METHOD FOR OPERATING A LANE KEEPING ASSISTANCE SYSTEM OF A PARTICULARLY ASSISTED MOTOR VEHICLE, COMPUTER PROGRAM PRODUCT AND LANE KEEPING ASSISTANCE SYSTEM

Description

[0001] The invention relates to a method for operating a lane-keeping assistance system of an at least partially assisted motor vehicle. In this method, an environment of the motor vehicle, including a potential lane, is detected by means of an optical detection device of the lane-keeping assistance system and evaluated by means of an electronic computing device of the lane-keeping assistance system. Depending on the evaluated environment, an at least partially assisted lane-keeping movement is performed by means of a lateral control device of the lane-keeping assistance system. Swarm data provided by an electronic computing device external to the motor vehicle are taken into account when evaluating the environment. Furthermore, the invention relates to a computer program product and a lane-keeping assistance system.

[0002] Lane keeping assistance systems are already known from the state of the art, which in particular provide lateral driver support. In particular, these lateral driver assistance systems can be referred to as Travel Assist and have corresponding approval for road traffic. In previous implementations, lateral guidance is essentially based on lane markings coming from a camera, which can also be referred to as so-called live detection of lane markings. For example, on country roads with only one lane marking, it can often be difficult to detect these markings using the camera, and corresponding lateral guidance must be suppressed. Furthermore, it is known that lane keeping assistance systems, in particular, cause the vehicle to drive as close to the center of the lane as possible.

[0003] DE 10 2019 114 527 A1 discloses a system and method for extracting vehicle lane-related information from specific road segments by collecting vehicle dynamics data traces. A method for controlling the operation of a motor vehicle includes determining the vehicle location, identifying a road segment corresponding to the vehicle location, and receiving external data associated with this road segment. Furthermore, a rotation angle and a centerline for the road segment are determined. The vehicle data are evaluated to display the vehicle locations and dynamics for multiple vehicles traveling on the road segment. Trajectory data indicating start points, end points, and centerline offset distances for these vehicles is determined.The total lanes are identified for the road segment by processing the trajectory data with a Cluster Ring algorithm that specifies the turning angle and centerline. The virtual trajectories for the lanes are extracted, and a vehicle bus system is instructed to execute a control operation based on an extracted virtual trajectory for at least one lane.

[0004] US 2014 / 0358322 A1 describes a method and infrastructure for addressing the lane-level matching problem. It presents various methods for estimating position corrections, confidence in position-map matching, self-correcting map matching, and turn and lane change events. In addition to the described algorithms, V2V data, if available, can be used to support all of the discussed algorithm steps. If the relative GPS accuracy between the host vehicle and the remote vehicles near the host vehicle is sufficient to separate the vehicle in the lane, and there are enough vehicles in all lanes of interest, then the lane in which the host vehicle is located is determined.

[0005] DE 10 2018 203 237 A1 relates to a method for providing map data of a route section for lateral control of a vehicle, the method comprising: detecting a trajectory of a route section of a vehicle traveling over the route section; transmitting the trajectory of the route section of the vehicle to a server; receiving the trajectory of the route section of the vehicle by the server; aggregating the received trajectory of the route section of the vehicle by the server, wherein the received trajectory is aggregated by the server with further trajectories received from the server for the route section; determining a quality criterion of the map data of the route section by comparing the aggregated trajectory of the route section with the map data of the route section;Adjusting the map data of the route section based on the aggregated trajectory if the determined quality criterion indicates that the aggregated trajectory of the route section is more accurate than the map data of the route section; and providing the adjusted map data from the server to the vehicle and / or at least one other vehicle that will travel over the route section.

[0006] US 2014 / 358321 A1 describes that the estimation of lane boundaries as well as the position and orientation of the host vehicle within the host lane are performed using a V2V system. Lane boundary detection and tracking is essential for many active safety / ADAS applications. The lane boundary position enables tracking of the host vehicle's position and orientation within the lane. It also enables the classification of vehicles within the lane, adjacent lanes, and other lanes. These two functions enable active safety applications. It also enables lateral control of the vehicle for lane-keeping assistance or full lateral control for automated vehicles.

[0007] The object of the following invention is to provide a method, a computer program product and a lane keeping assistance system by means of which improved lateral guidance can be realized during at least partially assisted operation of the motor vehicle.

