DRIVER ASSISTANCE SYSTEM FOR A VEHICLE

Description

[0001] The invention relates to a driver assistance system for a vehicle. The invention further relates to a method for controlling a vehicle. State of the art

[0002] Driver assistance systems for vehicles are well known. Typically, known driver assistance systems include a distance sensor for measuring the distance between the vehicle and other vehicles in or near the vehicle. Depending on the distance between the vehicle and the other vehicles, a warning signal is issued to the driver, for example. Given the increasing degree of vehicle automation, increasingly complex driver assistance systems are being used. Such driver assistance systems and functions, such as highly automated or fully automated driving, require a large number of sensors in the vehicle to enable precise detection of the vehicle's surroundings. For example, the vehicle may be provided with autonomous braking to prevent a potential collision.Automated or self-driving vehicles require sensors and processes for detecting the environment. This detection of the environment is established using suitable methods to the extent that the driving task can be performed.

[0003] In the following, higher automation is understood to mean all those levels of automation which, in the sense of the Federal Highway Research Institute (BASt), correspond to automated longitudinal and lateral guidance with increasing system responsibility, e.g. highly and fully automated driving.

[0004] For example, US2013304365 discloses a method for assisting a vehicle driver which detects when a host vehicle and a first and a second surrounding vehicle approach an intersection on at least two different road segments, when the first and the second vehicle have stopped at the intersection and when the first and the second vehicle are driving through the intersection, and determines an actual order of the first and the second vehicle through the intersection.

[0005] Furthermore, US2009326751 discloses a driving assistance device that performs driving assistance based on a traffic rule of a mobile object,

[0006] Document US2008162027 relates to a robot drive system and, in particular, to a robot drive system capable of controlling a vehicle in accordance with traffic rules.

[0007] Furthermore, DE 102011076763 A1 discloses a method for determining the traffic signs applicable to a road section. The invention discloses, in particular, that an image of a real or current situation, i.e., the vehicle's surroundings and the vehicle's position relative to them, is linked to an ontological data structure in such a way that traffic rules can be implemented. Since traffic rules are also implemented in the ontological data structure, knowledge is advantageously available, for example, to better assess the current situation with regard to permissible and impermissible vehicle maneuvers. For example, the driver assistance system recognizes that the vehicle must yield to another vehicle.However, mere recognition, i.e., the mere capture and display of traffic signs, is often insufficient, as the signs are often redundant or must be considered for different driving situations. For example, a traffic jam situation with the associated cooperative driving style is difficult to implement.

[0008] It is therefore an object of the present invention to provide an improved driver assistance system for a vehicle, in particular a highly automated vehicle (HAF), and an improved method for operating a highly automated vehicle (HAF), which enables both early detection of a possible route change or route error and a corresponding reaction to it. Disclosure of the invention

[0009] This object is achieved according to the invention by a driver assistance system for a vehicle, in particular a highly automated vehicle (HAF), having the features of claim 1 and by a method for controlling a vehicle having the features of claim 10. Advantageous embodiments, variants, and further developments of the invention can be found in the subclaims.

[0010] A driver assistance system according to the invention for a vehicle, in particular a highly automated vehicle (HAF), comprises a detection device for detecting information in a vehicle environment. The driver assistance system further comprises a position determination device for determining a vehicle position relative to the vehicle environment, as well as a database, wherein the database comprises a digital road map, and a control unit, wherein the control unit is configured to localize the vehicle position in the digital map and to determine traffic regulations applicable at the vehicle position. The determination of the applicable traffic regulations is carried out at least partially using first information detected by the detection device and / or using map information stored in the database.The control unit is further configured to evaluate second information acquired by the detection device to determine whether the traffic regulations applicable at the vehicle's position are being observed by other road users or whether the other road users are following alternative traffic regulations instead of the applicable traffic regulations. The control device is configured to design a driving trajectory taking the alternative traffic regulations into account and to steer the vehicle along this driving trajectory.Furthermore, the control device is configured to give priority to at least one other road user based on the alternative traffic rules, wherein the control device is configured to determine a flow rate based on the second information, wherein the flow rate represents a number of vehicles passing the vehicle position in a lane, and wherein the control device is configured to give priority to the at least one other road user at least partially based on the flow rate.

