METHOD FOR OPERATING A DRIVER ASSISTANCE SYSTEM OF A VEHICLE WITH THE PROVISION OF A FOLLOWING MODE FOR FOLLOWING A ROAD PARK, DRIVER ASSISTANCE SYSTEM AND VEHICLE

Description

[0001] The present invention relates to a method for operating a driver assistance system of a vehicle. Furthermore, the present invention relates to a driver assistance system for a vehicle. Finally, the present invention relates to a vehicle with such a driver assistance system.

[0002] The focus here is particularly on driver assistance systems that support the driver in steering the vehicle laterally. Such driver assistance systems, also known as steering and lane guidance assistants or active lane keeping assistants, primarily serve to keep the vehicle within its lane. These systems use data from one or more of the vehicle's environmental sensors to detect the boundaries of a lane or lane markings. If these lane markings are detected with sufficient certainty, the lane guidance assistant can be activated and steering interventions can be made to keep the vehicle within its lane. For example, the steering interventions can be such that the vehicle is kept centered within the lane.

[0003] In current technology, lane keeping assist systems from various manufacturers, for example, have a partial function that allows them to follow a vehicle ahead, albeit to a limited extent. Visible lane markings are not required for this function, but numerous other operating conditions are checked. These numerous limitations ensure the safety of the driver assistance system, as the following mode is terminated if any of the operating conditions are violated. On the other hand, these limitations lead to significantly reduced availability and frequent customer frustration, as the steering assist system often does not reliably follow a given vehicle ahead.

[0004] In this context, EP 1 852 325 A1 describes a method for following a motor vehicle. Here, the motor vehicle is controlled longitudinally and laterally on a multi-lane road in such a way that, as a result of the longitudinal and lateral control, a vehicle ahead is followed by the motor vehicle. For example, the trajectory of the vehicle ahead can be followed as precisely as possible. If a lane change by the vehicle ahead is detected, the tracking of the vehicle ahead can be interrupted or aborted.

[0005] Furthermore, DE 10 2008 008 172 A1 describes a method for longitudinal and lateral guidance support of the driver of a vehicle, in which the longitudinal guidance support is carried out as distance control to regulate the distance between the vehicle and a leading vehicle ahead of it, and in which the lateral guidance support is carried out optionally as an object following control to guide the vehicle according to a movement track of the leading vehicle ahead, or as a lane following control to guide the vehicle along a marked lane, or as a combined lane-object following control.

[0006] Furthermore, US 2016 / 001 776 A1 discloses a control method in which a host vehicle has adaptive cruise control (ACC). The control method includes selecting a lane or another vehicle as a target lane or target vehicle for the ACC according to the driver's selection.

[0007] Furthermore, US 2020 / 339 119 A1 discloses a driver assistance control device capable of controlling a vehicle according to any mode selected by a driver from several driver assistance modes, the several driver assistance modes including a mode for following a vehicle ahead.

[0008] Furthermore, US 11 235 764 B2 describes a driver assistance system in a motor vehicle that performs at least active lateral control interventions, that can be activated independently of the activation of a longitudinal control system, but can be active both with and without longitudinal control, and that includes a traffic jam assist sub-function and a lane guidance assist sub-function, the two sub-functions being jointly activatable and deactivatable by a single on / off button.

[0009] The object of the present invention is to demonstrate a solution for how the functionality of a driver assistance system can be extended to support the lateral guidance of the vehicle.

[0010] This problem is solved according to the invention by a method, a driver assistance system, and a vehicle with the features according to the independent claims. Advantageous embodiments of the present invention are specified in the dependent claims.

[0011] A method according to the invention serves to operate a driver assistance system of a vehicle. The method comprises checking whether a road user ahead is detected in the vicinity of the vehicle. Furthermore, the method comprises offering a standard lateral guidance mode with automated lateral guidance of the vehicle, wherein, in the standard lateral guidance mode, the vehicle follows the road user ahead at least temporarily, as long as predetermined functional conditions are met. These functional conditions describe at least one driving behavior of the vehicle and / or the road user ahead.Additionally, a following driving mode is offered if the preceding road user is detected, whereby in the following driving mode the preceding road user is followed with automated lateral guidance regardless of whether the functional conditions are met, and an output is displayed in the following driving mode which describes that the preceding road user is followed regardless of whether the functional conditions are met.