[0008] This object is achieved by a method, a computer program product, and a lane keeping assistance system according to the independent patent claims. Advantageous embodiments are specified in the subclaims.

[0009] One aspect of the invention relates to a method for operating a lane keeping assistance system of an at least partially assisted motor vehicle, in which an environment of the motor vehicle with a potential lane is detected by means of an optical detection device of the lane keeping assistance system and evaluated by means of an electronic computing device of the lane keeping assistance system, and in which a partially assisted lane keeping movement is carried out by means of a lateral control device of the lane keeping assistance system as a function of the evaluated environment, wherein swarm data provided by an electronic computing device external to the motor vehicle are taken into account in the evaluation of the environment.

[0010] It is intended that, on the basis of the swarm data, a future drivable route which is outside the detection range of the optical detection device is evaluated and a future at least partially assisted lane keeping movement is determined for the lateral control device.

[0011] The swarm data can thus be used to improve lateral guidance during at least partially assisted operation of the vehicle. In particular, a future route that is to be driven, particularly using lane-keeping maneuvers, can be evaluated accordingly. In particular, the swarm data comes from vehicles that have already driven the same route. Thus, existing information can be accessed based on the swarm data, which in turn can then be evaluated accordingly for the future route and, for example, checked for assisted driveability.

[0012] In particular, it is proposed to use the corresponding swarm data as a control source for future travel. For example, on country roads with only one lane marking, the swarm data can be used accordingly, for example, to virtually mirror one lane along the path traveled by other vehicles, thus creating two lanes, allowing lateral guidance to be implemented on this section of the vehicle's route as well. In particular, lane center guidance can thus be maintained for certain situations. If, for example, only one line is known, the mirroring can be performed along the path traveled, thus generating a second virtual line. Furthermore, it is possible to drive through an intersection without existing lines by simply "following" the path traveled by the other vehicles, in other words, the swarm data.

[0013] In particular, the use of swarm data enables better foresight. Especially since the optical detection device, which is specifically designed as a camera, has a detection range of only 50 meters, a lane-keeping maneuver can be planned based on the swarm data, even beyond this detection range.

[0014] Based on the swarm data, a length of the lane that can be at least partially driven on and / or a time that can be at least partially driven on the lane with assistance without detection of the lane by the optical detection device is determined. If, for example, no lane has been detected by the camera on certain lanes, the current state of the art means that assisted driving is only permitted for 85 meters, for example, without corresponding optical detection. By using the swarm data, this can be extended accordingly, as it can be determined, for example, that other motor vehicles have already driven several kilometers without using the lane. This swarm data is therefore used to evaluate and extend the corresponding length of the lane or time for the assisted movement.Thus, improved lateral guidance can be realized for a motor vehicle that is at least partially assisted.

[0015] Furthermore, when determining the length and / or the time, the current weather and / or a road type and / or an event and / or a driving condition of a driver of the motor vehicle and / or a history of the swarm data are taken into account. In particular, the different types of swarm data, for example whether there is only one live lane and one virtual lane, or no live lane and two virtual lanes, can also be used. This means that the permitted duration or the permitted distance can be taken into account in the algorithm depending, among other things, on the type of use of the swarm data. The additional data can be used, for example, to ensure that a reliable determination of the length and duration of use of the assisted movement can be made depending on the respective environment.

[0016] In a further advantageous embodiment, at least one criterion characterizing the lane is determined and predicted based on the swarm data. For example, the characterizing criterion can be a curve curvature and / or a lane center and / or a dividing strip / median strip and / or a respective shoulder. Thus, the virtual lane can be reliably generated based on the swarm data, enabling a reliable, at least partially assisted, lane-keeping movement to be performed.

[0017] Furthermore, it has proven advantageous if the availability of the lane keeping assistance system is determined depending on the predicted future partially assisted movement and depending on the current and / or future position of the motor vehicle. For example, a curve curvature outside the camera's detection range can be detected at an early stage. If, for example, it is then predicted that at least partially assisted lane keeping movement cannot be realized within this curve curvature, this can also be determined. In particular, an evaluation regarding such an event can be determined based on the current position. Furthermore, such a situation can also be determined based on the future position, for example, based on a driving route.