[0011] In a particularly preferred embodiment, the relevant traffic rules and the alternative traffic rules each represent right-of-way relationships between the road users, with the right-of-way relationship between two road users indicating which of the two road users has right of way over the other.

[0012] Advantageously, the control device is configured to evaluate whether the traffic rules applicable at the vehicle position are being observed by the other road users or whether the other road users are following alternative traffic rules instead of the applicable traffic rules by determining the target right-of-way relationships between the road users, taking the applicable traffic rules into account, and comparing them with the actual right-of-way relationships between the road users, as recorded by the recording device.

[0013] In an advantageous embodiment, the control device is configured to identify predefined alternative traffic rules stored in a memory of the control device, wherein the predefined alternative traffic rules are in particular priority relationships in which the road users alternately give each other the right of way, particularly preferably so-called zipper procedures.

[0014] Preferably, the control device is configured to identify the alternative traffic rules based on regularly occurring deviations between the target priority relationships and the actual priority relationships.

[0015] Preferably, the control device is configured to develop the driving trajectory based on the alternative traffic rules as if the vehicle had the right of way over another vehicle, even though the other vehicle has the right of way according to the relevant traffic rules.

[0016] In this case, the control device is preferably configured to ensure, before and during steering along the travel trajectory, that the other vehicle behaves in accordance with the alternative traffic rules underlying the design of the travel trajectory, in particular by the control device monitoring second information provided by the detection device.

[0017] According to the invention, the first information is recorded in the form of an optical detection of traffic signs, road markings and / or traffic lights.

[0018] Furthermore, it proves to be an advantage that the second information is collected in the form of radar or image or lidar recordings or C2X information of other road users.

[0019] A further subject matter of the present invention is a method for controlling a vehicle, in particular a highly automated vehicle (HAF), wherein the method detects information in a vehicle environment in a first step. In a further step, a vehicle position relative to the vehicle environment is determined and then made available in a database, wherein the database comprises a digital road map. The vehicle position is localized in the digital map and traffic regulations applicable at the vehicle position are determined, wherein the determination of the applicable traffic regulations takes place at least partially using first information of the vehicle environment and / or using map information stored in the database.

[0020] Second information will be evaluated to determine whether the traffic rules applicable at the vehicle's position are being observed by other road users or whether the other road users are following alternative traffic rules instead of the applicable traffic rules.

[0021] The relevant traffic rules and the alternative traffic rules each concern right-of-way relationships between road users, whereby the right-of-way relationship between two road users indicates which of the two road users has right of way over the other, whereby right-of-way is granted to at least one other road user based on the alternative traffic rules and at least partly on the basis of a flow rate determined using the second information, whereby the flow rate indicates a number of vehicles passing the vehicle position in a lane.

[0022] It is advantageous that the evaluation of whether the traffic rules applicable at the vehicle position are being observed by the other road users or whether the other road users are following alternative traffic rules instead of the applicable traffic rules is carried out by determining the target right-of-way relationships between road users, taking the applicable traffic rules into account, and comparing them with the actual right-of-way relationships between road users recorded by the recording device.

[0023] Advantageously, a driving trajectory of the vehicle is designed taking into account the alternative traffic rules and the vehicle is controlled along this driving trajectory.

[0024] A key idea of the present invention is, in particular, to create an information base that takes into account the behavior of other road users and thus contributes to improved quality of a digital map. Scene elements are used and behavior patterns at the current and / or other times by the vehicle and / or other vehicles are utilized. It is proposed to provide storage and aggregation of vehicle behavior patterns and / or the interpretation of their behavior in interaction with the infrastructure. These core aspects are described in more detail below.

