead. Therefore, by creating driver assistance systems that help the driver choose a more suitable speed for the situation, the vehicle itself needs to know what the road ahead looks like. This could be achieved with a Global Positioning System (GPS) and by providing map data of the road's length and curvature, which certain systems use to maintain a more appropriate speed. Map data is used for functions such as cruise control.

[0003] Relying on map data presents a problem: situations can arise where no map data is available or where the data is outdated due to infrequent updates. Map data can also create problems determining the correct route for the vehicle, for example, at a highway exit where using GPS to distinguish the exit lane with a sharp turn from the straight-ahead lane is difficult.

[0004] Therefore, there is a need to improve the driving of a vehicle along a road. TASKS OF INVENTION

[0005] One object of the present invention is to provide a method for facilitating the driving of a vehicle along a road, which improves the basis for adapting the speed of the vehicle to the length and curvature of the road and thus enhances safety.

[0006] Another object of the present invention is to provide a system for facilitating the driving of a vehicle along a road, which improves the basis for adapting the speed of the vehicle to the length and curvature of the road and thus enhances safety. BRIEF SUMMARY OF THE INVENTION

[0007] These and other tasks, which will become apparent from the following description, are achieved by a method, a system, a vehicle, a computer program, and a computer program product, as set forth in the accompanying independent claims. Preferred embodiments of the method and the system are defined in the accompanying dependent claims.

[0008] In particular, one object of the present invention is achieved by a method for facilitating the driving of a vehicle along a road. The method comprises the steps of: following at least one vehicle along the road ahead of the vehicle; determining a historical track of the followed vehicle; and taking a specific historical track into account when driving the vehicle.

[0009] By determining the historical track of a tracked vehicle, the basis for adjusting the vehicle's speed to the road's alignment and curvature, and thus safety, is improved. The historical track determined in this way can therefore serve as a redundancy to map data and / or the road's path as indicated by road markings. This historical track can be used when map data has not been updated, for example, when the road has been altered by adding or changing lanes, adding a roundabout, or similar modifications, or when the map data is temporarily inaccurate, for example, due to construction work, temporary obstructions, or similar circumstances.

[0010] The historical track thus determined can be used as a basis for steering the vehicle along a road, provided the vehicle is traveling in the lane corresponding to the historical track. Steering the vehicle involves adjusting its speed to the curvature of the historical track. Specifically, a vehicle is selected to follow. This allows the driver to choose and follow a historical track of a vehicle that best matches their own path. This enables a good prediction of the driver's future route. The steering method can also be applied to vehicles traveling in convoys.

[0011] According to one embodiment of the method, the step of taking a specific historical track into account when driving the vehicle includes controlling the vehicle's driving based on that specific historical track. Such control of the driving based on the historical track improves safety and reduces the risk of overturning due to excessive speed in a curve. The vehicle's speed can thereby be automatically managed based on the historical track.

[0012] According to one embodiment of the method, the step of controlling the vehicle's driving based on the specified historical track includes adjusting the vehicle's speed based on the curvature of the historical track. This improves the safety of the vehicle's driving.

[0013] According to one embodiment of the method, the step of taking a specific historical track into account includes issuing a warning to the vehicle operator regarding the road's extent based on that specific historical track. This informs the driver in advance about the road's extent and curvature based on the historical track thus determined.

[0014] This further improves safety by allowing the operator / driver to take action based on the warning, such as switching off the regular cruise control.

[0015] According to one embodiment of the method, the step of determining a historical track comprises acquiring the tracked vehicle in order to obtain waypoints of previous positions of the tracked vehicle; and, based on the waypoints, creating the historical track of the tracked vehicle. This provides a simple and efficient way of obtaining the historical track based on a vehicle further ahead.

[0016] According to one embodiment, the historical track thus determined is compared with a trajectory determined using extracted map information and the vehicle's position. If a certain difference exists in the comparison, the determined historical track, according to one embodiment, serves as the basis for controlling the vehicle's driving.