[0018] Another advantage is that if it is determined that the lane-keeping assistance system is unavailable, a warning message is issued to the driver of the vehicle. This occurs well in advance, before the vehicle reaches the location where the corresponding lane-keeping assistance system is no longer available. This warning message can be issued visually, haptically, or acoustically. Since the driver is informed well in advance that a lane-keeping assistance function will soon no longer be available, they can steer the vehicle into the lane themselves.In particular, a distance or time indication, preferably regularly updated, until reaching the corresponding location can be provided to the driver with precise information about the point at which they can no longer expect the lane keeping assistance system to be activated, allowing them to prepare for having to intervene in the steering. This massively increases the safety of the lane keeping system, especially compared to purely camera-based solutions, as they are known today, which cease to be available very suddenly and thus require constant driver attention.

[0019] Another advantage is that if it is determined that the lane keeping assistance system is only available to a limited extent, a warning message is issued to the driver of the motor vehicle. The warning message describes which assistance function of the lane keeping assistance system is restricted. If, for example, a corresponding road bend is detected, the driver can be informed that this road bend can only be negotiated at a speed of 20 km / h while maintaining at least partially assisted movement. The driver must therefore either brake the motor vehicle accordingly or the assistance system must also carry out longitudinal control. This information can in turn be communicated to the driver so that they are aware of it or can, for example, take over the driving task themselves at this point.

[0020] In a further advantageous embodiment, the at least partially assisted route that will be drivable in the future is taken into account when planning the motor vehicle's route. If, for example, it is determined that a route exists where the corresponding lateral control can no longer be implemented, this can be taken into account. If, for example, the driver wishes to travel the route with continuous lateral control, a corresponding alternative route can be determined that excludes the unavailability of lateral control.

[0021] The method presented is, in particular, a computer-implemented method. A further aspect of the invention relates to a computer program product with program instructions that, when executed on an electronic computing device, cause a method according to the preceding aspect to be carried out. For this purpose, the electronic computing device comprises, in particular, circuits, in particular integrated circuits, and processors, as well as other electronic components, in order to be able to execute the corresponding program instructions.

[0022] Yet another aspect of the invention relates to a lane keeping assistance system for a motor vehicle that can be operated at least partially with assistance, comprising at least one optical detection device and at least one electronic computing device, wherein the lane keeping assistance system is designed to carry out a method according to the preceding aspect. In particular, the method is carried out by means of the lane keeping assistance system.

[0023] Yet another aspect of the invention relates to a motor vehicle with a lane keeping assistance system according to the preceding aspect. The motor vehicle is particularly designed to be at least partially assisted.

[0024] Advantageous embodiments of the method are to be regarded as advantageous embodiments of the computer program product, the lane keeping assistance system, and the motor vehicle. The lane keeping assistance system and the motor vehicle have specific features that enable implementation of the method or an advantageous embodiment thereof.

[0025] The invention also includes further developments of the lane keeping assistance system according to the invention that have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the method according to the invention are not described again here.

[0026] The invention also includes combinations of the features of the described embodiments.

[0027] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 : A schematic plan view of an embodiment of a motor vehicle with an embodiment of a lane keeping assistance system; and Fig. 2 : A further schematic plan view of a further embodiment of a further motor vehicle with an embodiment of a further lane keeping assistance system.

[0028] The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiments can also be supplemented by further features of the invention already described.

[0029] In the figures, functionally identical elements are provided with the same reference numerals.

[0030] Figure 1 shows a schematic plan view of an embodiment of a motor vehicle 1 with an embodiment of a lane keeping assistance system 2. The motor vehicle 1 is located on a road 3. The road 3 in turn has a lane 4.

[0031] The lane keeping assistance system 2 is designed for the at least partially assisted motor vehicle 1. For this purpose, the lane keeping assistance system 2 has an optical detection device 5, which is designed in particular as a camera. Furthermore, the lane keeping assistance system 2 has at least one electronic computing device 6. A detection area 7 can be detected with the camera 5. In particular, the lane 4 can be detected at least in part with the optical detection device 5.

