Method and device for generating a control parameter for an image-based distance assistance system of a vehicle

Description

State of the art

[0001] The present invention relates to a method and a device for generating a control parameter for a distance assistance system of a vehicle and to a corresponding computer program product.

[0002] Adaptive Cruise Control (ACC) is a type of driver assistance system in vehicles that can determine the relative position and speed of a vehicle in front and maintain a target distance and relative speed by means of braking and powertrain intervention. Typically, the relative distance is determined by time-of-flight measurement, and the relative speed by Doppler measurement using radar. Therefore, radar-based ACC systems are commonly found on the market.

[0003] DE 10 2008 061 301 A1 discloses a driver assistance system for a vehicle, comprising a radar sensor, an optical sensor and a control unit, wherein the radar sensor is designed to detect an object in the vicinity of the vehicle and to forward corresponding object data to the control unit, the optical sensor is designed to detect optical data about the object, the control unit is designed to validate the object data on the basis of the optical data and the driver assistance system is designed to perform a driving intervention depending on the validation of the object data.

[0004] WO 2012 / 047977 A2 discloses a method for controlling a vehicle, wherein an object external to the vehicle is detected by means of at least one sensor, a classification and a state of the detected object are determined by means of a processor, a probable behavior of the detected object is predicted based on behavioral data for other objects with a similar classification and similar state, and a command is provided to steer the vehicle with regard to position and speed based at least partially on the probable behavior of the detected object.

[0005] DE 10 2008 012 644 A1 discloses a longitudinal guidance assistant for motor vehicles, comprising a front-area sensor system for monitoring the space in front of the vehicle and a control device for regulating the vehicle's speed to a target speed and / or for regulating the distance to a vehicle ahead to a target distance, as well as further comprising a side-area sensor system for monitoring the space on at least one side of the vehicle itself and a side-area assistance module designed to modify the target speed and / or the target distance depending on data from the side-area sensor system. Disclosure of the invention

[0006] Against this background, the present invention presents an improved method for generating a control parameter for a vehicle's distance assistance system, an improved device for generating a control parameter for a vehicle's distance assistance system, and an improved computer program product according to the main claims. Advantageous embodiments emerge from the respective subclaims and the following description.

[0007] According to embodiments of the present invention, in particular, a driver assistance system for distance following or Adaptive Cruise Control (ACC) can be controlled using environmental data. The environmental data can be evaluated, for example, using object recognition and / or other image processing with regard to objects in front of a vehicle or ego vehicle. In particular, an associated and thereby enabled distance and relative speed measurement of these objects makes, for example, an image-based or video-based distance assistance system advantageously feasible. For example, by incorporating lane information, the position and, if applicable, dimensions of stationary or moving objects, as well as a direction of travel, the behavior of the ego vehicle can be adapted by means of an image-based distance assistance system controlled in this way.

[0008] An advantage of the present invention is that an image-based distance assistance system can be implemented using a method and / or a device according to embodiments of the present invention, which in particular enables so-called distance following driving in a safe, reliable, comfortable, and accurate manner. Target object selection in an image-based or video-based distance assistance system can also be improved. For example, by considering line information, a freely navigable area, and the position of the target vehicle relative to a so-called driving path of the ego vehicle when selecting a target object, the control range of a distance following driving function can be extended to include stationary objects, and control comfort during lane-changing maneuvers and the like can also be increased. Unlike radar-based distance assistance systems, or...According to embodiments of the present invention, ACC systems can also advantageously distinguish stationary vehicles from other stationary objects, such as metal manhole covers. This also makes it possible to include stationary objects in the generation of the control parameter or the ACC control, since the rate of falsely detected stationary objects is advantageously low. Implementing target object selection that includes stationary objects is particularly advantageous in urban traffic, as it prevents, for example, an object such as a parked vehicle from being declared as a target object in the driving path, thus enabling controlled passing.

