Method for verifying a prescribed speed limit for a vehicle on a roadway and method for assisting the driver

Abstract

The present invention relates to a method for verifying a predefined speed limit for a vehicle (1, 2) on a roadway (F), according to which a situation-dependent appropriate driving speed for traveling on a road section (S) of the roadway (F) is calculated, and if the appropriate driving speed is below the predefined speed limit, the predefined speed limit is evaluated as inappropriate. Furthermore, the present invention relates to a method for assisting a driver of the vehicle (1, 2).

Description

Technical Field

[0001] The present invention relates to a method for verifying a predetermined speed limit of a vehicle on a roadway and a method for assisting a driver of the vehicle.

Background Art

[0002] German Patent Application No. 102020003073.4 describes a method and an apparatus for an automatic driving operation of a vehicle. In this method, when there is a curve in front of the vehicle, a visibility limitation assumed due to the curve is calculated by at least one detection unit of a surrounding sensor device oriented in the traveling direction of the vehicle. When it is determined that the visibility of at least one detection unit is below a predetermined threshold value, if there is a lane outside the curve, a lane change of the vehicle to the lane outside the curve is automatically performed. In this case, it is preferable that the requirement (rule) of driving on the right side does not exist.

[0003] Furthermore, German Patent Application Publication No. 102015223176 discloses a driver assistance system for a vehicle, including a surrounding sensor that detects the surrounding of the vehicle by a sensor and a data processing unit that evaluates sensor data of the surrounding sensor to identify obstacles in the surrounding of the vehicle. Furthermore, a method for calculating a shielding area in the surrounding of the vehicle is disclosed. In this method, sensor data generated by the surrounding sensor is evaluated to identify obstacles in the surrounding of the vehicle. Furthermore, according to the identified obstacles, a shielding area that is shielded by the identified obstacles and limits the field of view of the optical surrounding sensor of the vehicle is calculated.

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to provide a method for verifying a predetermined speed limit of a vehicle on a roadway and a method for assisting a driver of the vehicle.

Means for Solving the Problems

[0005] According to the present invention, the above object is achieved by a verification method having the features described in claim 1 and an assistance method having the features described in claim 9.

[0006] Advantageous embodiments of the present invention are the subject matter of the dependent claims.

[0007] According to the present invention, a method for verifying a predetermined speed limit of a vehicle on a lane calculates (obtains) an appropriate driving speed according to the situation for driving on a road section (a part of a route) of the lane, and subsequently, when the appropriate driving speed is lower than the predetermined speed limit, it is evaluated that the predetermined speed limit is inappropriate.

[0008] By applying this method, it is possible to determine a road section where the predetermined (specified) speed limit is inappropriate. When a vehicle travels on this road section at a driving speed corresponding to the predetermined speed limit, and thereby there is a relatively high possibility of a dangerous situation, particularly a dangerous driving situation, occurring for the vehicle and possibly other road users in the vicinity, this road section is determined by this method. In other words, when the predetermined speed limit is an excessively high driving speed and the vehicle travels on the road section at a driving speed corresponding to the predetermined speed limit, since this road section includes a relatively high possibility of an accident, by applying this method, it is possible to identify a road section with a relatively high possibility of danger.

[0009] In one possible embodiment of the method for verifying a predetermined speed limit, when the road section is a road section of a lane with oncoming traffic, particularly a road section where there is no center lane demarcation line (dividing line, lane marking), and the width of the lane is less than a predetermined value, the predetermined speed limit is evaluated as inappropriate. When driving on such a road section, particularly when two vehicles approach each other (towards each other) and have to avoid each other by crossing the demarcation lines outside their respective driving lanes to avoid oncoming vehicles, there is a possibility of a dangerous situation occurring.

[0010] In an advanced form of the method for verifying a predetermined speed limit, in order to determine (evaluate) the traffic situation in a road section, the width of the lane, particularly the running lane width, the running speeds of vehicles passing each other, and the positions of vehicles passing each other are calculated (determined) by a plurality of vehicles, for example, in relation to the lane markings of the running lane. Based on this information, it is determined whether the predetermined speed limit for driving through the road section is inappropriate, and thereby, whether there is a potential danger, particularly for vehicles approaching each other in the road section.

[0011] In another possible embodiment of the method for verifying a predetermined speed limit, the calculated lane width, the running speeds and positions of vehicles passing each other are transmitted as information to a computing unit outside the vehicle that is connected to each vehicle by data technology. In particular, this information is transmitted from a fleet of vehicles driving on the lane, for example, a plurality of vehicles of a certain vehicle manufacturer, to a computing unit outside the vehicle. Using the computing unit, the transmitted information is stored and continuously evaluated to verify the speed limit specified (set) for the lane, i.e., the road section.

[0012] Furthermore, in another possible embodiment of the method for verifying a predetermined speed limit, using the computing unit, a statistical analysis of the information transmitted from a plurality of vehicles to the computing unit is performed, and a road section where a plurality of vehicles are driving at a speed lower than the speed limit stored in the digital map by a predetermined value is identified as having an inappropriate speed limit. Based on the statistical analysis, it is possible to relatively accurately determine whether the predetermined speed limit is appropriate or inappropriate, and thereby, determine the potential danger that may occur in this road section.