[0032] In particular, it is provided that the surroundings 8 of the motor vehicle 1, in particular the road 3 or the lane 4, are detected by means of the optical detection device 5 of the lane keeping assistance system 2. In particular, the surroundings 8 with the potential lane 4 are detected, and the surroundings 8 or the lane 4 are evaluated by means of the electronic computing device 6 of the lane keeping assistance system. Depending on the evaluated surroundings 8, a partially assisted lane keeping movement 9 takes place by means of a lateral control device 10 of the lane keeping assistance system 2, wherein swarm data 12 provided by an electronic computing device 11 external to the vehicle are taken into account when evaluating the surroundings 8.It is provided that, on the basis of the swarm data 12, a future route 13 which is outside the detection range 7 of the optical detection device 5 is evaluated and a future partially assisted lane keeping movement 9 for the lateral control device 10 is determined.

[0033] In the present case, it is shown in particular that on the basis of the swarm data 12, an at least partially drivable length L of the lane 4 and / or at least partially assisted drivable time on the lane 4 is determined without a direction of the lane 4 by means of the optical detection device 5.

[0034] In particular, it is shown here that road 3 has a median strip 14 or a dividing line, as well as a boundary line 15. The median strip 14 and the boundary line 15 were recorded using the optical detection device 5. In particular, this represents live data. Outside the detection area 7, a virtual median line 16 and a virtual boundary line 17 can be predicted based on the swarm data 12.

[0035] In particular, long distances, for example, longer than 85 meters, can be covered with the assisted lane keeping movement 9 based on the swarm data 12. In particular, since there are different ways of using the swarm data 12, for example, one live lane plus one virtual lane, or no live lane and two virtual lanes, the permitted duration or length L can be taken into account in the algorithm, depending, among other things, on the type of use of this swarm data 12.

[0036] In particular, when determining the length L and / or the time, the current weather and / or a road type and / or an event, for example, a construction site, and / or a driving state of a driver of the motor vehicle 1 and / or a history of the swarm data 12 can be taken into account. Driver state can, for example, be considered to determine whether the driver has their hands on the steering wheel, or a corresponding evaluation can be performed based on a driver observation camera. Furthermore, the type of reflection, for example, whether a line is present or not, can be taken into account when determining the length L and / or the time.

[0037] For example, if the weather is good, motor vehicle 1 is on a highway, and there are no construction sites, the permitted length L can be limited to 5,000 meters even though both lanes were not detected, but the swarm data 12 showed a very good match with the live data over a specified period of time. In another example, if the weather is good, motor vehicle 1 is on a highway, and there are no construction sites, but a detected lane is omitted, and the swarm data 12 showed a very good match with the live data over a specified distance, the permitted path for the lane-keeping movement 9 can also be released without restriction.As a third example, if bad weather, a motorway or a construction site has been detected and a lane is lost at the same time, the swarm data 12 can already be in good agreement with the live data over a given length, so that the distance for an assisted lane keeping movement can be limited to 100 meters.

[0038] Figure 2shows, in a further schematic plan view, a further embodiment of the lane keeping assistance system 2 in the motor vehicle 1. In the present case, it is shown in particular that the availability of the lane keeping assistance system 2 can also be determined as a function of the predicted future partially assisted lane keeping movement 9 and as a function of the current and / or a future position P. If, for example, it is determined that the lane keeping assistance system 2 is not available, a warning message can be issued to the driver of the motor vehicle 1. If it is determined that the lane keeping assistance system 2 is only available to a limited extent, a warning message can be issued to a driver of the motor vehicle 1, wherein the warning message describes which assistance function of the lane keeping assistance system 2 is limited.

[0039] Furthermore, it can be provided that the at least partially assisted route that will be drivable in the future is taken into account when planning the route of the motor vehicle 1. For this purpose, in particular, the availability, the type of lateral guidance, speeds, and weather can be provided, for example, by a navigation system 18 of the motor vehicle 1. For the route calculation of the navigation system 18, preference is given in particular to road sections for which it has been determined from the swarm data 12 that the lane keeping assistance system 2 is available and can therefore be used. For the usual route calculation algorithms, this is preferably done by adjusting the weighting of the road section for the navigation route.

[0040] In particular, it is proposed that the lane keeping assistance system 2 drive the motor vehicle 1 as close to the center of the lane as possible, at least partially assisted. With the help of the swarm data 12, lane center guidance can be maintained in certain situations. If, for example, only one line has been detected, a mirror image can be created on the path traveled. A second virtual line can be generated. An intersection can also be driven without lines, for example by following the path traveled by other motor vehicles. If the motor vehicle 1 has information about what percentage of a route ahead has already been driven by other motor vehicles using an assistance system, this can be taken into account, for example, in a navigation plan.