[0009] The present invention provides a method for generating a control parameter for an assistance system of a vehicle, in particular a distance assistance system, wherein the method can be carried out in conjunction with a vehicle comprising an environment detection device aligned in the direction of travel of the vehicle, wherein the method comprises the following steps: determining at least one object property of an object in an area in the direction of travel in front of the vehicle using environment data from the environment detection device, wherein the at least one object property represents a movement state and an object position of the object with respect to a vehicle position of the vehicle and / or with respect to a roadway in the area in the direction of travel in front of the vehicle; and

[0010] Generating the control parameter depending on at least one object property of the object.

[0011] The vehicle can be a motor vehicle, in particular a road-bound motor vehicle such as a passenger car, a truck, or another commercial vehicle. The assistance system can be a distance assistance system or a driver assistance system that has a function for distance following or Adaptive Cruise Control (ACC). The control parameter is suitable for controlling the speed of the vehicle, wherein the control parameter is provided for controlling a cruise control system of the vehicle. The environment detection device can be installed, for example, in an interior of the vehicle. The environment detection device can have a processing device for processing environment data that was detected by a sensor element of the environment detection device.The environmental sensing device or the processing device can be configured to perform light detection, traffic sign recognition, line detection, and / or object detection. The environmental sensing device can, while the vehicle is in motion, acquire at least one scan of the vehicle's surroundings, the scan including the object. The object can be detected in the scan by means of suitable evaluation or object recognition. The environmental sensing device can have an interface for outputting the environmental data. The object can be an object on, above, or at least partially adjacent to a roadway on which the vehicle is located. The object's state of motion represents movement, standstill, or acceleration. The roadway can be a street with at least one lane.Using the object's position, a distance relative to the vehicle's position and, additionally or alternatively, relative to a reference feature on the roadway can be determined. Furthermore, changes in the object's position over time can also be determined. In particular, the environmental sensing device can be a vehicle camera, image processing unit, and / or similar device oriented in the forward and / or reverse direction of the vehicle. Generally, the environmental sensing device can include at least one of several types of sensors and / or combinations thereof, capable of capturing object data and lane markings, e.g., lidar or laser scanners, etc. In the case of a 3D system, environmental data can be captured for both forward and reverse travel of the vehicle.

[0012] In the determining step, an object class of the object can be determined using the environmental data as an object property. The object class can represent another vehicle or an obstacle. The other vehicle can in particular be a vehicle traveling directly ahead of the vehicle in the same lane of the road. The obstacle can be, for example, a parked or stopped vehicle in a different lane of the road, a person, an animal, an infrastructure element or another object on or next to the road, and the like. Such an embodiment offers the advantage that a reliable distinction can be made between relevant and less relevant objects for generating the control parameter or controlling the distance assistance system.

[0013] A step is provided for selecting an object as the target object if at least one of its properties fulfills at least one target object criterion. In the generation step, a target object-related control parameter is generated based on this at least one property of the target object. The target object can be a reference object for a distance-based following maneuver. Target object criteria can include a predefined object position, a predefined state of motion, and a predefined object class. For example, the target object could be another vehicle directly in front of the vehicle, and the vehicle's speed can be adjusted to the target object's speed using the control parameter, ensuring a definable minimum distance remains between the vehicle and the target object along a given direction of travel.Such a design offers the advantage of enabling safe and comfortable distance control, while also reliably maintaining a safe distance between the vehicle and the target object.

[0014] Furthermore, during the generation step, the control parameters can be generated based on the vehicle's position relative to the road in the area in front of the vehicle in the direction of travel, and additionally or alternatively based on recorded vehicle driving data. During the determination step, the vehicle's position and, if applicable, any changes in its position over time relative to the road in the area in front of the vehicle in the direction of travel can be determined. The driving data can be read from an interface to at least one driving data sensor. This driving data can include the vehicle's speed, acceleration, steering angle, geographical position, and / or other driver inputs or operating parameters.Such an embodiment offers the advantage that the control parameter can accurately take into account the currently prevailing conditions regarding the vehicle and its environment, thus making following distance driving safer and more comfortable.