[0017] In particular, one object of the invention is achieved by a system for facilitating the driving of a vehicle along a road. The system comprises a device for tracking at least one vehicle along the road ahead of the vehicle; a device for determining a historical track of the tracked vehicle; and a device for taking a specific historical track into account when driving the vehicle.

[0018] According to one embodiment of the system, the device for taking into account a specific historical track includes a device for controlling the driving of the vehicle based on the historical track thus determined.

[0019] According to one embodiment of the system, the device for controlling the driving of the vehicle based on the specified historical track includes a device for adjusting the speed of the vehicle to the curvature of the historical track.

[0020] One embodiment of the system includes a device for taking into account a specific historical track and a device for issuing a warning to the operator of the vehicle regarding the extent of the road based on the specific historical track.

[0021] According to one embodiment of the system, the device for determining a historical track comprises a device for detecting the tracked vehicle in order to obtain waypoints of previous positions of the tracked vehicle; and a device for creating the historical track of the tracked vehicle based on the waypoints.

[0022] The system for facilitating the driving of a vehicle along a road is designed to perform the procedures as described herein.

[0023] The system according to the invention has the advantages according to the corresponding method claims.

[0024] In particular, one object of the present invention is achieved by a vehicle comprising a system as set forth herein.

[0025] In particular, an object of the invention is achieved by a computer program for facilitating the driving of a vehicle along a road, wherein the computer program comprises program code which, when executed on an electronic control unit or another computer connected to the electronic control unit, causes the electronic control unit to execute methods as set forth herein.

[0026] In particular, one object of the present invention is achieved by a computer program product comprising a digital storage medium that stores the computer program. List of characters

[0027] For a better understanding of the present invention, reference is made to the following detailed description in conjunction with the accompanying drawings, where the same reference numerals refer to similar parts in all views. These show: Fig. 1 schematically a side view of a vehicle according to the present invention; Fig. 2a schematically a road with three lanes and one exit; Fig. 2b schematically a road where the lanes are diverted further ahead due to roadworks; Fig. 3 schematically a block diagram of a system for facilitating the driving of a vehicle along a road according to an embodiment of the present invention; Fig. 4 schematically a block diagram of a method for facilitating the driving of a vehicle along a road according to an embodiment of the present invention; Fig. 5 schematically a computer according to an embodiment of the present invention and Fig. 6. A flowchart showing the selection of a vehicle to be tracked. DETAILED DESCRIPTION

[0028] In the following, the term "connection" refers to a communication link, which may be a physical connector, such as an optoelectronic connecting cable, or a non-physical connector, such as a wireless connection, for example a radio link or a microwave link.

[0029] Below, the terms "road track" and "road lane track" encompass the extent of the road / lane, the course of the road / lane, and the curvature of the road / lane.

[0030] Fig. Figure 1 schematically shows a side view of a vehicle. 1 according to the present invention. The vehicle shown as an example. 1 is a heavy vehicle in the form of a truck. The vehicle according to the invention could be any suitable vehicle, such as a bus or a car. The vehicle includes a system I for facilitating the driving of the vehicle. 1 along a road R.

[0031] Fig. 2a schematically shows a road R with three lanes L1, L2, L3, a first lane L1 in which a vehicle 1The first lane L1 has a second lane L2 and a third lane L3, which is adjacent to the first lane L1. From the first lane L1, an exit leads to lane L4 with a certain length.

[0032] There is a second vehicle at the exit. 2 before the first vehicle 1 It has driven off and is driving in lane L4.

[0033] A vehicle is driving in the second lane L2. 3 in front of vehicle 1 and in the third lane L3 a vehicle is driving 4 and a vehicle 5 , the vehicle 5 follow the vehicle 4 , where vehicle 4 and vehicle 5 in front of vehicle 1 drive.

[0034] The vehicle 1System I comprises a system for facilitating the driving of a vehicle along a road. System I comprises a device for tracking at least one vehicle along the road ahead of the vehicle. System I comprises a detector unit D for detecting vehicles ahead of the vehicle in order to identify vehicles ahead of the vehicle. 1 to track. System I includes a device for determining a historical trace of the tracked vehicle. The device for determining a historical trace of the tracked vehicle includes detector unit D.

