Driver Assistance Systems

Abstract

One aspect of the present invention relates to a driver assistance system for a vehicle, which is configured to obtain or calculate a maximum assumption about the course of a driving lane, calculate the leftmost driving lane edge and the rightmost driving lane edge of the driving lane in which the vehicle is located based on the maximum assumption, recognize at least one object that exists between the leftmost driving lane edge and the rightmost driving lane edge, and take the at least one object into consideration when providing driver assistance.

Description

[Technical field]

[0001] The present invention relates to a driver assistance system and method. [Background technology]

[0002] In the context of this specification, the term "automated driving" means driving with automatic steering in the forward or lateral directions or autonomous driving with automatic steering in the forward and lateral directions. The term "automated driving" includes automated driving at any level of automation. Examples of automation levels are assisted driving, partially automated driving, highly automated driving or fully automated driving. These automation levels are defined by the Federal Transport System Association (Bundesanstalt fuer Strassenwesen) (BASt) (see the BASt publication "Forschung kompakt (Research Compact)", November 2021). In assisted driving, the driver continuously performs forward or lateral steering, while the system takes over other functions within certain limits. In partially automated driving (TAF), the system takes over forward and lateral steering for certain periods and / or in special situations, but the driver must constantly monitor the system, as in assisted driving. In highly automated driving (HAF), the system takes over the lateral and lateral steering for a certain period of time without the driver having to constantly monitor the system, but the driver must be able to take over the steering of the vehicle within a certain time. In fully automated driving (VAF), the system automatically manages the driving in any situation for a specific use case, and the driver is no longer required for this use case. The four automation levels defined by BASt correspond to SAE-Levels 1-4 in the SAE J3016 standard (SAE-Society of Automotive Engineering). For example, highly automated driving (HAF) according to BASt corresponds to Level 3 of the SAE J3016 standard. SAE J3016 also provides SAE Level 5 as the highest automation level not included in the BASt definition. SAE Level 5 corresponds to driverless driving, in which the system can automatically handle any situation as if it were a human driver during the entire driving period, and basically no longer requires a driver.

[0003] A driver assistance system needs to recognize whether an object is present in the same driving lane as the vehicle in the direction of travel, in order to react to the object, for example by warning the driver of the vehicle or automatically mitigating the danger posed by the object.

[0004] A known problem here is the misassociation of an object with a driving lane, for example in a different driving lane than the car, which can lead to dangerous situations. Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to prevent the dangers caused by incorrectly associated objects. [Means for solving the problem]

[0006] This problem is solved by the features of the independent patent claims. Advantageous embodiments are described in the dependent claims. It is to be pointed out that additional features of claims dependent on an independent patent claim, either without the features of the independent patent claim or only in combination with some of the features of the independent patent claim, can form an independent invention independent of the combination of all the features of the independent patent claim, which can be the subject of an independent patent claim, a divisional application or a subsequent application. This also applies to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0007] A first aspect of the invention relates to a driver assistance system for a motor vehicle.

[0008] The driver assistance system is here configured to obtain or calculate a maximum assumption about the course (extension / direction) of the driving lane.

[0009] A travel lane here is in particular a lane, i.e. a surface available for vehicles to travel in one direction. Alternatively, a travel lane is a single-lane roadway with multiple lanes. Alternatively, a travel lane is a roadway that includes multiple lanes or single-lanes.

[0010] Alternatively, the travel lane, particularly in the context of a lane change maneuver, is the lane in which the vehicle is located and the lane into which the vehicle is moving.

[0011] The maximum assumptions include, in particular, assumptions regarding the maximum curvature of the driving lane, the maximum curvature of the driving lane depending on the maximum speed permitted on this driving lane, the maximum change in the curvature of the driving lane, and / or the maximum change in the curvature of the driving lane depending on the maximum speed permitted on this driving lane.

[0012] Furthermore, the driver assistance system is configured to calculate, according to maximum assumptions, a driving lane edge furthest to the left and a driving lane edge furthest to the right of the driving lane in which the vehicle is located.

[0013] In this case, the invention is based on the knowledge that roads and / or driving lanes are designed taking into account certain maximum assumptions in order to allow safe road traffic thereon, and therefore, taking into account these maximum assumptions, a "worst case" course of the road or driving lane can be identified to the left and to the right.