[0015] Furthermore, a step involving the provision of the control parameter to an interface with the vehicle's speed control system can be included. The control parameter can be configured to control the vehicle's speed based on at least one object property. Such an embodiment offers the advantage of enabling reliably controlled following distances, ensuring a consistent distance between the vehicle and the object.

[0016] In the determination step, the object's position relative to a travel path determined using vehicle data and environmental data is defined as an object property. This travel path is located in the area in front of the vehicle in the direction of travel. The travel path can be a trajectory or a corridor. The vehicle moves within this path, which represents a predictable route the vehicle will travel on the road in the immediate future. The travel path can have a definable width, optionally including a tolerance range, and a predictable or calculable path or route. This offers the advantage that distances between other vehicles and obstacles relative to predicted future vehicle positions can be considered early and accurately in the control parameter.

[0017] In the determination step, the object's position relative to a road boundary detected using environmental data, and additionally or alternatively to road markings in the area in front of the vehicle in the direction of travel, is determined as an object property. The road boundary can be a lateral edge or edge of the roadway. The road marking can be a light-reflecting area and / or a color different from the roadway. The road marking can be a guidepost and additionally or alternatively a lane boundary line, such as a center line or similar. The road marking can therefore also be, for example, a center line of the roadway that is essentially regularly broken or similar.If no lane markings are temporarily visible in the surrounding data, the object's position can be estimated relative to the last known lane marking position. This also allows for the estimation of lane width and distances, for example. This offers the advantage that object positions, especially in the case of other vehicles or obstacles, can be taken into account when generating the control parameter, enabling reliable, safe, and comfortable distance-based following maneuvers.

[0018] The determination step is performed using environmental data from a vehicle camera, a stereo video camera, a laser device, a lidar device, and / or a radar device as an environmental sensing device. The environmental sensing device can be, in particular, a camera, image processing device, and / or the like, oriented in the direction of travel of the vehicle. The environmental sensing device can be a moving image camera or video camera. This offers the advantage of enabling the determination of lane width using stereo video or motion stereo. Thus, raised objects can be distinguished from the road surface, and a freely drivable area or zone can be determined in the area in front of the vehicle in the direction of travel.The position of a target object within the freely traversable area can also be used, for example, taking a driving lane into account, to advantageously control the vehicle's speed via the control parameter. Furthermore, the position of an object inside, outside, or at the edge of the freely traversable area can also be used, for example, taking a driving lane into account, to advantageously control the vehicle's speed via the control parameter. Free-area detection can also be advantageously performed using, for example, lidar sensors, flash lidar sensors, or similar technologies.

[0019] The present invention further provides a device for generating a control parameter for a vehicle assistance system, in particular a distance assistance system, wherein the device is configured to perform or implement the steps of the aforementioned method. In particular, the device can include elements configured to perform each step of the aforementioned method. This embodiment of the invention in the form of a device also allows the problem underlying the invention to be solved quickly and efficiently.

[0020] In this case, a device can be understood as an electrical device or control unit that processes environmental data and, if applicable, driving data and outputs control parameters based thereon. The device can have an interface that can be implemented in hardware and / or software. In a hardware implementation, the interfaces can, for example, be part of a so-called system ASIC, which contains a wide variety of functions of the device. However, it is also possible for the interfaces to be separate integrated circuits or to consist at least partially of discrete components. In a software implementation, the interfaces can be software modules that are present, for example, on a microcontroller alongside other software modules.

[0021] Also advantageous is a computer program product with program code stored on a machine-readable medium such as semiconductor memory, hard disk memory or optical memory, and used to carry out the above-mentioned procedure when the program is executed on a computer or device.

[0022] The invention is explained in more detail with reference to the accompanying drawings. These show: Fig. 1 is a schematic representation of a vehicle with a device according to an embodiment of the present invention; Figures 2 to 4 and 7 to 9 are schematic representations of traffic situations; Figures 5 and 6 are speed profiles of vehicles; Fig. 10 is a schematic representation of a signal flow in a vehicle with a device according to an embodiment of the present invention; and Fig. 11 is a flowchart of a method according to an embodiment of the present invention.