[0035] In the example in Fig. 2a is tracking the vehicle 1 the second vehicle 2 , which exited on lane L4, the vehicle 3 in lane L2 and vehicle 4 in lane L3. The system I determines the vehicle 1 a historic T1 track of the vehicle 2 , a historic T2 track of the vehicle 3and a historic T3 track of the vehicle 4 .

[0036] The vehicle 1 It exits at the junction and travels on lane L4. For this reason, the vehicle's historic lane T1 is used. 2 This is taken into account. According to one variant, system I controls the vehicle's driving based on the specific historical track T1 in such a way that the vehicle's speed 1 based on the curvature of the historical track T1, which corresponds to the driving lane L4 on which the vehicle 2 This facilitates safe driving by providing a suitable route in advance, regardless of whether map data exists / is available / is incorrect and / or whether it is possible to detect road markings.

[0037] By thus making the historical tracks T1, T2, T3 available for vehicles 2 , 3 , 4In different lanes L4, L1, L2, L3, it will be possible to have a historical track on the basis of which the speed of the vehicle for different driving options for the vehicle will be determined. 1 will be adjusted.

[0038] According to one embodiment of the system, the device for taking a specific historical track into account includes a device for issuing a warning to the operator of the vehicle regarding the extent of the road based on the specific historical track.

[0039] Fig. 2b schematically shows a road R with two lanes L1, L2, a first lane L1 in which a vehicle 1The road runs through a second lane, L2, adjacent to the first lane, L1. Lanes L1 and L2 were diverted and, due to roadworks further ahead, temporarily formed lanes L1a and L2a at a specific point, with these temporary lanes bypassing the roadworks.

[0040] A vehicle 2 drives in lane L1a in front of the vehicle 1 .

[0041] According to the example in Fig. 2a includes the vehicle 1 A system I for facilitating the driving of a vehicle along a road. The system I comprises a device for tracking at least one vehicle along a road ahead of the vehicle. 1 System I includes a detector unit D for detecting vehicles in front of the vehicle 1 , to clear the vehicles in front of the vehicle 1to track. System I includes a device for determining a historical trace of the tracked vehicle. The device for determining a historical trace of the tracked vehicle includes detector unit D.

[0042] In the example in Fig. 2b is following the vehicle 1 the second vehicle 2 in the lane that bypasses roadworks C. The vehicle is determined by system I. 1 a historic T2 track of the vehicle 2 .

[0043] According to one embodiment of System I, the device for determining a historical track T4 includes a device for detecting the tracked vehicle in order to determine waypoints WP of previous positions of the tracked vehicle. 2 to obtain. The detector unit D is in the device for detecting the tracked vehicle in order to obtain the waypoints WP from previous positions of the tracked vehicle. 2Included. The historic T4 gauge of the vehicle. 2 The waypoints WP are then created. According to one embodiment, the waypoints WP essentially correspond to at least the width of the vehicle. 2 .

[0044] Fig. Figure 3 schematically shows a system I for facilitating the driving of a vehicle along a road according to an embodiment of the present invention.

[0045] System I includes an electronic control unit 100 .

[0046] System I includes a facility 110 to track at least one vehicle along the road ahead of the vehicle.

[0047] The facility 110 The device for tracking at least one vehicle along the road ahead of the vehicle can include any suitable detection equipment, for example, any suitable detector unit. 110For tracking at least one vehicle along the road ahead of the vehicle, one or more camera units are included according to one embodiment. According to one embodiment, the one or more camera units include an IR camera unit. The device 110 According to one embodiment, the device for tracking at least one vehicle along the road ahead of the vehicle comprises one or more laser scanner units. 110 According to one embodiment, the device for tracking at least one vehicle along the road in front of the vehicle comprises one or more radar units.

[0048] System I includes a facility 120 to establish a historical trace of the tracked vehicle. The facility 120 According to one embodiment, the device for determining a historical trace of the tracked vehicle includes 110to track at least one vehicle along the road ahead of the vehicle. The device 120 The system for determining a historical track of the tracked vehicle therefore includes one or more camera units and / or one or more laser scanner units and / or one or more radar units.