[0014] The extreme left and extreme right driving lane edges can thus be determined independently of the actual course of the road or driving lane, which is particularly advantageous since the course of the road or driving lane determined, for example, by a sensor or by a surrounding map may have been determined incorrectly, for example, by faulty sensors (e.g. a camera blocked by the sun) or by an outdated surrounding map.

[0015] Furthermore, the driver assistance system is configured to recognize at least one object between the leftmost and rightmost driving lane edges and to take the at least one object into account when assisting the driver. In particular, the driver assistance system is configured to recognize at least one further object not between the leftmost and rightmost driving lane edges and to not take the at least one further object into account when assisting the driver, to avoid unnecessary braking.

[0016] The at least one object and the at least one further object may, for example, be classified objects, or the objects may, for example, be unclassified obstacles.

[0017] In particular, the driver assistance system is configured to take the at least one object into account when assisting the driver by at least one of informing the driver of the vehicle about the at least one object and / or adjusting the speed of the vehicle in response to the at least one object.

[0018] In an advantageous embodiment, the driver assistance system is arranged to calculate a horizon of certainty ahead of the vehicle in the direction of travel.

[0019] The validation horizon here defines an area ahead of the vehicle in the direction of travel, within which the sensor information and / or map information available to the driver assistance system is accurate with high integrity and performance. This can be achieved, for example, in that the area up to the validation horizon is captured and processed by a number of redundant sensors. Alternatively, one map information can be validated by at least one sensor information.

[0020] The horizon of validation generally defines the area around the vehicle that is covered with high completeness and operability by the vehicle's sensors. Depending on the orientation of the sensors on the vehicle, this area may be located next to or behind the vehicle.

[0021] The driver assistance system is configured to calculate the extreme left driving lane edge and the extreme right driving lane edge in such a way that they join the horizon of confidence just beyond it in the direction of travel.

[0022] Here, the invention is based on the knowledge that the region between the vehicle and the horizon of evidence is known with a high degree of completeness, therefore a "worst case" assessment of the driving lane edges is not necessary in this region.

[0023] In yet another advantageous embodiment, the horizon of assurance is approximately the leading edge of the automobile, which is the case when no area of ​​high integrity is found in front of the vehicle.

[0024] In yet another alternative embodiment, the driver assistance system is configured to recognize, by means of a sensor, a driving lane in which the vehicle is located for a section ahead of the vehicle in the direction of travel, and to calculate a horizon of confidence ahead of the vehicle in the direction of travel, such that this horizon of confidence leads to this section ahead of the vehicle.

[0025] In yet another advantageous embodiment, the driver assistance system is adapted to record the first sensor information by means of a first camera and / or a laser scanner mounted in the direction of travel.

[0026] In yet another advantageous embodiment, the driver assistance system is configured to recognize the driving lane in which the vehicle is located for the section ahead of the vehicle in the direction of travel by obtaining a surrounding map around the vehicle and verifying the validity of the surrounding map and the first sensor information information.

[0027] The surroundings map may, for example, be stored in the vehicle and / or obtained from a backend external to the vehicle.

[0028] In yet another advantageous embodiment, the driver assistance system is configured to record second sensor information by a second camera and / or laser scanner mounted approximately perpendicular to the direction of travel and to recognize the driving lane in which the vehicle is located for the section ahead of the vehicle in the direction of travel by verifying the validity of the first sensor information and the second sensor information.

[0029] Instead, the driver assistance system is configured to recognize the driving lane in which the vehicle is located for the section ahead of the vehicle in the traveling direction by verifying the validity of the image information from the second camera mounted perpendicular to the traveling direction toward approximately the left and the image information from the second camera mounted perpendicular to the traveling direction toward approximately the right. In this case, the image information from the first camera is not necessary.

[0030] In yet another advantageous embodiment, the driver assistance system is adapted to recognize the driving lane in which the vehicle is located for the section ahead of the vehicle in the direction of travel by recording third sensor information by means of a third camera and / or a laser scanner mounted facing away from the direction of travel and by verifying the validity of the first and third sensor information. In this case, the invention is based on the knowledge that a camera mounted facing away from the direction of travel also helps to recognize the driving lane ahead of the vehicle, especially when curves have large radii.