[0023] In the following description of preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and having a similar effect, without repeating these elements.

[0024] Fig. 1 Figure 1 shows a schematic representation of a vehicle 100 with a device for generating a control parameter for a distance assistance system of the vehicle 100, according to an embodiment of the present invention. The vehicle 100 has an environment sensing device 102, e.g., a vehicle camera, for example, a driving data sensor 104, a cruise control device 106, which is connected to or part of a distance assistance system, and a device 110 for generating a control parameter for the distance assistance system of the vehicle 100, or a control parameter generation device 110. The control parameter generation device 110 has a determining device 112 and a generation device 114.The control parameter generation device 110 is connected by means of a communication interface, for example an electrical line, radio or the like, directly or indirectly via further devices and / or interfaces to the environment detection device 102, the driving data sensor 104 and the speed control device 106.

[0025] The environmental sensing device 102 is designed according to the [document / guideline] in [document / guideline]. Fig. 1 In the illustrated embodiment of the present invention, a vehicle camera is arranged in the vehicle 100, and the camera's viewing direction is essentially aligned with the vehicle's direction of travel. Thus, the environmental detection device 102 is designed to capture an image of an area in front of the vehicle 100 in the direction of travel and to provide image data related to the image as environmental data.

[0026] The driving data sensor 104 can have at least one device for recording driving data, for example in the form of speed, acceleration, steering angle, geographical position and / or other driver interventions, state variables or operating variables of the vehicle 100. The driving data sensor 104 is configured to provide the driving data.

[0027] The control parameter generation device 110 is configured to receive or read in the environmental data from the environmental detection device 102 and, if applicable, the driving data from the driving data sensor 104. The determination device 112 of the control parameter generation device 110 is configured to determine at least one object property of an object in an area in front of the vehicle 100 in the direction of travel using environmental data from the environmental detection device 102. The at least one object property represents a movement state and an object position of the object with respect to a vehicle position of the vehicle 100 and / or with respect to a roadway in the area in front of the vehicle 100 in the direction of travel.The detection device 112 can also be configured to determine whether an object detected using environmental data is a target object to which the vehicle's speed 100 is to be adjusted, or another type of object. The generation device 114 of the control parameter generation device 110 is configured to generate the control parameter depending on at least one specific object property. The generation device 114 can also be configured to generate the control parameter additionally or alternatively depending on driving data from the driving data sensor 104. The control parameter generation device 110 is configured to provide the control parameter.

[0028] The cruise control device 106 is configured to receive or read the control parameter from the control parameter generation device 110. The cruise control device 106 is also configured to control the speed of the vehicle 100, optionally in conjunction with or within the framework of the distance assist system, based on the control parameter when the distance following function is activated. Thus, the speed of the vehicle 100 or the distance following function can be adapted to an object in an area in the direction of travel ahead of the vehicle 100, or to a property of the object itself, by means of the control parameter.

[0029] Fig. 2 shows a schematic representation of a traffic situation. Shown is a vehicle 100 or ego vehicle, which is the vehicle from Fig. 1 a target object or target in the form of another vehicle 200 or target vehicle, a driving path 210 of the vehicle 100, a direction of travel 220 or a movement vector of the vehicle 100, a roadway 230 or road, a first roadway boundary 231, a second roadway boundary 232, a roadway marking 233 in the form of a median stripe, a first lane 234, a second lane 235 and a lane center line 236 of the first lane 234.

[0030] The roadway 230 is laterally delimited by the first lane boundary 231 and the second lane boundary 232. The roadway 230 is divided into the first lane 234 and the second lane 235 by the lane marking 233. The vehicle 100 and the other vehicle 200 are located in the first lane 234 of the roadway 230. The other vehicle 200 is located in front of the vehicle 100 in the direction of travel 220. The vehicle 100 and the other vehicle 200 are arranged along the lane centerline 236 of the first lane 234. The travel path 210 of the vehicle 100 extends in the direction of travel 220 from the vehicle 100 to the other vehicle 200. For example, a width of the driving tube 210 perpendicular to the direction of travel 220 corresponds to a width of the vehicle 100 perpendicular to the direction of travel 220.

