Method for operating a lane guidance assist device of a vehicle taking into account environmental conditions, lane guidance assist device and vehicle

Abstract

It shows a solution to how it is possible to improve the lane guidance assist device of the type listed at the beginning so that usability is improved and at the same time reliability is enhanced. 【Solution】 - A step of receiving surrounding data representing the surroundings of the vehicle 1, - A step of recognizing the lane defining section 11 that defines the lane 6 where the vehicle 1 is currently located, - When the lane defining section 11 is recognized for a predetermined debounce time, automatically performing a steering intervention to maintain the vehicle 1 in the lane 6 In a method of operating the lane guidance assist device of the vehicle 1 having, - Continuously specifying environmental conditions, the environmental conditions representing the current location of the vehicle 1, the weather in the surroundings, the current time, and / or the road type assigned to the lane 6, - Adapting the debounce time depending on the continuously specified environmental conditions.

Description

Technical Field

[0001] The present invention relates to a method for operating a lane guidance assist device of a vehicle. Further, the present invention relates to a lane guidance assist device for a vehicle. Finally, the present invention relates to a vehicle having such a lane guidance assist device.

Background Art

[0002] Lane guidance assist devices for vehicles are well known from the prior art. Such lane guidance assist devices, also referred to as steering and lane guidance assist devices or active lane keep assist devices, are used in particular to keep a vehicle within a lane or lane. Such a lane guidance assist device utilizes ambient data from the vehicle's surrounding sensors to recognize lane markings or lane markers. When such lane markers are recognized with sufficient certainty, the lane guidance assist device can be activated and steering intervention can be performed to keep the vehicle within the lane or lane. For example, it is possible to perform steering intervention so that the vehicle is maintained in the center within the lane.

[0003] In the known prior art, the availability of lane guidance assist devices is related to various conditions. For example, a so-called debounce time is set, which indicates that the lane markings or lane markers need to be recognized reliably over a predetermined period of time. Further, adaptation of the debounce time is known when the presence or recognition of lane markers changes frequently by existing surrounding sensors. For example, lane markers may be recognized multiple times within a predetermined duration, for example within 30 seconds, and disappear again. This extension of the debounce time is used to provide continuous availability of the lane guidance assist device and to avoid frequent state changes.

[0004] The technical problem related to the above prior art is, on the one hand, the drawback that the usability of the lane guidance assist device is overall reduced. This is because the debounce time may prevent the operation of the function. On the other hand, the prior art does not consider the current situation or parameters that have an impact on the function of the lane guidance assist device. Therefore, it is not possible to enable an optimal setting (adjustment) of the debounce time, and the maximum possible usability of the function in the simultaneous consistency of the functional state is not achieved either.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The problem of the present invention is to show a solution means for how it is possible to improve a lane guidance assist device of the type mentioned at the beginning so that the usability is improved and at the same time the reliability is improved.

Means for Solving the Problems

[0006] This problem is solved by the present invention by a method, a lane guidance assist device and a vehicle having the features according to the independent claims. Advantageous developments of the present invention are described in the respective dependent claims.

[0007] The method according to the present invention is used to operate a lane guidance assist device of a vehicle. The method includes receiving ambient data representing the surroundings of the vehicle. Further, the method includes recognizing a lane demarcation section that demarcates the lane in which the vehicle is currently located. In addition, the method includes automatically performing a steering intervention to maintain the vehicle in the lane when the lane demarcation section is recognized during a predetermined debounce time. Further, the method includes continuously identifying environmental conditions, which represent the current location of the vehicle, the weather in the surroundings, the current time and / or the road type assigned to the lane. Additionally, the method includes adapting the debounce time depending on the continuously identified environmental conditions.

[0008] The lane guidance assist device is used to assist the driver of a steered vehicle during the steering task. In particular, the lane guidance assist device is used to keep the vehicle within a lane or the current lane. The lane guidance assist device may also be referred to as a steering-lane guidance system, a lane keeping assist device, or a steering assist device. The lane guidance assist device can comprise at least one ambient sensor, and it is possible to provide ambient data using the ambient sensor. The ambient data represents the ambient environment or the surroundings of the vehicle. The ambient sensor may be, for example, a camera. In the case of a camera, the ambient data can be image data.