[0049] The facility 120 To determine a historical track, a device 122 is included for recording the tracked vehicle and obtaining waypoints from previous positions of the tracked vehicle. The device 122 The system for detecting the tracked vehicle and for obtaining waypoints from previous positions of the tracked vehicle thus includes one or more camera units and / or one or more laser scanner units and / or one or more radar units.

[0050] The facility 120To determine a historical track, a device 124 is included for creating the historical track of the tracked vehicle based on the waypoints.

[0051] System I includes a facility 130 to determine the vehicle's speed. The device 130 According to one embodiment, the vehicle's speedometer is used to determine its speed.

[0052] System I includes a facility 140 to take into account a specific historical track when driving the vehicle.

[0053] The facility 140 To take into account a specific historical track when driving the vehicle, a device includes 142 to control the driving of the vehicle based on the specific historical track.

[0054] The facility 142A device for controlling the vehicle's driving based on the specific historical track includes 142a for adjusting the vehicle's speed based on the curvature of the historic track. The device 142a Adjusting the vehicle's speed based on the curvature of the historical track may involve the use of the vehicle's cruise control function.

[0055] The facility 140 To take a particular historical trace into account, an institution includes 144 to issue a warning to the vehicle operator regarding the length of the road due to the specific historical track. The device 144The system for issuing a warning to the vehicle operator includes an optical device for visually displaying the warning, which includes a display unit or the like, and / or an acoustic device for acoustically displaying the warning, which includes a voice message, an alarm or the like, and / or a tactile device for tactilely displaying the warning, such as vibrations of the steering wheel or the like.

[0056] According to one embodiment, system I comprises a device 150 to determine the path of the road along which the vehicle is traveling, based on a specific current position of the vehicle and extracted map information of the extent of the road along which the vehicle is traveling.

[0057] The facility 150According to one embodiment, a map information unit is included to determine the path of the road along which the vehicle travels, based on a specific current position of the vehicle and extracted map information of the extent of the road along which the vehicle travels. 152 , which includes map data, information about the path of the road along which the vehicle travels, including curves, exits, entrances and the surroundings of the road.

[0058] The facility 150 According to one embodiment, a device for determining the path of the road along which the vehicle travels, based on a specific current position of the vehicle and extracted map information of the extent of the road along which the vehicle travels, comprises a 154 to determine the vehicle's position. The device 154According to one embodiment, the device for determining the position of the vehicle includes a navigation device, GPS, for continuously determining the position of the vehicle along the road on which it is traveling.

[0059] Through the map information unit 152 and the facility 154 This makes it easier to determine the position of the vehicle and to continuously identify the position of the vehicle and the path of the road along which the vehicle travels, including the path of the road along which the vehicle travels, at a certain distance in front of the vehicle.

[0060] System I includes a facility 160 to compare the specific historical trace associated with the establishment 120 The movement path was determined using device 150, i.e., by means of extracted map information and vehicle position. 160According to one embodiment, the device includes an electronic control unit for comparing the determined historical track with the movement path determined using extracted map information and vehicle position. 160 According to one embodiment, the electronic control unit comprises 100 components for comparing the determined historical track with the movement path determined by means of extracted map information and vehicle position.

[0061] The facility 160The comparison process involves determining whether and to what extent the specified historical track differs from the trajectory determined using extracted map information and vehicle position. Here, the specified historical track can serve as a backup if the trajectory determined using the extracted map information and vehicle position is incorrect, for example, due to road construction or a new / updated road alignment. Thus, if a certain difference exists in the comparison, the specified historical track, according to one embodiment, forms the basis for controlling the vehicle's driving.

[0062] The electronic control unit 100 is operationally effective with the establishment 110 to track at least one vehicle along the road ahead of the vehicle via a connection 10 connected. The electronic control unit 100 is intended to be used via the connection10 a signal from the facility 110 to receive data that represents the tracked vehicle in front of the vehicle.