[0012] The driver assistance system can have at least one environmental sensor that provides environmental data. This environmental data can describe the vehicle's surroundings. The environmental sensor could, for example, be a camera that provides image data as environmental information. Using the driver assistance system or its processing unit, lane markings or road markings that define the lane the vehicle is currently in can then be detected within this environmental data. It may also be possible to detect lane markings of other or adjacent lanes.

[0013] If these lane markings are reliably detected with a predetermined probability or certainty for a predetermined duration, the standard lateral guidance mode of the driver assistance system can be activated. This means that the driver assistance system provides steering torque or makes steering interventions to keep the vehicle within the lane.

[0014] Furthermore, the system is designed to check, based on environmental data, whether at least one road user is present in the vicinity of the vehicle, and specifically in front of the vehicle in the direction of travel. This road user can be another road user or vehicle located in front of the vehicle in the direction of travel. It is not necessary for the road user in front to be directly in front of the vehicle.

[0015] If a vehicle ahead is detected, it can also be followed in the standard lateral guidance mode. During this follow-up, the relative position of the vehicle ahead can be continuously determined based on environmental data from the surround-view sensor, and the vehicle's lateral guidance can be adjusted accordingly. In particular, the system also allows the vehicle's longitudinal guidance to be adapted to the vehicle ahead using the driver assistance system. This can be achieved, for example, through adaptive cruise control or distance cruise control.

[0016] In the standard lateral guidance mode, the system is specifically designed to follow the vehicle ahead only if the predetermined operating conditions are met. These operating conditions, or driving behavior, can describe the driving behavior of the vehicle and / or the vehicle ahead. For example, the operating conditions can describe the speeds of the vehicle or the vehicle ahead, the lateral acceleration of the vehicle or the vehicle ahead, or similar parameters. Following the vehicle ahead is only possible if these operating conditions are met. Specifically, the standard lateral guidance mode is designed to allow following the vehicle ahead for a defined period of time. Otherwise, the following maneuver or the automated lateral guidance can be terminated.In the standard lateral guidance mode, this can, for example, temporarily bridge a situation where the road markings are not detected or not detected sufficiently.

[0017] According to the present invention, the following driving mode is additionally offered to the user or driver of the vehicle if the road user in front is detected.

[0018] In this enforced following mode, the vehicle ahead can be followed with automated lateral and, in particular, automated longitudinal guidance, regardless of whether the functional conditions are met. Specifically, it is also intended that no time limit is specified for the following mode. In particular, the vehicle ahead can be followed if it is detected with a predetermined probability or reliability.

[0019] The principle of the present invention is based on a separate setting of the existing driver assistance system or steering assistant, which maximizes the availability of object following mode. For example, this following mode can be set via a menu. Furthermore, it can be provided that this following mode is offered or made available to the driver in a playful form, or so-called gamification. In addition, it is provided that in the following mode, the driver or user receives a message indicating that the system is following the vehicle ahead, regardless of whether the operating conditions are met. In particular, the driver also receives a message reminding them that they must monitor the driving maneuvers performed by the vehicle.This informs the driver that risks may arise in the following driving mode and that the driver must monitor the surroundings and road traffic.

[0020] When the following mode is activated, the driver assistance system or steering assistant currently registers the object in front of the vehicle as the target object, which the vehicle then follows. The checks for all previously explained conditions and operating parameters can be deactivated, so that lateral guidance is maintained in following mode regardless of these conditions. This provides a "forced object following" function in following mode. Overall, this expands the functionality of the driver assistance system to include automated lateral vehicle control.

[0021] Preferably, the operating conditions describe a vehicle speed, a speed of the vehicle ahead, a vehicle lateral acceleration, a vehicle lateral acceleration, a vehicle orientation, a vehicle orientation, and / or a distance between the vehicle and the vehicle ahead. For example, following a vehicle in the standard lateral guidance mode can only be maintained up to a certain speed of the vehicle or the vehicle ahead. Furthermore, following a vehicle in the standard lateral guidance mode can only be maintained up to a certain lateral acceleration of the vehicle or the vehicle ahead.Alternatively or additionally, it may be provided that the following maneuver in the standard lateral guidance mode is determined depending on the orientation, relative position, and / or distance between the vehicle and the vehicle ahead. In the following maneuver mode, it may be generally possible that the aforementioned functional conditions are not taken into account or are not used as termination criteria.