[0031] At the Fig. 2 In the traffic situation shown, the other vehicle 200 is stationary and the vehicle 100 is moving towards the other vehicle 200. By means of the control parameter generation device of the vehicle 100, it was recognized that the other vehicle 200 is a target object. The control parameter generation device of the vehicle 100 generates a control parameter that causes the speed of the vehicle 100 to be controlled such that the vehicle 100 comes to a standstill, whereby a safety distance remains between the vehicle 100 and the other vehicle 200. Thus, Fig. 2 A common or standard case for a distance assistance system. The control parameter generation device of the vehicle 100 enables target object selection, whereby a target object is determined or recognized so that a distance assistance system, e.g., for distance following, controls the vehicle 100 until it comes to a standstill, since the other vehicle 200 is already at a standstill.

[0032] Fig. 3 shows a schematic representation of another traffic situation. Here, the representation corresponds to... Fig. 3 the representation from Fig. 2 with the exception that instead of a target object, an object or obstacle in the form of another vehicle 300 or object vehicle is shown here. Vehicle 100 is the vehicle from Fig. 1 or Fig. 2 The additional vehicle 300 is parked, for example, within the area of ​​the first lane boundary 231. The additional vehicle 300 extends from an area outside the lane 230 partially across the first lane boundary 231 into the first lane 234. The additional vehicle 300 is positioned laterally away from the driving lane 210 of vehicle 100 with respect to the direction of travel 220 of vehicle 100. Thus, the additional vehicle 300 is parked outside the driving lane 210 of vehicle 100.

[0033] At the Fig. 3 In the depicted traffic situation, the other vehicle 300 is stationary, and vehicle 100 is moving towards it. Due to a lateral offset between vehicles 100 and 300, vehicle 100 can move past vehicle 300 laterally. The control parameter generation device of vehicle 100 has detected that the other vehicle 300 is an object or obstacle. The control parameter generation device of vehicle 100 generates a control parameter that regulates the speed of vehicle 100 so that it remains unaffected by the other vehicle 300, or rather, so that the speed of vehicle 100 is not adjusted to the stationary object.

[0034] Fig. 4 shows a schematic representation of yet another traffic situation. The representation in Fig. 4 the representation from Fig. 3 with the exception that the object or obstacle, in the form of the additional vehicle 300, is parked projecting into the driving lane 210 of vehicle 100. Vehicle 100 is the vehicle from Fig. 1, Fig. 2 or Fig. 3 . At the in Fig. 4 In the depicted traffic situation, the other vehicle 300 is stationary, and vehicle 100 is moving towards it. Due to a lateral offset between vehicles 100 and 300, vehicle 100 can only pass vehicle 300 to a limited extent. The control parameter generation device of vehicle 100 has detected that the other vehicle 300 is an object or obstacle. The control parameter generation device of vehicle 100 generates a control parameter that reduces the speed of vehicle 100 to allow the other vehicle 300 to pass safely.

[0035] Fig. 5 Figure 500 shows the speed of a vehicle as a function of its lateral distance to another vehicle. The vehicle's speed is controlled by a distance assistance system. Figure 500 is a Cartesian coordinate system. It depicts a lateral distance 501 to another vehicle or neighboring vehicle plotted on an abscissa axis of Figure 500, a maximum speed 502 of a vehicle or ego vehicle (Max v ego) plotted on an ordinate axis of Figure 500, a speed profile 503 or graph, a dividing line 504 extending parallel to the ordinate axis, and an unlimited speed range 505. The speed profile 503 begins at the origin of the coordinate system of Figure 500 and increases linearly in the positive abscissa direction up to the dividing line 504.Thus, the maximum speed 502 increases with increasing lateral distance 501 up to the dividing line 504. At distances greater than the limit distance at the dividing line, the unrestricted speed range 505 applies. Therefore, the maximum speed 502 can theoretically be unlimited at lateral distances greater than the limit distance. This results in a distance-dependent reduction in the target speed of a vehicle when passing a stationary vehicle.