[0063] The electronic control unit 100 is operationally effective with the establishment 120 to determine a historical trace of the tracked vehicle connected via connection 20a. The electronic control unit 100 is intended to be used via the connection 20a a signal to the institution 120 to send data for tracked vehicles in front of the vehicle.

[0064] The electronic control unit 100 is operationally effective with the establishment 120 to determine a historical trace of the tracked vehicle connected via connection 20b. The electronic control unit 100 is intended to be used via the connection 20b a signal from the facility 120to receive data representing the historical track of the tracked vehicle(s).

[0065] The electronic control unit 100 is operationally effective with the establishment 122 to detect the tracked vehicle, to obtain waypoints from previous positions of the tracked vehicle via a connection 22 connected. The electronic control unit 100 is intended to be used via the connection 22 a signal from the facility 122 to receive data representing waypoints from previous positions of the tracked vehicle(s).

[0066] The electronic control unit 100 is operationally effective with the establishment 124 to create the historical track of the tracked vehicle based on waypoints via a connection 24a connected. The electronic control unit 100is intended to be used via the connection 24a a signal to the institution 124 to send data representing waypoints from previous positions of the tracked vehicle(s).

[0067] The electronic control unit 100 is operationally effective with the establishment 124 to create the historical track of the tracked vehicle based on waypoints via a connection 24b connected. The electronic control unit 100 is intended to be used via the connection 24b a signal from the facility 124 to receive data representing the historical track of the tracked vehicle(s).

[0068] The electronic control unit 100 is operationally effective with the establishment 130 to determine the speed of the vehicle via a connection 30 connected. The electronic control unit100 is intended to be used via the connection 30 a signal from the facility 130 to receive data that represents the vehicle's speed.

[0069] The electronic control unit 100 is operationally effective with the establishment 140 to take into account a specific historical track when driving the vehicle over a connection 40 connected. The electronic control unit 100 is intended to be used via the connection 40 a signal to the institution 140 to send data representing the specific historical track.

[0070] The electronic control unit 100 is operationally effective with the establishment 142 to control the vehicle's driving based on the historical track thus determined via a connection 42 connected. The electronic control unit 100 is intended to be used via the connection42 a signal from the facility 142 to receive data that represents driving control data, including data for adjusting the vehicle's speed based on the specific historical track.

[0071] The electronic control unit 100 is operationally effective with the establishment 144 to issue a warning to the vehicle operator regarding the extent of the road based on the specific historical track over a connection 44 connected. The electronic control unit 100 is intended to be used via the connection 44 a signal from the facility 144 to receive data that represents the data for issuing a warning to the vehicle operator regarding the extent of the road based on the specified historical track.

[0072] The electronic control unit 100 is operationally effective with the establishment150 to determine the path of the road along which the vehicle is traveling, based on a specific current position of the vehicle and extracted map information of the extent of the road along which the vehicle is traveling, via a connection 50 connected. The electronic control unit 100 is intended to be used via the connection 50 a signal from the facility 150 to receive data for the railway, based on a specific current position of the vehicle and extracted map information.

[0073] The electronic control unit 100 is operationally effective with the map information unit 152 , which includes map data, information about the trajectory of the road along which the vehicle travels, via a connection 52 connected. The electronic control unit 100is intended to receive a signal from the map information unit via connection 52. 152 to receive map data that includes information about the path of the road along which the vehicle is traveling.

[0074] The electronic control unit 100 is operationally effective with the establishment 154 to determine the vehicle's position via a connection 54 connected. The electronic control unit 100 is intended to be used via the connection 54 a signal from the facility 154 to receive data representing the vehicle's position.

[0075] The electronic control unit 100 is operationally effective with the establishment 160 to compare the determined historical track with the track determined using extracted map information and vehicle position via a connection 60aconnected. The electronic control unit 100 is intended to send a signal to the facility via connection 60a 160 to send data representing the specific historical track.