[0009] In the ambient data, it is possible to recognize lane demarcation parts. In particular, the lane demarcation parts that demarcate the lane in which the vehicle is currently located are recognized. In addition, it is possible to configure it so that the lane demarcation parts of another lane or an adjacent lane are recognized. The lane demarcation parts can in particular be lane markings such as, for example, straight lines, intermittent lines or broken lines. The lane demarcation parts may be structural demarcation parts such as walls, guardrails, curbstones or the like. Also, as lane demarcation parts, a median strip, a gravel bed or the like can be included.

[0010] When the lane demarcation parts are recognized with a certain probability or with a certain certainty during the debounce time period, it is possible to activate the function of the lane guidance assist device. This means that steering intervention is provided or an overlay steering moment is provided using the lane guidance assist device in order to keep the vehicle within a lane or the lane. For example, the lane guidance assist device can directly intervene in the driving progression via an active steering system. However, the steering moment provided by the lane guidance assist device or the steering intervention provided can be overridden by the driver at any time by operating the steering wheel.

[0011] The lane guidance assist device is configured to operate its function only when a lane demarcation part or lane marker is recognized with a predetermined certainty or probability during the continuation of a predetermined debounce time. According to the present invention, it becomes possible to adapt the debounce time to the current environmental conditions. The environmental conditions, on the one hand, can represent the current location or country where the vehicle is currently located. Also, the environmental conditions can represent the weather around the vehicle or the weather conditions around the vehicle. Instead of or in addition to this, the environmental conditions can represent the current time or the illumination situation around the vehicle. Furthermore, the environmental conditions can represent the road type of the road on which the lane is located.

[0012] The environmental conditions are configured to be detected continuously or continuously. For example, the environmental conditions can be detected at a predetermined point in time or at a predetermined time interval. Therefore, the debounce time can also be adapted to the changing ambient conditions. Based on the environmental conditions, it is possible to adapt the debounce time. In this way, it is possible to achieve consistent availability of the lane guidance assist device and avoid frequent state switching between the operating state and the standby state of the lane guidance assist device. Therefore, overall, it is possible to improve user satisfaction and customer support.

[0013] Preferably, based on the current location of the vehicle, country-specific settings for the debounce time are identified, and the debounce time is adapted depending on the country-specific settings. Accordingly, preferably, the environmental conditions are indicative of the current location or position of the vehicle. In particular, the environmental conditions indicate in which country the vehicle is currently located or is traveling. At this time, in particular, different debounce times can be stored for different countries or regions and can be appropriately called. For example, depending on customer requirements and conditions in different countries, country-adapted settings for the debounce time may be required. For example, for a country such as China or the United States, a debounce time shorter than the standardly set debounce time can be set. In this case, if stable recognition of the lane markers and appropriate roads are obtained, the lane guidance assist device or the steering assist device can already shift to an actively controlled state earlier. Accordingly, overall, it is possible to consider different customer requirements, the development status of roads, and the like in each country.

[0014] In another embodiment, based on the weather and / or the current time, the reliability of the recognition of the lane demarcation section based on the ambient data is identified. In addition, the debounce time is preferably adapted depending on the reliability of the recognition. Based on the weather or weather data, it is possible to identify whether the detection of the lane demarcation section or the lane marker by at least one ambient sensor is restricted by the weather conditions. This applies, for example, in the case of rainfall, snowfall, fog or the like. For example, the detection of the lane demarcation section using the ambient sensor may be impaired by precipitation. For example, precipitation (deposits) such as snow and / or ice may be deposited on the lane, and thus it may be impossible or only very restrictedly possible to detect the lane or the lane demarcation section. In addition, when the lane surface is wet, reflections may occur, and the detection of the lane marker using the ambient sensor may also be impaired by the reflections.