[0036] Fig. 6 Figure 600 shows the speed of a vehicle as a function of a freely traversable area, which results from a lane width and the penetration width of an object, e.g., a stationary vehicle. The vehicle's speed is controlled by a distance assistance system that uses a control parameter provided by a device such as the control parameter generation device. Fig. 1 The diagram 600 is a Cartesian coordinate system. It shows a freely traversable area 601 plotted on an abscissa axis of diagram 600, a maximum speed 602 of a vehicle or ego-vehicle (Max v ego) plotted on an ordinate axis of diagram 600, a speed profile 603 or graph, an abscissa segment 604 corresponding to the width of the ego-vehicle, a dividing line 605 extending parallel to the ordinate axis, and an unlimited speed range 606. The speed profile 603 begins at the abscissa segment 604 and increases linearly in the positive abscissa direction up to the dividing line 605. Thus, the maximum speed 602 increases with the increasing freely drivable area 601 up to the dividing line 605. For areas larger than the area at the dividing line 605, the unrestricted speed range 606 applies.Thus, the maximum speed 602 can theoretically be unlimited for freely passable areas larger than the area at the dividing line 605. According to the invention, a target speed reduction results when passing a stationary vehicle, taking the freely passable area into account. This allows a higher maximum speed to be achieved.

[0037] With reference to the Figuren 1 bis 6 In the following, various scenarios according to embodiments of the present invention are briefly discussed. If the vehicle 100 or ego vehicle drives directly towards the stationary vehicle 200, as shown in Fig. 2 As shown, the beaching assistance system or the ACC controller, using the control parameter of the control parameter generation device 110, causes the vehicle 100 to come to a stop in good time before the target object or target vehicle 200. If the vehicle 100 or ego vehicle passes very closely to an obstacle or object or another vehicle 300 because the freely passable area is very small, the beaching assistance system or the ACC controller, using the control parameter of the control parameter generation device 110, ensures that a maximum speed is not exceeded by the vehicle 100. If there is sufficient space between the stationary vehicle 300 and the ego vehicle 100 and sufficient space to the oncoming lane, a speed required by a standard ACC controller can be set.

[0038] Fig. 7 shows a schematic representation of a traffic situation. The representation in Fig. 7 the representation from Fig. 2 with the exception that in addition to the target vehicle 200, an object in the form of another vehicle or object vehicle 300 is shown, that the lane center line of the first lane 234 is omitted here, and that a vehicle longitudinal axis 710 of the vehicle 100 is shown. The vehicle 100 is the vehicle from Fig. 1, Fig. 2, Fig. 3 or Fig. 4 The target vehicle 200 is moving in the first lane 234 in the direction of travel ahead of vehicle 100, traveling in the same direction as vehicle 100. The object vehicle 300 is moving in the second lane 235 in the direction of travel ahead of vehicle 100, traveling in the same direction as vehicle 100. In this example, object vehicle 300 is further away from vehicle 100 than the target vehicle 200. The target vehicle 200 and object vehicle 300 were detected by the control parameter generation device of vehicle 100. The control parameter generation device of vehicle 100 generates a control parameter that causes the speed of vehicle 100 to be adjusted to the speed of target vehicle 200 while maintaining a safe distance.

[0039] Fig. 8 shows a schematic representation of another traffic situation. Here, the representation corresponds to... Fig. 8 the representation from Fig. 7 with the exception that here the other vehicle in the first lane 234 was recognized as the object vehicle 300 by means of the control parameter generation device of vehicle 100, that the other vehicle in the second lane 235 was recognized as the target vehicle 200 by means of the control parameter generation device of vehicle 100, and that vehicle 100 moved from a central position within the first lane 234 partially into the second lane 235, whereby the longitudinal axis 710 of vehicle 100 crossed the lane marking 233 and is located in the second lane 235. Vehicle 100 is the vehicle from Fig. 1, Fig. 2, Fig. 3 , Fig. 4 or Fig. 7 . For example, the distance between the vehicle 100 and the object vehicle 300 can also be reduced to support an overtaking maneuver and create a dynamic driving experience.