[0076] The electronic control unit 100 is operationally effective with the establishment 160 to compare the determined historical track with the track determined using extracted map information and vehicle position via a connection 60b connected. The electronic control unit 100 is intended to send a signal to the facility via connection 60b 160 to send, which represents data for the extracted map information and vehicle position.

[0077] The electronic control unit 100 is operationally effective with the establishment 160to compare the determined historical track with the track determined using extracted map information and vehicle position via a connection 60c connected. The electronic control unit 100 is intended to receive a signal from the facility via connection 60c 160 to receive comparative data for comparing the determined historical track with the movement path determined using the extracted map information and vehicle position.

[0078] Fig. Figure 4 schematically shows a block diagram of a method for facilitating the driving of a vehicle along a road according to an embodiment of the present invention.

[0079] According to the embodiment, the method for facilitating the driving of a vehicle along a road comprises a step S1. In this step, at least one vehicle is followed along the road in front of the vehicle.

[0080] According to the embodiment, the method for facilitating the driving of a vehicle along a road comprises a step S2. In this step, a historical track of the tracked vehicle is determined.

[0081] According to the embodiment, the method for facilitating the driving of a vehicle along a road includes a step S3. In this step, a specific historical track is taken into account when driving the vehicle.

[0082] In Fig. Figure 6 shows a flowchart illustrating some of the process steps performed when adjusting the vehicle's speed according to an exemplary embodiment. Some steps may be omitted and / or performed in a different order. The steps can be performed using a suitable processor, such as the electronic control unit described above. 100 to be executed. In the process of Fig. 6 steps 603 - 615 preferably executed for each detected vehicle. First, in one step, 601 The vehicle's lane is continuously determined. Then, in one step, 603 The lane is determined for at least one, and preferably every, detected vehicle before the vehicle being detected. Next, in one step... 605 The historical track of the vehicle is compared with the historical track of the detected vehicle. It can then be checked whether the vehicle follows the track of the detected vehicle for a certain period of time and / or distance, compared to a preset threshold. 607 If the detected vehicle does not follow the track of the detected vehicle for a sufficiently long distance or time, it can be determined that the detected vehicle is not a candidate in one step. 613It is and will be, at least for the time being, excluded from the set of candidate vehicles whose historical track is to be traced. According to some embodiments, it can be checked whether lane information is available from an imaging device such as a camera, step 609. In other words, it is determined whether the vehicle can obtain information about how the lanes are formed, based on data from an imaging device (camera, sensor, or the like). If in a step 611 If it is detected that the detected vehicle is leaving the lane, it is also determined that the detected vehicle is not a candidate in step 613 According to some embodiments, it can also be checked whether the detected vehicle is a member of a convoy in which the vehicle in question is participating. This can be done in one step. 615This takes place, for example, through vehicle-to-vehicle communication (V2V communication). Based on one or more of the provisions described above, one of the recorded vehicles, in particular one of the recorded vehicles that was in step 613 were not excluded when selecting the vehicle whose lane to follow. If your own vehicle is a member of a convoy, the selection process continues in one step. 617 Only members of the vehicle convoy are eligible; otherwise, the detected vehicle that best matches a set of predefined criteria will be considered the vehicle to be tracked in one step. 619 selected. When a vehicle is selected, the curvature of the track formed by the selected vehicle is adjusted in one step. 621 determined. Finally, in one step 623 the in step 621A specific curvature is used to control speed and / or warn the driver not to exceed a speed deemed acceptable for that particular curvature. In particular, the speed can be controlled for an autonomous vehicle or a vehicle driven in cruise control mode.

[0083] By determining the historical track of a tracked vehicle, the basis for adjusting the vehicle's speed to the road's alignment and curvature, and thus safety, is improved. The historical track determined in this way can therefore serve as a redundancy to map data and / or the road's path as indicated by road markings. This historical track can be used when map data has not been updated, for example, when the road has been altered by adding or changing lanes, adding a roundabout, or similar modifications, or when the map data is temporarily inaccurate, for example, due to construction work, temporary obstructions, or similar circumstances.