[0015] Based on the current time, it is possible to detect the illuminance situation in the surroundings, especially. The illuminance situation or brightness in the surroundings can also affect the detection of the lane demarcation section using the surrounding sensors. For example, at dusk and at night, the detection of the lane demarcation section can be significantly impaired. Strong sunlight also clearly deteriorates the detection of the lane demarcation section. In summary, based on the weather data and / or the current time, it is possible to identify whether the detection of the lane demarcation section using the surrounding sensors is impaired compared to a predetermined normal state. And this can be taken into account when adapting the debounce time.

[0016] At this time, when the reliability of the recognition is smaller than a predetermined average value, the debounce time is extended. Based on the surrounding data or sensor data of at least one surrounding sensor, or in case of bad weather received from the weather forecast, the debounce time is extended. Here, there is a risk of unstable detection of the lane or the lane demarcation section and thus the changing functional state, and a risk of incorrect control of the vehicle due to insufficient surrounding data. This also applies to driving at dusk or at night.

[0017] Furthermore, when the road type corresponds to a highway, it is advantageous if the debounce time is extended. Therefore, preferably, the debounce time is shortened on highways. Because here, stable and well-visible lane markers or lane demarcation sections can be assumed. The same applies to the road types of motorways, national roads or the like. Basically, it is possible to take into account the development state of the road and the normal or known presence of the lane markers or lane demarcation sections. For example, it is possible to take into account the digital map data or surrounding data of another vehicle representing the quality of the lane markers. Furthermore, it is possible to consider when the road was installed or whether the road was renovated. Therefore, the debounce time can be ideally adapted to the current road type.

[0018] In another embodiment, the environmental conditions are determined based on ambient data, based on satellite position data, based on digital map data, and / or based on weather data. In order to be able to determine the environmental conditions, the ambient data or sensor data of at least one ambient sensor can be taken into account. Thus, for example, it is possible to recognize whether there is precipitation in the vicinity of the vehicle. In addition, it is possible to determine whether the precipitation is deposited on the road surface. Furthermore, it is possible to receive weather data from a suitable transmission station, backend or the like in order to determine the current weather or weather data. In order to determine the current time, it is possible to take into account the data of a clock and / or the data of a light sensor or the like. In order to be able to determine the current position or current location of the vehicle, it is possible to utilize digital map data and / or a satellite positioning system. In this way, the environmental conditions can be determined reliably.

[0019] The lane guidance assist device for a vehicle according to the present invention is configured to receive ambient data representing the surroundings of the vehicle. Further, the lane guidance assist device is configured to recognize a lane defining part that defines the lane in which the vehicle is currently located. Further, the lane guidance assist device is configured to perform an automatic steering intervention for maintaining the vehicle in the lane when the lane defining part is recognized for a predetermined debounce time. Also, the lane guidance assist device is configured to continuously determine environmental conditions, where the environmental conditions represent the current location of the vehicle, the weather in the vicinity, the current time, and / or the road type assigned to the lane. In addition, the lane guidance assist device is configured to adapt the debounce time depending on the continuously determined environmental conditions.

[0020] Surrounding data can be provided by at least one surrounding sensor of a vehicle or a lane guidance assist device. For example, the surrounding sensor can be formed as a camera. Also, the surrounding sensor can be configured to be formed as an optical sensor, an infrared sensor, or a lidar sensor. In addition, the lane guidance assist device can include an arithmetic unit that can be formed by, for example, an electronic control device of a vehicle. In the arithmetic unit, it is possible to operate an appropriate program or a computer program. In this way, the lane demarcation unit can be specified based on the surrounding data.

[0021] Furthermore, the lane guidance assist device can include a receiving device for receiving weather data and data from a backend or the like. In addition, the lane guidance assist device can be configured to include a satellite positioning system. Then, using the arithmetic unit, it is possible to specify environmental conditions and adapt the debounce time depending on the continuously specified environmental conditions.