[0025] Further features, possible applications, and advantages of the invention will become apparent from the following description of the exemplary embodiments of the invention, which are illustrated in the figures. It should be noted that the features illustrated are merely descriptive and can also be used in combination with features of other developments described above. They are not intended to limit the invention in any way. The figures are primarily intended to illustrate the principles essential to the invention and are not necessarily drawn to scale. Drawings

[0026] The invention is explained in more detail below using preferred embodiments, wherein the same reference numerals are used for the same features. The drawings are schematic and show: Fig. 1 a basic representation of the functioning of the method according to the invention.

[0027] The Figure 1 shows an example of a traffic junction 300 at which vehicles, in particular highly automated vehicles (HAF), meet from two directions. The vehicle 500, in particular a highly automated vehicle (HAF) in which the driver assistance system according to the invention is used, is labeled "EGO" in the figure. The EGO vehicle 500 travels in a vehicle environment along a first lane 201, in which a large number of other vehicles are also traveling closely behind and at reduced speed.

[0028] Junction 300 is in the Figure 1 represented as an intersection. Another category of intersection to which the following explanations can be applied analogously is roundabouts.

[0029] The driver assistance system 101 of the EGO vehicle includes a positioning device 105 for determining a vehicle position relative to the vehicle's surroundings. This can, in particular, be a known GPS system.

[0030] The driver assistance system 101 has a database with a digital road map, wherein a controller of the driver assistance system is configured to locate the position of the EGO vehicle in the digital map. The database can be located in a memory located in the EGO vehicle or in a remote server integrated into the driver assistance system via suitable software ("cloud" solution).

[0031] Furthermore, the driver assistance system 101 of the EGO vehicle comprises a detection device 103 for detecting information in the vehicle's surroundings, wherein the information includes first information used to determine relevant traffic regulations. This first information can be obtained, for example, by optical detection of traffic signs, lane markings 400, and / or traffic lights.

[0032] A relevant traffic rule is in the Figure 1 In the case described, vehicles traveling along the first lane 201 have the right of way over vehicles traveling along the second lane. The relevant traffic regulations therefore concern a right-of-way relationship between the vehicles.

[0033] Alternatively or in addition to determining the relevant traffic rules based on the first information, it may be provided that the control device of the driver assistance system determines the relevant traffic rules based on information stored in the database.

[0034] According to the invention, the control device of the driver assistance system is configured to receive and evaluate second information acquired by the detection device. The second information may be in the form of radar or image recordings of other road users. Suitable detection devices for this purpose may include known radar, lidar, or image sensors, in particular cameras, each with suitable software-based evaluation algorithms.

[0035] The control device is further configured to evaluate the second information to determine whether the traffic rules applicable at the vehicle position are being observed by other road users or whether the other road users are following alternative traffic rules instead of the applicable traffic rules.

[0036] Due to high traffic density at traffic junction 300, a traffic jam, or an accident, to name just two examples, a situation may arise in which the right-of-way actually accepted and implemented by road users at traffic junction 300, while applying a cooperative driving style contrary to the applicable traffic rule, has changed to the extent that a type of zipper procedure is implemented, in which road users alternately give or relinquish the right of way. For the purposes of the invention, such a traffic rule that deviates from the applicable traffic rules but is accepted by the road users involved is referred to as an alternative traffic rule.

[0037] The determination that alternative traffic rules are being followed can preferably be made by the control unit determining the target right-of-way relationships between road users, taking into account the relevant traffic rules, and comparing them with the actual right-of-way relationships between road users recorded by the recording device.