[0022] Furthermore, it is advantageous if, in the following mode, the vehicle ahead is followed even when the vehicle ahead performs a lane change and / or a turning maneuver. Specifically, the following mode is maintained even when the vehicle ahead changes lanes. This applies equally to turning maneuvers performed by the vehicle in front. In these cases, the vehicle ahead can also be followed. The safety of the driver assistance system or steering assist remains ensured during the following mode by continuously alerting the driver, through appropriate displays or indicators, that this mode is active and that reliable tracking of the target object is maintained.of the road user in front.

[0023] This system specifically provides for a notification before following a vehicle that is performing a lane change or turn. For example, if the environmental sensor detects that the vehicle ahead is changing lanes, the driver can receive a notification even before the lane change or the vehicle ahead is executed. This applies equally to turning maneuvers by the vehicle ahead. The driver can be informed visually and / or audibly that the vehicle ahead is following the lane change or turn. For instance, arrows or other symbols can be displayed to indicate the vehicle's future trajectory while following the lane change or turn.The turning maneuver can be made clearer by displaying information. For example, this can be done using augmented reality in a displayed image of the surroundings. Additionally, text can be displayed and / or an audible signal indicating the upcoming turn or lane change. This further clarifies for the driver that, in following mode, the vehicle ahead will be followed even during a turn or lane change. Furthermore, the system can automatically activate the corresponding turn signals when following the vehicle ahead during a lane change or turn. This informs following traffic of the vehicle's intentions.

[0024] Furthermore, it is advantageous to provide a display that describes the vehicle's surroundings, highlighting the vehicle being followed. As previously explained, the following mode can provide the driver with information. This information can be displayed, for example, showing the vehicle's surroundings and other road users within them. Symbols representing these other or preceding road users can be displayed. When the following mode is activated, the currently followed road user can be highlighted. This is particularly useful when there are multiple vehicles ahead.This allows the driver to be informed which road user is currently being followed in the following mode. This preceding road user, or its representation, can be visually highlighted by color, marking, border, or similar means.

[0025] In another embodiment, if multiple vehicles ahead are detected, they are displayed to the driver and offered for selection in the follow-drive mode. As previously explained, the detected vehicles ahead can be displayed. To activate or after activating the follow-drive mode, the driver can then select one of the vehicles ahead, which will then be followed. It can also be provided that, during the follow-drive mode, the user or driver can change the vehicle being followed by making a corresponding input. In other words, a different vehicle ahead can be selected in the follow-drive mode to be followed. This allows the driver or user to operate this follow-drive mode simply and conveniently.

[0026] Furthermore, it is advantageous if an emergency braking function and / or a side collision warning is activated or remains activated in the following mode. The safety of the driver assistance system or steering assist is ensured during following mode because, for example, an emergency braking function and / or a driver assistance function to prevent a side collision is activated or remains activated. Thus, a collision between the vehicle and another road user can be prevented during following mode.

[0027] Furthermore, the driver has the option to deactivate the following mode at any time via a predetermined operating action. This action could, for example, involve an intervention in the steering wheel. If, for instance, a predetermined steering wheel angle and / or steering wheel torque is exceeded, the following mode can be deactivated. Additionally, the following mode can be deactivated if the driver applies the brake pedal. It may also be possible to terminate the following mode when the driver activates a corresponding control element to deactivate it.

[0028] Furthermore, it is advantageous if the following mode is not interrupted when the driver activates the turn signals. In other words, the following mode cannot be interrupted when the driver operates the turn signal lever. This is particularly relevant if the driver activates the turn signal lever when the vehicle ahead is changing lanes and / or making a turn. In this case, the driver's activation of the turn signal lever or the turn signal itself can be interpreted as confirmation that they are following the vehicle ahead.

[0029] A driver assistance system according to the invention for a vehicle is configured to check whether a road user ahead is detected in the vehicle's vicinity. Furthermore, the driver assistance system is configured to offer a standard lateral control mode with automated lateral control of the vehicle, wherein the vehicle follows the road user ahead at least temporarily in the standard lateral control mode, as long as predetermined operating conditions are met. These operating conditions describe at least one driving behavior of the vehicle and / or the road user ahead. The driver assistance system is also configured to offer a following mode if the road user ahead is detected, wherein the vehicle follows the road user ahead with automated lateral control regardless of whether the operating conditions are met.Furthermore, the driver assistance system is designed to output a message in the following driving mode, describing that the vehicle is following the road user ahead regardless of whether the operating conditions are met.