[0022] Furthermore, the lane guidance assist device can include an appropriate actuator, and using the actuator, it is possible to execute steering intervention or provide an additional steering moment.

[0023] The vehicle according to the present invention includes the lane guidance assist device according to the present invention. The vehicle is particularly formed as a passenger car.

[0024] The preferred embodiments presented with respect to the method according to the present invention and its advantages are also applicable correspondingly to the lane guidance assist device according to the present invention and the vehicle according to the present invention.

[0025] Another feature of the present invention is apparent from the claims, the drawings, and the description of the drawings. The features and combinations of features described above in this specification, as well as the features and combinations of features merely shown in the description of the drawings and / or in the drawings below, can be used not only in the described combinations respectively, but also in other combinations or alone without departing from the scope of the present invention.

[0026] The present invention will be described in detail based on preferred embodiments with reference to the accompanying drawings.

Brief Description of the Drawings

[0027]

Figure 1

Figure 2

Modes for Carrying Out the Invention

[0028] In FIG. 1, a vehicle 1 formed as a passenger car here is shown in a plan view. The vehicle 1 includes a lane guide assist device 2, and the vehicle can be maintained in a lane 6 or within the lane using the lane guide assist device. The lane guide assist device 2 includes an arithmetic unit 3 that can be formed by, for example, at least one electronic control device of the vehicle 1.

[0029] Furthermore, the lane guidance assist device 2 includes at least one ambient sensor 4. In the illustrated example, the lane guidance assist device 2 includes an ambient sensor 4 formed here as a camera. Ambient data or image data representing the surroundings 5 of the vehicle 1 can be provided by the ambient sensor 4. Furthermore, the lane guidance assist device 2 includes a receiving device 7 that can receive, for example, weather data. In addition, it is possible to receive data from a backend, the Internet, a radio station, or the like using the receiving device 7. Furthermore, it is possible to receive data from a satellite positioning system using the receiving device 7. Instead of the exemplary receiving device 7, it is also possible to use a plurality of individual receiving devices.

[0030] Also, the computing device 3 is configured to control (actuate) the steering system 8 of the vehicle 1, which is only schematically illustrated here. In order to keep the vehicle 1 in a lane 6 or a lane, it is possible to generate a steering moment (steering torque) or a steering intervention by controlling (actuating) the steering system 8. By controlling the steering system 8, the steerable wheels 9 of the vehicle 1 can be steered, and thus it is possible to influence the lateral driving (lateral guidance) of the vehicle 1.

[0031] FIG. 2 shows the vehicle 1 in a lane 6 in a schematic illustration. The lane 6 is assigned to a road 10. The lane 6 is defined by a lane demarcation 11. The lane demarcation 11 is a suitable lane marker installed on the surface of the lane. Based on the ambient data provided by the ambient sensor 4, it is possible to recognize the lane demarcation 11 or the lane marker using the computing device 3.

[0032] When the lane demarcation 11 is recognized with a predetermined probability or certainty during a predetermined debounce time, it is possible to activate the function of the lane guidance assist device 2. For this purpose, an appropriate steering intervention into the steering system 8 is performed by the lane guidance assist device 2 so that the vehicle 1 is guided, for example, in the center within the lane 6.

[0033] In addition, the environmental conditions are detected using the arithmetic unit 3 and adapted depending on the detected environmental conditions and the debounce time. At this time, in particular, the environmental conditions are specified continuously or at a predetermined point in time, and subsequently, the debounce time is adapted as the case may be. In this way, it is possible to respond to changing ambient or environmental conditions, and thus, it is possible to avoid frequent state transitions between the operating state and the standby state of the lane guidance assist device 2.