[0038] In the example of Figure 1For example, the evaluation of the second information would show that the vehicle 501 enters the roadway 201 from the roadway 202, although the vehicle 502 with the right of way could have previously passed through the intersection 300. In particular, in an advantageous embodiment of the invention, it is provided that the alternative traffic rules are identified based on regularly occurring deviations between the target right-of-way relationships and the actual right-of-way relationships. Such regularity could be determined with reference to Figure 1For example, this can be determined on the control side if the evaluation of the second information shows that the order of the vehicles passing through the intersection 300 in the direction of the roadway 201 can be specified as vehicle 501 before vehicle 502 before vehicle 503 before vehicle 504. In this case, your control device of a driver assistance system of an EGO vehicle 500 could determine by evaluating the second information that the alternative traffic rules accepted by the other road users most likely include a zipper regulation at the traffic intersection 300.

[0039] In order for the driver assistance system to be able to identify such alternative traffic rules more easily and more quickly, a preferred embodiment of the invention provides that the control device is configured to identify certain predefined alternative traffic rules of other road users in its vehicle environment, which are stored in a memory of the control device.

[0040] These alternative traffic rules may, for example, be the zipper procedures mentioned above, but it is also conceivable that they involve the vehicles 501, 502, 503, 504 driving ahead of the EGO vehicle 500 swerving into an oncoming lane due to an accident, with the vehicles in the oncoming lane again remaining stationary in a cooperative driving manner and yielding the right of way to which they are entitled under the relevant traffic rule to the oncoming traffic.

[0041] In one embodiment of the invention, the control device of the driver assistance system is configured to design a driving trajectory taking into account the alternative traffic rules and to control the EGO vehicle 500 along this driving trajectory.

[0042] It may happen that, based on the alternative traffic rules, the driver assistance system gives way to at least one other road user who, according to the relevant traffic rules, does not have the right of way over the EGO vehicle 500.

[0043] Here, the control device is configured to determine a flow rate based on the second information, wherein the flow rate represents a number of vehicles 501, 502, 503, 504 passing the vehicle position on a lane 201, 202. Based on this flow rate, it may be appropriate, for example, to grant right of way to two vehicles 501 that do not have the right of way based on the applicable traffic regulations.

[0044] Similarly, the control device is preferably configured to develop the travel trajectory based on the alternative traffic rules as if the EGO vehicle 500 had the right of way over another vehicle 501, 502, 503, 504, even though the other vehicle 501, 502, 503, 504 has the right of way according to the applicable traffic rules.

[0045] In this case, the control device is preferably and for safety reasons configured to ensure, before and during steering along the travel trajectory, that the other vehicle behaves in accordance with the alternative traffic rules underlying the design of the travel trajectory, in particular by the control device monitoring second information provided by the detection device.

[0046] The invention is not limited to the described and illustrated embodiment. Rather, it also encompasses all expert developments within the scope of the invention defined by the patent claims.

[0047] In addition to the embodiments described and illustrated, further embodiments are conceivable, which may include further modifications and combinations of features.

[0048] Further features, possible applications, and advantages of the invention will become apparent from the following description of the exemplary embodiments of the invention, which are illustrated in the figures. It should be noted that the features illustrated are merely descriptive and can also be used in combination with features of other developments described above. They are not intended to limit the invention in any way.

Claims

1. Driver assistance system for a vehicle (500), in particular a higher-level automated vehicle (HAV), comprising: a capture device for recording information in a vehicle environment; a position determination device for determining a vehicle position relative to the vehicle environment; a database, the database comprising a digital road map; a control unit, the control unit being configured to locate the vehicle position on the digital map and ascertain traffic rules applicable to the vehicle position, the applicable traffic rules being ascertained at least sometimes using first information recorded by the capture device and / or using map information stored in the database; wherein the control unit is furthermore configured to evaluate second information recorded by the capture device in order to ascertain whether the traffic rules relevant to the vehicle position are being complied with by other road users or whether the other road users are following alternative traffic rules instead of the relevant traffic rules; and wherein the control device is configured to design a travel trajectory in consideration of the alternative traffic rules and to steer the vehicle (500) along this travel trajectory, characterized in that the control device is configured to take the alternative traffic rules as a basis for granting right of way to at least one other road user, the control device being configured to use the second information to determine a flow rate, the flow rate representing a number of vehicles (501, 502, 503, 504) passing the vehicle position in a lane (201, 202), and the control device being configured to grant right of way to the at least one other road user at least sometimes on the basis of the flow rate.