[0084] The historical track thus determined can be used as a basis for controlling the driving of a vehicle along a road, provided the vehicle is traveling in the lane corresponding to the historical track, with the control of the vehicle including adjusting the speed of the vehicle to the curvature of the historical track.

[0085] According to one embodiment of the method, the step of taking a specific historical track into account includes controlling the vehicle's driving based on that historical track. Such control of the driving based on the historical track improves safety and reduces the risk of overturning due to excessive speed in a curve. The vehicle's speed can thus be automatically managed based on the historical track.

[0086] According to one embodiment of the method, the step of controlling the vehicle's driving based on the specified historical track includes adjusting the vehicle's speed based on the curvature of the historical track. This improves the safety of the vehicle's driving.

[0087] According to one embodiment of the method, the step of taking a specific historical track into account includes issuing a warning to the vehicle operator regarding the road's extent based on that specific historical track. This informs the driver in advance about the road's extent and curvature based on the historical track thus determined.

[0088] This further improves safety by allowing the operator / driver to take action based on the warning.

[0089] According to one embodiment of the method, the step of determining a historical track comprises acquiring the tracked vehicle in order to obtain waypoints of previous positions of the tracked vehicle; and, based on the waypoints, creating the historical track of the tracked vehicle. This provides a simple and efficient way of obtaining the historical track based on a vehicle further ahead.

[0090] With reference to Fig. 5 is a diagram of a device 500 shown. The ones with reference to Fig. 3 described control unit 100 According to one embodiment, the device 500 include the device 500 includes a non-volatile memory 520 , a data processing device 510 and a read / write memory 550 The non-volatile memory 520It has a first memory section 530, in which a computer program, such as an operating system, is used to control the function of the device. 500 The device 500 also includes a bus controller, a serial communication interface, an input / output unit, an A / D converter, a data input and transmission unit, an event counter, and an interrupt control device (not shown). The non-volatile memory 520 It also has a second memory section, 540.

[0091] A computer program P is provided which includes routines for facilitating the driving of a vehicle along a road according to an embodiment of the present invention. The program P includes routines for tracking at least one vehicle along the road ahead of the vehicle. The program P includes routines for determining a historical track of the tracked vehicle. The program P includes routines for taking a specific historical track into account when driving the vehicle. The program P includes routines for controlling the vehicle's driving based on the determined historical track. The program P includes routines for adjusting the vehicle's speed based on the curvature of the historical track. The program P includes routines for issuing a warning to the vehicle operator regarding the road's extent based on the determined historical track.The program P includes routines for detecting the tracked vehicle in order to obtain waypoints from previous positions of the tracked vehicle. The program P includes routines for creating the historical track of the tracked vehicle based on these waypoints. The computer program P can be executed in an executable form or in a compressed state in a separate memory 560 and / or in a read / write memory. 550 be saved.

[0092] If it is specified that the data processing device 510 When performing a specific function, it should be understood that the 510 data processing device holds a specific part of the program located in a separate memory. 560 is stored, or a specific part of the program that is stored in the read / write memory. 550 is stored, executes.

[0093] The data processing device 510can be connected to a 599 data transmission port via a data bus 515 communicate. The non-volatile memory 520 is for communication with the data processing device 510 via a data bus 512 trained. A separate storage area 560 is for communication with the data processing device 510 via a data bus 511 trained. The 550 read / write memory is designed for communication with a data processing device. 510 via a data bus 514 trained. With the data transmission connection 599 For example, the connections that are linked to the control units 100 are connected, to be connected.

[0094] When data is transmitted at the data transmission port 599 When received, they are temporarily stored in the second storage section. 540stored. If the received input data has been temporarily stored, the data processing device 510 It is set up to execute code in the manner described above. The data port 599 received signals can be used by the device 500 to be used to track at least one vehicle along a road ahead of the vehicle. The data connection 599 received signals can be used by the device 500 to determine a historical trace of the tracked vehicle. The data connection 599 received signals can be used by the device 500 to take into account a specific historical track when driving the vehicle. The data connection 599 received signals can be used by the device 500to control the vehicle's driving based on the specific historical track. The data connection 599 received signals can be used by the device 500 to adjust the vehicle's speed based on the curvature of a specific historical track. The data connection 599 received signals can be used by the device 500 It can be used to issue a warning to the vehicle operator regarding the length of the road based on the specified historical track. The data connection 599 received signals can be used by the device 500 They are used to locate the tracked vehicle and to obtain waypoints from previous positions of the tracked vehicle. The data connection 599 received signals can be used by the device 500can be used to create the historical track of the tracked vehicle based on the waypoints.