[0031] In yet another advantageous embodiment, the driver assistance system is configured to determine the geometric arrangement of the vehicle in the driving lane in which it is located, i.e. in particular the orientation, and additionally calculate the maximum left driving lane edge and the maximum right driving lane edge depending on the orientation of the vehicle in the driving lane in which it is located.

[0032] In this case, the invention is based on the knowledge that by taking into account the geometric shape and especially the orientation of the vehicle in the driving lane, the area between the maximum left and maximum right driving lane edges can be reduced, which leads to a reduction in the number of objects that are incorrectly recognized.

[0033] In yet another advantageous embodiment, the driver assistance system is configured to obtain a surrounding map around the vehicle, determine whether the at least one object is in the same driving lane as the vehicle according to the surrounding map, and take the at least one object into account when providing driver assistance depending on whether the object is in the same driving lane as the vehicle.

[0034] In particular, the driver assistance system is configured to take into account at least one object of a first type when assisting the driver when the object is in the same driving lane as the vehicle, and to take into account at least one object of a second type, different from the first type, when assisting the driver when the object is not in the same driving lane as the vehicle.

[0035] For example, when a driver assistant automatically drives a vehicle, if at least one object is in the same travel lane as the vehicle, the vehicle's speed can be slowed down at a first gradient, and when the at least one object is not in the same travel lane as the vehicle, the vehicle's speed can be slowed down at a second gradient, where the second gradient is less steep than the first gradient.

[0036] In this case, the invention is based on the knowledge that the recognition of whether at least one object is in the same driving lane as the vehicle may in fact be erroneous. However, this recognition is not always wrong. In practice, it has been shown that in most cases this recognition is correct. In both of the above cases, at least one object is between the maximum left driving lane edge and the maximum right driving lane edge, which results in a collision risk in the "worst case".

[0037] However, if at least one object is in the same lane as the vehicle, the risk of a collision is higher than if at least one object is not in the same lane as the vehicle.

[0038] Therefore, in order to balance safety and driving comfort, the vehicle can slow down less when an object is recognized as not being in the same driving lane as the vehicle than when an object is recognized as being in the same driving lane as the vehicle.

[0039] For example, if at least one object is in the same travel lane as the vehicle, deceleration could be selected to avoid the vehicle colliding with the at least one object.

[0040] For example, if the at least one object is not in the same lane as the vehicle, the deceleration could be selected to prevent the vehicle from colliding with the at least one object, but to limit the effects of a collision if one were to occur so that no serious damage would occur.

[0041] In yet another advantageous embodiment, the driver assistance system is configured to obtain or calculate different maximum assumptions for the course of the driving lane depending on different collision severity levels, calculate a leftmost driving lane edge and a rightmost driving lane edge for the driving lane in which the vehicle is located for each collision severity level depending on these maximum assumptions, recognize at least one object located between the pair of the leftmost driving lane edge and the rightmost driving lane edge, and take the at least one object into account when providing driver assistance depending on the respective collision severity level.

[0042] In this case, the invention is based on the knowledge that very serious crashes must be prevented with a higher probability than less serious crashes, so that when crashes are excluded in a narrow band between the extreme left and extreme right driving lane edges, it makes sense to additionally exclude crashes above a given damage severity in a wider band.

[0043] A second aspect of the invention relates to a method of assisting a driver of a motor vehicle.

[0044] One step in this method is to calculate the maximum assumptions about the course of the travel lane.

[0045] A further step of the method is to calculate, according to a maximum assumption, the extreme left driving lane edge and the extreme right driving lane edge for the driving lane in which the vehicle is located.

[0046] A further step of the method is to recognize at least one object between the leftmost and rightmost driving lane edges. If it is unclear whether at least one object is between the leftmost and rightmost driving lane edges, for example because it is at least partially obscured, it can be conservatively assumed that at least one object is between the leftmost and rightmost driving lane edges and is stationary.

[0047] A further step of the method is to take the at least one object into account in driver assistance.