2. Driver assistance system according to Claim 1, characterized in that the relevant traffic rules and the alternative traffic rules are in each case right-of-way relationships between the road users, the right-of-way relationship between two road users representing which of the two road users has right of way over the other.

3. Driver assistance system according to Claim 2, characterized in that the control device is configured to carry out the evaluation as to whether the traffic rules relevant to the vehicle position are being complied with by the other road users, or whether the other road users are following alternative traffic rules instead of the relevant traffic rules, by ascertaining target right-of-way relationships between the road users in consideration of the relevant traffic rules and comparing said relationships with de facto actual right-of-way relationships, recorded by the capture device, between the road users.

4. Driver assistance system according to Claim 3, characterized in that the control device is configured to identify predefined alternative traffic rules stored in a memory of the control device, the predefined alternative traffic rules being in particular right-of-way relationships in which each of the road users in turn gives way, particularly preferably so-called zipper methods.

5. Driver assistance system according to Claim 4, characterized in that the control device is configured to identify the alternative traffic rules on the basis of regularly occurring variances between the target right-of-way relationships and the actual right-of-way relationships.

6. Driver assistance system according to one of the preceding claims, characterized in that the control device is configured to develop the travel trajectory on the basis of the alternative traffic rules as if the vehicle (500) had right of way over another vehicle (501, 502, 503, 504), even though the other vehicle (501, 502, 503, 504) has right of way according to the relevant traffic rules.

7. Driver assistance system according to either of Claims 6 to 7, characterized in that the control device is configured so as, before and during steering along the travel trajectory, to ensure that the other vehicle (501, 502, 503, 504) adheres to the alternative traffic rules on which the design of the travel trajectory is based, in particular by virtue of the control device monitoring the second information provided by the capture device.

8. Driver assistance system according to one of the preceding claims, characterized in that the first information is recorded in the form of an optical detection of traffic signs, road markings and / or traffic signals.

9. Driver assistance system according to one of the preceding claims, characterized in that the second information is recorded in the form of radar images or photographs of the other road users.

10. Method for steering a vehicle, in particular a higher-level automation vehicle (HAV), comprising the steps of: • recording information in a vehicle environment; • determining a vehicle position relative to the vehicle environment; • providing a database, the database comprising a digital road map; and • locating the vehicle position on the digital map and ascertaining traffic rules applicable to the vehicle position, the applicable traffic rules being ascertained at least sometimes using first information relating to the vehicle environment and / or using map information stored in the database, wherein second information is evaluated to ascertain whether the traffic rules applicable to the vehicle position are being complied with by other road users or whether the other road users are following alternative traffic rules instead of the relevant traffic rules; wherein the relevant traffic rules and the alternative traffic rules are in each case right-of-way relationships between the road users, the right-of-way relationship between two road users representing which of the two road users has right of way over the other, characterized by the step of taking the alternative traffic rules and at least sometimes a flow rate determined using the second information as a basis for granting right of way to at least one other road user, the flow rate representing a number of vehicles (501, 502, 503, 504) passing the vehicle position in a lane (201, 202).

11. Method according to Claim 10, characterized in that the evaluation as to whether the traffic rules relevant to the vehicle position are being complied with by the other road users, or whether the other road users are following alternative traffic rules instead of the relevant traffic rules, is carried out by ascertaining target right-of-way relationships between the road users in consideration of the relevant traffic rules and comparing said relationships with de facto actual right-of-way relationships, recorded by the capture device, between the road users.

12. Method according to either of Claims 10 to 11, characterized in that a travel trajectory of the vehicle is designed in consideration of the alternative traffic rules and the vehicle is steered along this travel trajectory.