[0095] Parts of the procedures described herein can be performed by the device 500 about the data processing facility 510 to be executed, which is located in the separate memory 560 or the read / write memory 550 executes a saved program. If the device 500 When the program is executed, parts of the procedures described here will be carried out.

[0096] The preceding description of preferred embodiments of the present invention has been given for illustrative and descriptive purposes. It is not to be understood as exhaustive or as limiting the invention to specific disclosed forms. Many modifications and variations will be obvious to those skilled in the art. The embodiments have been chosen and described to explain the principles of the invention and its practical applications as clearly as possible, thereby enabling other persons skilled in the art to understand the invention in various embodiments and with the various modifications suitable for the specific intended use.

Claims

[1] Method for facilitating the driving of a vehicle (1) along a road (R), characterized by the steps of: - continuous determination (601) of the vehicle's track (1) - Determining (603) the track of at least one vehicle (2, 3, 4, 5) along the road (R) in front of the vehicle (1); - Selecting (617, 619) the lane of one of the at least one vehicle based on a set of criteria and - Taking into account (621, 623) the selected lane when driving the vehicle (1). [2] Method according to claim 1, wherein the step of taking into account a selected lane comprises controlling the driving of the vehicle (1) based on the selected lane. [3] Method according to claim 2, wherein the step of controlling the driving of the vehicle (1) based on the selected track (T1, T2, T3, T4) comprises adjusting the speed of the vehicle based on the curvature of the selected track. [4] Method according to any one of claims 1 to 3, wherein the step of taking into account a selected lane comprises issuing a warning to the operator of the vehicle regarding the extent of the road based on the selected lane. [5] Method according to any one of claims 1 to 4, wherein the step of selecting a lane (T1, T2, T3, T4) comprises comparing the determined lane of the vehicle (1) with the lane of the at least one vehicle (2, 3, 4, 5). [6] System (I) for facilitating the driving of a vehicle (1) along a road (R), characterized bya device (110) for tracking at least one vehicle (2, 3, 4, 5) along the road (R) ahead of the vehicle (1); a device (120) for determining a historical track (T1, T2, T3, T4) of the at least one tracked vehicle (2); a device for selecting the determined historical track and a device (140) for taking into account a selected track when driving the vehicle (1). [7] System according to claim 6, wherein the device (140) for taking into account a specific historical track comprises a device (142) for controlling the driving of the vehicle (1) on the basis of the specific historical track. [8] System according to claim 7, wherein the device (142) for controlling the driving of the vehicle (1) on the basis of the specified historical track (T1, T2, T3, T4) comprises a device (142a) for adjusting the speed of the vehicle on the basis of the curvature of the historical track. [9] System according to any one of claims 6 to 8, wherein the device (140) for taking into account a specific historical track (T1, T2, T3, T4) comprises a device (144) for issuing a warning to the operator of the vehicle regarding the extent of the road based on the specific historical track. [10] System according to one of claims 6 to 9, wherein the device for selecting one of the specific historical tracks is configured to compare the specific track of the vehicle (1) with the track of the at least one vehicle (2, 3, 4, 5) and to select the track on the basis of the comparison. [11] Vehicle (1) comprising a system (I) according to any one of claims 6 to 10. [12] Computer program (P) for facilitating the driving of a vehicle along a road, wherein the computer program (P) comprises program code which, when executed on an electronic control unit (100) or another computer (500) connected to the electronic control unit, causes the electronic control unit to perform the steps according to claims 1 to 5. [13] Computer program product comprising a digital storage medium for storing the computer program according to claim 12.