[0040] With reference to the Figuren 7 und 8 and with reference to Fig. 1 The following briefly explains how a target object changes when a lane marking is crossed, for example, on a highway or other multi-lane road. Lane information is also useful for target object selection outside of an application area involving stationary objects. For example, when changing lanes on highways, target vehicle 200 and object vehicle 300 can be quickly and reliably assigned to lane 234 or 235 using the environment detection device 102 and the control parameter generation device 110 of vehicle 100. If the ego vehicle 100 crosses the lane marking 233 with its longitudinal axis 710, the ego vehicle 100 can be assigned to a different lane, and the target vehicle 200 can change lanes. Furthermore, a lane change can be detected earlier if the lateral velocity of vehicle 100 relative to the lane marking 233 is evaluated.If the ego vehicle 100 moves with a lateral velocity v > v Grenz , so that the lane marking 233 is crossed within a defined time (TOL: Time-to-Line-Crossing), a lane change maneuver can be concluded earlier and the target vehicle 200 can change lanes earlier.

[0041] Fig. 9 shows a schematic representation of a traffic situation. The representation in Fig. 9 the representation from Fig. 8 with the exception that here the further vehicle in the first lane 234 was recognized as a first target vehicle 901 by means of the control parameter generation device of the vehicle 100, that the further vehicle in the second lane 235 was recognized as a second target vehicle 902 by means of the control parameter generation device of the vehicle 100, and that a transition area 910 is shown which extends on both sides along the lane marking 233 and has a width which is, for example, less than a width of one of the lanes 234 and 235. The vehicle 100 is the vehicle from Fig. 1, Fig. 2, Fig. 3 , Fig. 4 , Fig. 7 or Fig. 8 Vehicle 100 is partially located within transition zone 910. The control parameter generation device of vehicle 100 generates a control parameter that allows it to be influenced by both target vehicles 901 and 902, whereby the speed of vehicle 100 is adjusted to that of the target vehicles 901 and 902 that are closer to vehicle 100 and have the lower speed. Thus, in transition zone 910, control is applied to two target vehicles, 901 and 902. In this way, in transition zone 910, both lanes 234 and 235 can also be selected for control as target vehicles 901 and 902, taking into account the smallest distance and lowest speed of each vehicle. In this case, for example, a distance of the vehicle 100 to at least one of the target vehicles 901 and 902 can also be reduced in order to support an overtaking maneuver and create a dynamic driving feeling.

[0042] Fig. 10 shows a signal flow diagram in a vehicle with a device according to an embodiment of the present invention. The vehicle can be the vehicle from Fig. 1, Fig. 2, Fig. 3 , Fig. 4 , Fig. 7, Fig. 8 or Fig. 9 The device may be the control parameter generating device of Fig. 1 Act. Shown in Fig. 10 Information 1001 for line detection, information 1002 for object detection, information 1003 for detection of the freely traversable area, and information 1004 from the inertial sensors and the steering angle. This information 1001, 1002, 1003, and 1004 is fed to a device 1005 for target object selection and speed limitation, which may, for example, correspond at least partially to the control parameter generation device. Target object selection is performed there. At an interface at point A, the target object distance and relative speed, as well as a speed limit, are passed on to a distance assistance system 1006, e.g., an ACC controller. At point B, control information, e.g., a target acceleration, is passed on to the powertrain and brakes. A link to input data from a user interface may also be provided, whereby, for example,an activation of the distance assistance system 1006, a possible confirmation of a target object selection and / or the like can be enabled.