[0041] In a further embodiment, the driver can also be shown the percentage of possible lateral guidance, for example, in the navigation system 18. For example, a color scale can be displayed from red to green, where red means less than 10% of the path, and green means that the lane keeping assistance system 2 is continuously available, in particular over 90%.

[0042] In particular, speed data, detected lane markings, use of the lane keeping assistance system 2 without swarm data 12, or use of the lane keeping assistance system 2 with swarm data 12 can be evaluated and also transferred to the vehicle-external electronic computing device 11 for evaluation. For this purpose, a mirroring of, for example, one line or even several lines can be performed.

[0043] The expected assistance can then be displayed on the navigation device 18 or on an output device, for example, a screen, in the motor vehicle 1, for example, based on a color scale or dashed lines to indicate the route. Furthermore, this can be taken into account during route planning. Furthermore, on winding country roads, for example, information can be provided to the driver that lateral guidance will no longer be available in the curve. The swarm data 12 can thus be used to provide better anticipation and warnings. List of reference symbols

[0044] 1Motor vehicle 2Lane keeping assistance system 3Road 4Lane 5Optical detection device 6Electronic computing device 7Detection area 8Environment 9Lane keeping movement 10Lateral control device 11Vehicle-external electronic computing device 12Swarm data 13Future drivable route 14Central reservation 15Grid line 16Virtual central reservation 17Virtual dividing line 18Navigation device L Length P Position

Claims

1. Method for operating a lane-keeping assistant system (2) of an at least partially assisted motor vehicle (1), in which, by means of an optical detection device (5) of the lane-keeping assistant system (2), surroundings (8) of the motor vehicle with a potential lane (4) are detected and evaluated by means of an electronic computing device (5) of the lane-keeping assistant system (2), and in which, according to the evaluated surroundings (8), an at least partially assisted lane-keeping movement (9) is carried out according to the evaluated surroundings (8) by means of a transverse control device (10) of the lane-keeping assistant system (2), in which, when the surroundings (8) are evaluated, swarm data (12) provided by an electronic computing device (11) external to the vehicle is taken into account, in which, based on the swarm data (12), a route (13) which can be driven in the future, which is outside of a detection region (7) of the optical detection device (5), is evaluated, and a future partially assisted lane-keeping movement (9) for the transverse control device (10) is determined, in which, based on the swarm data (12), an at least partially drivable length (L) of the lane (4) and / or a time in the lane (4) which can be driven with at least partial assistance is determined without detecting the lane (4) by means of the optical detection device (5), characterized in that, when determining the length (L) and / or the time, current weather and / or a road type and / or an event and / or a driver status of a driver of the motor vehicle (1) and / or a history of the swarm data (12) are taken into account.

2. Method according to Claim 1, characterized in that, based on the swarm data (12), at least one criterion characterizing the lane (5) is determined and predicted.

3. Method according to any of the preceding claims, characterized in that an availability of the lane-keeping assistant system (2) is determined according to a projected future partially assisted lane-keeping movement (9) and according to the current and / or future position (P).

4. Method according to Claim 3, characterized in that, if it is determined that the lane-keeping assistant system (2) is not available, a warning message is output to a driver of the motor vehicle (1).

5. Method according to Claim 3, characterized in that, if it is determined that the lane-keeping assistant system (2) is available to only a limited extent, a warning message is output to a driver of the motor vehicle (1), the warning message describing which assistant function of the lane-keeping assistant system (2) is limited.

6. Method according to any of the preceding claims, characterized in that the at least partially assisted route (13) which can be driven in the future is taken into account when planning a route for the motor vehicle (1).

7. Computer program product comprising program commands which cause a method according to any of Claims 1 to 6 to be carried out when the program commands are processed by an electronic computing device (6).

8. Lane-keeping assistant system (2) for an at least partially assisted motor vehicle (1), comprising at least one optical detection device (5), comprising a transverse control device (10) and comprising at least one electronic computing device (6), wherein the lane-keeping assistant system (2) is configured to carry out a method according to any of Claims 1 to 6