[0048] The above explanation for the inventive driver assistance system according to the first aspect of the invention also applies in a corresponding manner to the inventive method according to the second aspect of the invention. Advantageous embodiments of the inventive method not explicitly mentioned here and in the claims correspond to the advantageous embodiments of the inventive driver assistance system described above or in the claims.

[0049] The present invention will now be described with reference to the accompanying drawings, in which: FIG. [Brief description of the drawings]

[0050] [Figure 1] FIG. 1 is a diagram showing a traffic situation to illustrate the prior art. [Diagram 2] FIG. 1 shows a traffic situation to illustrate the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0051] 1 shows an exemplary traffic situation to illustrate the prior art, where a vehicle EGO is in a driving lane.

[0052] Here, a conventional driver assistance system incorrectly identifies the driving lane as curving to the right with a left driving lane edge RL1 and a right driving lane edge RR1, when in reality the driving lane is straight with a left driving lane edge RL2 and a right driving lane edge RR2.

[0053] In the actual driving lane, an object O is present in front of the vehicle KFZ in the direction of travel. However, due to an incorrect determination of the driving lane by conventional driver assistance systems, the object O is not taken into account by the driver assistance system, for example by adjusting the speed of the vehicle KFZ.

[0054] Even if a conventional driver assistance system recognizes the correct driving lane edges RL2, RR2 at a late stage in time, it may already be too late to react to object O, since the distance between vehicle KFZ and object O may already be quite short relative to the vehicle's traveling speed.

[0055] 2 shows a traffic situation to illustrate the invention, showing a motor vehicle EGO equipped with a driver assistance system according to the invention, which is arranged to obtain or calculate a maximum estimate for the course of the driving lane.

[0056] The maximum assumptions include, for example, the following assumptions: the maximum curvature of the driving lane, the maximum curvature of the driving lane depending on the maximum speed permitted on this driving lane, the maximum change in the curvature of the driving lane and / or the maximum change in the curvature of the driving lane depending on the maximum speed permitted on this driving lane.

[0057] Furthermore, the driver assistance system is configured to calculate, according to maximum assumptions, a maximum left driving lane edge RLmax and a maximum right driving lane edge RRmax with respect to the driving lane in which the vehicle (EGO) is located.

[0058] Furthermore, the driver assistance system is configured to calculate a certain horizon H ahead of the vehicle KFZ in the direction of travel, and calculates the leftmost driving lane edge RLmax and the rightmost driving lane edge RRmax so that these edges connect to the horizon just past this certain horizon H in the direction of travel.

[0059] The driver assistance system is configured to use a sensor to recognize the driving lane in which the vehicle KFZ is located for the section S ahead of the vehicle KFZ in the direction of travel, calculate a certainty horizon H ahead of the vehicle KFZ in the direction of travel, and ensure that this certainty horizon H connects to the section S ahead of the vehicle KFZ.

[0060] For example, the driver assistance system is configured to record first sensor information using a first camera mounted in the direction of travel, obtain a surrounding map around the vehicle KFZ, and verify the validity of the surrounding map and the first sensor information, thereby recognizing the driving lane in which the vehicle KFZ is located for the section S ahead of the vehicle KFZ in the direction of travel.