[0034] On the one hand, the environmental conditions can represent the current location or position of the vehicle 1. The current location can be specified based on satellite position data and / or digital map data. Furthermore, the environmental conditions can represent the weather in the vicinity 5 of the vehicle 1. The weather in the vicinity 5 can be specified based on the ambient data of the ambient sensor 4 or based on the weather data received using the receiving device 7. Furthermore, the environmental conditions can represent the current time or the illumination situation in the vicinity 5. The data regarding the current time or illumination can likewise be specified using the ambient sensor 4 or based on the time or the like. Finally, the environmental conditions can represent the road type of the road 10 assigned to the lane 6. Based on the specified environmental conditions, it is possible to adapt the debounce time. This means, in particular, that the debounce time can be extended or shortened.

[0035] An example of adapting the debounce time depending on environmental conditions will be described below: Assume that vehicle 1 is currently in China. Due to a rather large requirement regarding the availability of the assist system in the Chinese market, the debounce time for activating the lane guidance assist device 2 in the vehicle 1 is shortened to about half based on the standard value for the debounce time. This leads to a rapid activation of the lane guidance assist device 2 after the lane demarcation unit 11 is recognized, thereby improving the availability. Rain occurs during the driving of vehicle 1. The weather condition is recognized using the lane guidance assist device 2, and thus leads to an extension of the debounce time. For example, the debounce time can be doubled based on the recognized rain. After a while, it gets dark and the rain continues. Due to the dusk, the debounce time is doubled again. Thus, the debounce time is adapted as follows: standard value × 0.5 (country) × 2 (rain) × 2 (dusk). Subsequently, the driver drives onto the highway, which is also recognized by the lane guidance assist device 2 and leads to a halving of the debounce time: standard value × 0.5 (country) × 2 (rain) × 2 (dusk) × 0.5 (highway)

[0036] By taking these factors into account, an improved availability of the steering assist device or the lane guidance assist device 2 is achieved, which meets the normal requirements of the country-specific market and at the same time enables dynamic adaptation to predetermined conditions.

Claims

1. A method for operating a lane guide assist device (2) of a vehicle (1), - A step of receiving surrounding data representing the area (5) around the vehicle (1), - A step of recognizing the lane demarcation section (11) that defines the lane (6) in which the vehicle (1) is currently located, - The step of automatically performing steering intervention to maintain the vehicle (1) in the lane (6) when the lane defining area (11) is recognized for a predetermined debounce time. In the method having, - The environmental conditions are continuously identified, and these environmental conditions represent the current location of the vehicle (1), the weather in the surroundings, the current time and / or the road type assigned to the lane (6), and - Adapting the debounce time depending on the continuously identified environmental conditions. A method characterized by the following.

2. The method according to claim 1, characterized in that a country-specific setting for the debounce time is identified based on the current location of the vehicle (1), and the debounce time is adapted depending on the country-specific setting.

3. The method according to 1 or 2, characterized in that the reliability of the recognition of the lane demarcation unit (11) based on surrounding data is determined based on weather and / or the current time, and the debounce time is adapted depending on that reliability.

4. The method according to claim 3, characterized in that the debounce time is extended if the reliability of recognition is less than a predetermined average value.

5. The method according to 1 or 2, characterized in that the debounce time is extended when the type of road is an expressway.

6. The method according to 1 or 2, characterized in that the environmental conditions are identified based on ambient data, satellite position data, digital map data and / or meteorological data.

7. A lane guide assist device (2) for a vehicle (1), wherein the lane guide assist device (2) is - To receive surrounding data representing the area (5) around the vehicle (1), - To recognize the lane delimiting section (11) that defines the lane (6) in which the vehicle (1) is currently located, and - When the lane marking unit (11) is recognized for a predetermined debounce time, the system will automatically perform steering intervention to maintain the vehicle (1) in the lane (6). In the lane guide assist device configured as described above, The lane guide assist device (2) further - Continuously identify environmental conditions such that the environmental conditions represent the current location of the vehicle (1), the weather in the surrounding area (5), the current time and / or the type of road assigned to the lane, and - To adapt the debounce time depending on the continuously identified environmental conditions. A lane guide assist device (2) characterized by being configured as follows.

8. A vehicle (1), particularly a passenger car, comprising the lane guide assist device (2) described in claim 7.

Images