[0013] In particular, using the computing unit, the causal relationship between a lane with a width less than a predetermined value and the decrease in the running speeds of a plurality of vehicles is determined. Thereby, it is possible to confirm whether the predetermined speed limit is appropriate, and whether the possibility of a dangerous situation occurring in the road section is rare and independent of the predetermined speed limit.

[0014] In another possible configuration of the method for verifying the predetermined speed limit, the appropriate driving speed is set based on the statistical average value calculation (statistical average value formed from each driving speed) of the driving speeds of a plurality of vehicles detected in the road section.

[0015] By calculating the average value related to the driving speed suitable for the road section, the probability of dangerous situations occurring in that road section, especially when vehicles approach each other, is relatively low. When vehicles drive at an appropriate driving speed in the road section, the safety in that road section can be significantly enhanced.

[0016] In a possible development form of the method for verifying the predetermined speed limit, when it is determined that the speed limit stored in the digital map is inappropriate, and thereby the potential danger to approaching vehicles is relatively high, the digital map, especially the stored speed limit, is replaced with an appropriate driving speed. For example, by modifying the digital map such as a navigation system, since the inappropriate driving speed is not stored, the inappropriate driving speed for that road section is no longer output.

[0017] Furthermore, the present invention relates to a method for assisting a driver of a vehicle, in which the appropriate driving speed calculated according to the method for verifying the predetermined speed limit of the vehicle in the lane is output, particularly displayed, to the driver of the vehicle as a recommended speed when driving in the lane, and / or is used as the basis for controlling the assist system of the vehicle.

[0018] For each driver of the vehicle, the recommended speed indicates a driving speed suitable for driving in the road section, and this driving speed is particularly used as guidance for the driver. Therefore, the driver can drive through the road section at an appropriate driving speed, thereby not only enhancing his own safety but also particularly enhancing the safety of oncoming vehicles.

[0019] Alternatively or additionally, since the calculated appropriate driving speed serves as the basis for the control of the assist system, the appropriate driving speed is associated with the assist system, and the vehicle travels through the road section at the appropriate driving speed.

[0020] In particular, this appropriate driving speed is used as a recommended speed when traveling on a lane in an assist system for autonomous driving or an assist system for controlling the inter-vehicle distance depending on the speed of each vehicle. When the vehicle travels through a road section in autonomous driving, or when traveling through a road section with the speed-dependent inter-vehicle distance control activated (enabled), the appropriate driving speed is set as the set speed, that is, the target speed. For example, when the speed-dependent inter-vehicle distance control is active (enabled), the driving speed set by the driver is ignored based on the recommended speed, except when the set driving speed is below the appropriate driving speed.

[0021] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Modes for Carrying Out the Invention

[0023] In all the figures, the same reference numerals are assigned to corresponding parts.

[0024] FIG. 1 shows a road section S of a lane F, which is demarcated only laterally by lane dividing lines M and has no central lane dividing line M. In this road section S, two vehicles 1 and 2 approaching each other are traveling. At this time, vehicles 1 and 2 are traveling through this road section S at a traveling speed substantially corresponding to the speed limit of 70 km / h specified by traffic sign 3.

[0025] Since the width b of the road section S, that is, the lane F, is below a predetermined value, this road section S is designed as a narrow lane F that is not normally suitable for two-way traffic, that is, oncoming traffic. In the embodiment shown in FIG. 1, an area B of the lane F is indicated by a broken line. In this area B, vehicles 1 and 2 traveling in the lane F usually reduce their vehicle speed.

[0026] Generally, when traveling through a specific road section S at a speed lower than that allowed by the curvature of the curve and / or lower than that allowed by a predetermined speed limit, there are known to be multiple effects.

[0027] Hereinafter, a method for verifying the predetermined speed limit of vehicles 1 and 2 in the lane F will be described.

[0028] Such a lane F shown in FIGS. 1 and 2 is particularly found on rural roads. In such a lane F, due to its narrow width b, no central lane dividing line M for separating oncoming lanes is provided.

[0029] In order to be able to pass each other, the approaching vehicles 1 and 2 drive beyond the outer lane dividing line M of their respective driving lanes and thus partially deviate from the lane F. At that time, vehicles 1 and 2 significantly decelerate their traveling speed at that point with respect to a predetermined speed limit of, for example, 70 km / h.

[0030] When drivers of vehicles 1 and 2 lack common sense and / or have relatively little driving experience and follow the predetermined speed limit shown in traffic sign 3, there is a risk of misjudging the braking distance when two vehicles approach each other on such a lane F and must slow down to pass each other.

[0031] In contrast, when driving on lane F, a driver with common sense usually selects a speed progression that matches the width b of lane F, taking into account the dangerous road section S where vehicles 1 and 2 approach each other.

[0032] In particular, in this method, the predetermined speed limit is verified so that the experience of a driver with common sense can be obtained. At this time, the driving (running) behavior observed and learned regarding road section S is provided to vehicles 1 and 2 belonging to, for example, a vehicle group as a suggested or recommended speed.