[0061] Furthermore, the driver assistance system is configured to recognize at least one object O that is present between the leftmost driving lane edge RLmax and the rightmost driving lane edge RRmax and to take the at least one object O into account when assisting the driver, for example by informing the driver of the vehicle KFZ about the at least one object O and / or by adjusting the speed of the vehicle KFZ by the driver assistance system in response to the at least one object O. In addition to the invention described in the claims, the disclosure of this application also includes the following: 1. A driver assistance system for a motor vehicle (EGO), comprising: -obtaining or calculating maximum assumptions about the course of the travel lane, - Calculating the maximum left driving lane edge (RLmax) and the maximum right driving lane edge (RRmax) of the driving lane in which the vehicle (EGO) is present according to the maximum assumption; - Recognizing at least one object (O) present between the maximum left driving lane edge (RLmax) and the maximum right driving lane edge (RRmax); -The at least one object (O) is taken into consideration when assisting the driver. It consists of a driver assistance system. 2. 1. The driver assistance system according to claim 1, - Calculate the horizon of certainty (H) ahead of the vehicle (KFZ) in the direction of travel, -Calculate the leftmost lane edge (RLmax) and the rightmost lane edge (RRmax) so that they connect to the horizon of certainty (H) in the direction of travel. It consists of a driver assistance system. 3. The certainty horizon (H) is approximately the leading edge of the vehicle (KFZ) of the driver assistance system according to claim 2. 4. 3. The driver assistance system according to claim 2, -For the section (S) ahead of the vehicle (KFZ) in the direction of travel, the sensor recognizes the driving lane in which the vehicle (KFZ) is located, - Calculate a certainty horizon (H) ahead of the vehicle (KFZ) in the direction of travel so that the certainty horizon (H) is connected to this section (S) ahead of the vehicle (KFZ). It consists of a driver assistance system. 5. 5. The driver assistance system according to claim 4, Recording first sensor information with a first camera and / or laser scanner mounted in the direction of travel It consists of a driver assistance system. 6. 5. The driver assistance system according to claim 5, -Get a map of the surrounding area around the car (KFZ) -By verifying the validity of the surrounding map and the first sensor information, the system recognizes the driving lane in which the vehicle (KFZ) is located for the section (S) ahead of the vehicle (KFZ) in the direction of travel. It consists of a driver assistance system. 7. 5. The driver assistance system according to claim 5, - recording second sensor information by a second camera and / or laser scanner mounted perpendicular to the direction of travel; -By verifying the validity of the first sensor information and the second sensor information, the system recognizes the driving lane in which the vehicle (KFZ) is located for the section (S) ahead of the vehicle (KFZ) in the direction of travel. It consists of a driver assistance system. 8. 5. The driver assistance system according to claim 5, -recording third sensor information by a third camera and / or laser scanner mounted facing away from the direction of travel; -By verifying the validity of the first sensor information and the third sensor information, the system recognizes the driving lane in which the vehicle (KFZ) is located for the section (S) ahead of the vehicle (KFZ) in the traveling direction. It consists of a driver assistance system. 9. 9. A driver assistance system according to any one of claims 1 to 8, - notifying the driver of a motor vehicle (KFZ) about at least one object (O), and / or -Adjust the speed of the car (KFZ) depending on at least one object (O) So, A driver assistance system configured to take at least one object (O) into account when assisting the driver. 10. 10. A driver assistance system according to any one of claims 1 to 9, - determining the orientation of the vehicle (KFZ) in the driving lane in which the vehicle (KFZ) is located, - additionally calculating the maximum left driving lane edge (RLmax) and the maximum right driving lane edge (RRmax) depending on the orientation of the vehicle (KFZ) in the driving lane in which the vehicle (KFZ) is located It consists of a driver assistance system. 11. The maximum assumption is - the maximum curvature of the driving lane, the maximum curvature of the driving lane according to the maximum speed permitted on this driving lane, - the maximum change in curvature of the driving lane, and / or - the maximum change in curvature of the driving lane according to the maximum speed permitted on this driving lane 11. A driver assistance system according to any one of claims 1 to 10, including the assumption that 12. 12. A driver assistance system according to any one of claims 1 to 11, -Get a map of the surrounding area around the car (KFZ) - determining whether at least one object (O) is in the same driving lane as the vehicle (KFZ) according to a map of the surrounding area; - taking into account at least one object (O) during driver assistance depending on whether the object is in the same driving lane as the vehicle (KFZ) It consists of a driver assistance system. 13. A method for assisting a driver of a motor vehicle (KFZ), comprising: - Calculate the maximum possible course of the lane, - calculating the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax) of the lane in which the vehicle (KFZ) is present according to the maximum assumption; - recognizing at least one object (O) that is present between the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax); -The at least one object (O) is taken into consideration when assisting the driver. The method has the steps.

Claims

1. A driver assistance system for a motor vehicle (EGO), comprising: - obtaining or calculating maximum assumptions about the course of the driving lane, - calculating the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax) of the lane in which the vehicle (EGO) is located according to the maximum assumption; - recognizing at least one object (O) located between the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax); - taking into account said at least one object (O) in the driver assistance, - calculating the horizon of certainty (H) ahead of the vehicle (KFZ) in the direction of travel, - Calculate the leftmost driving lane edge (RLmax) and the rightmost driving lane edge (RRmax) so that they connect to the confirmed horizon (H) in the direction of travel after passing the horizon. It consists of a driver assistance system.