[0043] Fig. 11 Figure 1 shows a flowchart of a method 1100 for generating a control parameter for a distance assistance system of a vehicle, according to an embodiment of the present invention. The method 1100 can be carried out in conjunction with a vehicle that includes an environment sensing device oriented in the direction of travel of the vehicle. Thus, the method 1100 can be carried out, for example, in conjunction with the vehicle from one of the Figuren 1 bis 4 and 7 to 9. The method 1100 comprises a step of determining 1120 at least one object property of an object in an area in the direction of travel in front of the vehicle using environmental data from the environmental detection device. Here, the at least one object property represents a movement state and an object position of the object with respect to a vehicle position of the vehicle and additionally or alternatively with respect to a roadway in the area in the direction of travel in front of the vehicle. The method 1100 also comprises a step of generating 1140 the control parameter depending on the at least one object property of the object. The method 1100 can be used in conjunction with the device from Fig. 1 can be advantageously designed. Thus, the device can be made of Fig. 1 be trained to perform the steps of procedure 1100.

[0044] The embodiments described and shown in the figures are chosen only as examples. Different embodiments can be combined completely or with respect to individual features. An embodiment can also be supplemented by features of another embodiment. Furthermore, process steps according to the invention can be repeated and carried out in a different sequence than described.

Claims

1. Method (1100) for generating a control parameter for an image-based distance assistance system of a vehicle (100), wherein the method (1100) is able to be carried out in conjunction with a vehicle (100) comprising a surroundings detection device (102) oriented in the direction of travel of the vehicle (100), wherein the method (1100) comprises the following steps: determining (1120) at least one object property of an object (200, 300) in an area in front of the vehicle (100) in the direction of travel using surroundings data from the surroundings detection device (102), wherein the at least one object property represents a movement state and an object position of the object (200, 300) with respect to a vehicle position of the vehicle (100) and / or with respect to a roadway (230) in the area in front of the vehicle (100) in the direction of travel, wherein the movement state of the object (200, 300) represents a movement, a standstill or an acceleration of the object (200, 300), wherein the object position of the object (200, 300) with respect to a roadway boundary (231, 232) and / or roadway marking (233), recognized using the surroundings data, in the area in front of the vehicle (100) in the direction of travel is determined as object property, wherein the object position of the object (200, 300) with respect to a driving path (210) of the vehicle (100), ascertained using driving data of the vehicle (100) and using the surroundings data, in the area in front of the vehicle (100) in the direction of travel is determined as object property, wherein the step of determining (1120) is carried out using surroundings data from a vehicle camera, a stereo video camera, a laser device and / or a lidar device as surroundings detection device (102), wherein a freely navigable area (601) is determined in the area in front of the vehicle (100) in the direction of travel; selecting an object as target object (200) if the at least one object property of the object satisfies at least one target object criterion; and generating (1140) the control parameter as a function of the at least one object property of the object (200, 300), wherein a target object-related control parameter is generated as a function of the at least one object property of the target object (200), wherein an object position of an object (200, 300) within, outside of or at the edge of the freely navigable area (601), taking account of the driving path (210), is used to control a speed of the vehicle (100) by means of the control parameter, this resulting in a target speed reduction when passing a stationary vehicle, taking account of the freely navigable area (601).

2. Method (1100) according to Claim 1, wherein the step of determining (1120) involves determining an object class of the object (200, 300) as object property using the surroundings data, wherein the object class represents a further vehicle or an obstacle.

3. Method (1100) according to either of the preceding claims, wherein the step of generating (1140) involves generating the control parameter as a function of the vehicle position of the vehicle (100) with respect to the roadway (230) in the area in front of the vehicle (100) in the direction of travel and / or as a function of captured driving data of the vehicle (100).

4. Method (1100) according to any of the preceding claims, comprising a step of providing the control parameter to an interface with a speed regulating device (106) of the vehicle (100).

5. Apparatus (110) for generating a control parameter for an image-based distance assistance system of a vehicle (100), wherein the apparatus (110) is designed to perform the steps of a method (1100) according to any of Claims 1 to 4.

6. Computer program product comprising program code for performing a method (1100) according to any of Claims 1 to 4 when the program is executed on an apparatus (110).