[0030] The driver assistance system can include at least one environmental sensor that provides environmental data. Using a computing unit within the driver assistance system, at least one vehicle ahead can be detected within this environmental data. Furthermore, the driver assistance system can include an output device to provide information to the driver. This output can be visual, audible, and / or haptic. The output device preferably includes at least one display, a head-up display, or the like. Additionally, the driver assistance system can take over lateral control and preferably also longitudinal control of the vehicle to follow the vehicle ahead.

[0031] A vehicle according to the invention comprises a driver assistance system according to the invention. The vehicle is designed in particular as a passenger car.

[0032] The preferred embodiments and their advantages presented with reference to the method according to the invention apply accordingly to the driver assistance system according to the invention as well as to the vehicle according to the invention.

[0033] Further features of the invention can be found in the claims, the figures and the description of the figures.

[0034] The invention will now be explained in more detail with reference to preferred embodiments and the accompanying drawings. These show: Fig. 1 a schematic representation of a vehicle which has a driver assistance system; and Fig. 2 the vehicle according to Fig. 1 in an exemplary traffic situation in which it follows a road user driving ahead.

[0035] Fig. 1 Figure 1 shows a vehicle 1, which in this case is a passenger car, in a top view. The vehicle 1 includes a driver assistance system 2, by means of which the driver of the vehicle 1 can be supported in the lateral control of the vehicle 1. The driver assistance system 2 includes a computing unit 3, which can, for example, be formed by at least one electronic control unit of the vehicle 1.

[0036] Furthermore, the driver assistance system 2 includes at least one environmental sensor 4. In the example shown, the driver assistance system 2 includes an environmental sensor 4, which is designed as a camera. The environmental sensor 4 can provide environmental data or image data that describe the vehicle 1's surroundings 5.

[0037] The computing unit 3 is further configured to control a steering system 8 of the vehicle 1, which is shown only schematically here. By controlling the steering system 8, a steering torque or steering intervention can be generated. By controlling the steering system, the steerable wheels 9 of the vehicle 1 can be steered, thus influencing the lateral control of the vehicle 1. In addition, the driver assistance system 2 can take over longitudinal control of the vehicle 1.

[0038] Furthermore, the driver assistance system 2 includes an output device 7, by means of which an output can be provided to a driver or user of the vehicle 1. The output device 7 can include at least a display device or a screen with which a visual display can be provided as output. In addition, an acoustic and / or haptic output can be provided by means of the output device 7.

[0039] Fig. 2 The vehicle 1 shows according to Fig. 1 In a schematically represented traffic situation, vehicle 1 is located on a road 10, which has a first lane 11 and a second lane 12. Ahead of vehicle 1 in the forward direction is another road user 13, which is a passenger car.

[0040] Based on the environmental data provided by the environmental sensor 4 or the camera, lane boundaries 14, which delimit the first lane 11, can be detected. These lane boundaries 14 are road markings. When these lane boundaries 14 are detected, a standard lateral guidance mode of the driver assistance system 2 can be activated. In this standard lateral guidance mode, the steering system 8 can be controlled by the control unit 3 in such a way that the vehicle 1 is kept centered within the first lane 11.

[0041] In section 15 of road 10, the lane markings between the first lane 11 and the second lane 12 are either missing or cannot be detected based on the surrounding data. In the standard lateral guidance mode, the system can briefly follow the preceding vehicle 13 in this case, thus maintaining automated lateral guidance to keep vehicle 1 within lane 11. In the standard lateral guidance mode, the system can follow the preceding vehicle 13 if predefined operating conditions are met. These operating conditions can describe, for example, the speed of vehicle 1, the speed of the preceding vehicle 13, the lateral acceleration of vehicle 1, the lateral acceleration of the preceding vehicle 13, and / or the relative position or orientation between vehicle 1 and the preceding vehicle 13.

[0042] Furthermore, it is provided that a following driving mode is offered to the driver if the preceding road user 13 is reliably detected. In this following driving mode, the automated lateral control of the vehicle 1 by means of the driver assistance system 2 can be carried out in such a way that the preceding road user 13 is followed regardless of whether the operating conditions are met. In this following driving mode, an output can also be issued to the driver via the output device 7, indicating that the preceding road user 13 is being followed and that the operating conditions are not taken into account during the following driving mode.

[0043] In the example according to Fig. 2It is assumed that the driver of vehicle 1 is on their daily commute from home to the office. After turning onto road 10, the driver can activate the driver assistance system or the standard lateral guidance mode of driver assistance system 2. Using driver assistance system 2, object following can then be implemented in a limited form without requiring significant input from the driver.