2. 2. A driver assistance system according to claim 1, wherein the horizon of evidence (H) is approximately the leading edge of the vehicle (KFZ).

3. 2. A driver assistance system according to claim 1, - for a section (S) ahead of the vehicle (KFZ) in the direction of travel, a sensor is used to recognize the driving lane in which the vehicle (KFZ) is located; - Calculate a certain horizon (H) ahead of the vehicle (KFZ) in the direction of travel so that the certain horizon (H) is connected to this section (S) ahead of the vehicle (KFZ). It consists of a driver assistance system.

4. A driver assistance system according to claim 3, Recording first sensor information with a first camera and / or laser scanner mounted in the direction of travel. It consists of a driver assistance system.

5. A driver assistance system according to claim 4, - Get a map of the surroundings around the car (KFZ), By verifying the validity of the surrounding map and the first sensor information, the driving lane in which the vehicle (KFZ) is present is recognized for the section (S) ahead of the vehicle (KFZ) in the traveling direction. It consists of a driver assistance system.

6. A driver assistance system according to claim 4, - recording second sensor information by a second camera and / or laser scanner mounted perpendicular to the direction of travel, By verifying the validity of the first sensor information and the second sensor information, the driving lane in which the vehicle (KFZ) is present is recognized for the section (S) ahead of the vehicle (KFZ) in the traveling direction. It consists of a driver assistance system.

7. A driver assistance system according to claim 4, - recording third sensor information by a third camera and / or laser scanner mounted facing opposite the direction of travel; By verifying the validity of the first sensor information and the third sensor information, the driving lane in which the vehicle (KFZ) is present is recognized for the section (S) ahead of the vehicle (KFZ) in the traveling direction. It consists of a driver assistance system.

8. A driver assistance system according to any one of claims 1 to 7, - Informing the driver of the vehicle (KFZ) about at least one object (O), and / or - Adjusting the speed of the vehicle (KFZ) depending on at least one object (O) So, A driver assistance system arranged to take at least one object (O) into account when assisting a driver.

9. A driver assistance system according to any one of claims 1 to 8, - determining the orientation of the vehicle (KFZ) in the driving lane in which the vehicle (KFZ) is located, - additionally calculating the maximum left driving lane edge (RLmax) and the maximum right driving lane edge (RRmax) depending on the orientation of the vehicle (KFZ) in the driving lane in which the vehicle (KFZ) is located It consists of a driver assistance system.

10. The maximum assumption is - maximum curvature of the driving lane, - the maximum curvature of the driving lane according to the maximum speed permitted on this driving lane, the maximum change in curvature of the driving lane, and / or - the maximum change in curvature of the driving lane according to the maximum speed permitted on this driving lane 10. A driver assistance system as claimed in any preceding claim, including an assumption about:

11. A driver assistance system according to any one of claims 1 to 10, - Get a map of the surroundings around the car (KFZ), - determining whether at least one object (O) is present in the same driving lane as the vehicle (KFZ) according to a map of the surrounding area; - taking into account at least one object (O) during driver assistance depending on whether it is in the same driving lane as the vehicle (KFZ) It consists of a driver assistance system.

12. A method for assisting a driver of a motor vehicle (KFZ), comprising: - Calculate the maximum possible course of the driving lane, - calculating the maximum left driving lane edge (RLmax) and the maximum right driving lane edge (RRmax) of the driving lane in which the vehicle (KFZ) is located according to the maximum assumption, - recognizing at least one object (O) located between the maximum left driving lane edge (RLmax) and the maximum right driving lane edge (RRmax), - taking into account said at least one object (O) in the driver assistance, - calculating the horizon of certainty (H) ahead of the vehicle (KFZ) in the direction of travel, - Calculate the leftmost driving lane edge (RLmax) and the rightmost driving lane edge (RRmax) so that they connect to the confirmed horizon (H) in the direction of travel after passing the horizon. The method has the steps.

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