[0044] However, if the driver is familiar with his commute or the conditions of road 10, he knows, for example, that there are numerous sections of road 10 or his commute where the steering assist or driver assistance system 2 cannot automatically take over vehicle control. This can be the case, for example, in areas 15 where the lane markings or lane boundaries 14 are not present.

[0045] In this example, the driver can activate the following mode and follow the vehicle 13 ahead. A warning message can then be issued to the driver via the output device 7, informing them that they must monitor the route of their vehicle 1 and that their vehicle 1 will consistently follow the vehicle 13 ahead. The driver can then rely on the driver assistance system 2 of their vehicle 1 to follow the vehicle 13 ahead, which, for example, travels most of its route in the same manner. As soon as the driver needs to take a different route than the vehicle 13 ahead, they can end the following mode by pressing a button or by turning the steering wheel.

[0046] The following mode can also be maintained if the vehicle ahead (13) performs a lane change maneuver. This is illustrated here by the trajectory 16, which is executed by the vehicle ahead. In this case, vehicle 1 also performs a lane change maneuver and is maneuvered along trajectory 17. The following mode can also be maintained if the vehicle ahead (13) performs a turning maneuver. In the following mode, an emergency braking assistant and / or a side collision avoidance assistant can remain activated to ensure safety.

Claims

1. Method for operating a driver assistance system (2) of a vehicle (1) comprising the steps of: checking whether a preceding road user (13) is detected in a surrounding environment (5) of the vehicle (1), offering a standard lateral guidance mode with automated lateral guidance of the vehicle (1), wherein in the standard lateral guidance mode the preceding road user (13) is followed at least temporarily as long as predetermined functional conditions are fulfilled, and wherein the functional conditions describe at least a driving behavior of the vehicle (1) and / or of the preceding road user (13), characterized in that additionally a follow-drive mode is offered if the preceding road user (13) is detected, wherein in the follow-drive mode the preceding road user (13) is followed with automated lateral guidance independently of the fulfillment of the functional conditions, and wherein in the follow-drive mode an output is outputted which describes that the preceding road user (13) is followed independently of the fulfillment of the functional conditions.

2. Method according to claim 1, characterized in that the functional conditions describe a speed of the vehicle (1), a speed of the preceding road user (13), a lateral acceleration of the vehicle (1), a lateral acceleration of the preceding road user (13), an orientation of the vehicle (1), an orientation of the preceding road user (13) and / or a relative position between the vehicle (1) and the preceding road user (13).

3. Method according to claim 1 or 2, characterized in that in the follow-drive mode the preceding road user (13) is followed even when the preceding road user (13) performs a lane change maneuver and / or when the preceding road user performs a turning maneuver.

4. Method according to claim 3, characterized in that before following the preceding road user (13) which performs a lane change maneuver or a turning maneuver, an output is outputted.

5. Method according to one of the preceding claims, characterized in that a display is provided which describes the surrounding environment (5) of the vehicle (1), wherein the preceding road user (13) which is followed is highlighted in the display.

6. Method according to one of the preceding claims, characterized in that if a plurality of preceding road users (13) is detected, these preceding road users (13) are displayed to the driver and are offered for selection for following in the follow-drive mode.

7. Method according to one of the preceding claims, characterized in that in the follow-drive mode an emergency braking function and / or side collision warning is activated or remains activated.

8. Method according to one of the preceding claims, characterized in that a termination of the follow-drive mode is omitted upon activation of the turn signal indicators by the driver.

9. Driver assistance system (2) for a vehicle (1), wherein the driver assistance system (2) is configured: to check whether a preceding road user (13) is detected in a surrounding environment (5) of the vehicle (1), to offer a standard lateral guidance mode with automated lateral guidance of the vehicle (1), wherein the vehicle (1) in the standard lateral guidance mode follows the preceding road user (13) at least temporarily as long as predetermined functional conditions are fulfilled, and wherein the functional conditions describe at least a driving behavior of the vehicle (1) and / or of the preceding road user (13), characterized in that the driver assistance system (2) is further configured: upon detecting the preceding road user (13) to additionally offer a follow-drive mode, wherein the vehicle (1) in the follow-drive mode follows the preceding road user (13) with automated lateral guidance independently of the fulfillment of the functional conditions, and to output in the follow-drive mode an output which describes that the preceding road user is followed independently of the fulfillment of the functional conditions.

10. Vehicle (1), in particular passenger car, comprising a driver assistance system (2) according to claim 9.