[0033] The degree of danger is derived based on the driving behavior of a plurality of vehicles 1 and 2 traveling on a lane F with a relatively narrow width, particularly when the width b is less than a predetermined value.

[0034] For this purpose, based on the signals detected by the sensors of the surrounding sensor device of vehicle 1, the width b of lane F, which is significantly less than the width b for two-way traffic, is calculated.

[0035] Furthermore, in particular, the traveling speeds of vehicles 1 and 2 passing each other with respect to the lane dividing line M and the positions of vehicles 1 and 2 passing each other are calculated.

[0036] For evaluation, the calculated width b of lane F and the calculated traveling speeds and detected positions of vehicles 1 and 2 passing each other are transmitted as information to an external computing unit of the vehicle connected to vehicle 1 in a data-technical manner (from the perspective of data technology), which is not shown in detail in the drawings.

[0037] In particular, events where each vehicle 1, 2 travels beyond the lane demarcation line M and at least partially deviates from the road lane F require special attention in the road section S, and it is an indicator that the predetermined speed limit of that road section S, for example 70 km / h, is inappropriate in both driving directions.

[0038] To obtain a statistically significant sample, the observation of vehicles 1, 2 traveling on the road section S is carried out, in particular, by a plurality of vehicles 1, 2 belonging to the same fleet vehicle.

[0039] In particular, in order to verify the causal relationship between the reduction in the respective driving speeds of vehicles 1, 2 and the relatively narrow road lane F, the calculated width b of the road lane F is also transmitted as information to the calculation unit. In the calculation unit, so-called backend, based on a relatively large number of samples, the causal relationship between the narrow road lane F, the vehicles 1, 2 leaving the road lane F to enable mutual passing, and the speed reduction at the driving time in each related road section S is statistically calculated.

[0040] At this time, in particular, using the calculation unit, a statistical analysis of the information transmitted from a plurality of vehicles 1, 2 to the calculation unit is carried out, and the road section S where a plurality of vehicles 1, 2 are traveling at a driving speed below a predetermined value of the predetermined speed limit also stored in the digital map of the vehicles 1, 2 is identified as having an inappropriate speed limit.

[0041] To establish a causal relationship, consideration is required between the predetermined speed limit and, for example, the appropriate driving speed based on the curvature of the curve. In particular, in the statistical average, it is calculated that the driver is traveling much slower than required with respect to the road shape, for example, the curve shape, along the road section S and with respect to the predetermined speed limit. te In particular, the appropriate driving speed for traveling on the road section S is determined by calculating the statistical average value of the respective driving speeds of a plurality of vehicles 1, 2 detected in that road section.

[0042] In particular, the appropriate driving speed for traveling on the road section S is determined by calculating the statistical average value of the respective driving speeds of a plurality of vehicles 1, 2 detected in that road section.

[0043] If it can be justified that the predetermined speed limit is inappropriate due to the sample size and a significant decrease in the driving speeds of multiple vehicles 1 and 2, the appropriate driving speed calculated for driving on that road section is saved in the digital map as the recommended speed. At that time, the predetermined speed limit stored in the digital map is corrected by the calculated appropriate driving speed.

[0044] The recommended speed based on the appropriate driving speed is displayed to assist the drivers of each of the vehicles 1 and 2 when driving on lane F, and / or is used as the basis for controlling the assist systems of the vehicles 1 and 2, for example, for autonomous driving or for speed-dependent inter-vehicle distance control.

[0045] The drivers of each of the vehicles 1 and 2 can gain experience in speed selection according to the situation by the appropriate driving speed calculated for driving on road section S, particularly on the relatively uncommon narrow lane F, thereby enhancing the reliability of each assist system.

[0046] Therefore, when the speeds of each of the vehicles 1 and 2 are controlled, the drivers of each of the vehicles 1 and 2 can drive in a driving manner that alleviates the possibility of a dangerous situation where oncoming vehicles 1 and 2 approach at high speed and cross the lane demarcation line M even in an area unfamiliar to the driver, based on the recommended speed.

Prior Art Documents

Patent Documents

[0047]

Patent Document 1

Patent Document 2

Claims

1. A method for verifying a predetermined speed limit for vehicles (1, 2) on a roadway (F), comprising: - an appropriate driving speed is calculated for driving on a road section (S) of the roadway (F) where the roadway (F) is a two-way road section (S) that does not have a central lane marking and where the width (b) of the roadway (F) is below a predetermined value, and the road section (S) where the width (b) is below the predetermined value is a road section (S) where it is necessary to cross the outer lane marking of the roadway (F) in order to avoid oncoming vehicles from each other, - if the appropriate driving speed is below the predetermined speed limit stored in a digital map and if there is a causal relationship between the roadway (F) having a width (b) below the predetermined value and a reduction in the driving speed of the vehicle (1), the predetermined speed limit is evaluated as inappropriate and the predetermined speed limit in the digital map is replaced by the appropriate driving speed.

2. 2. The method according to claim 1, characterized in that in order to determine the traffic situation on the road section (S), a width (b) of the roadway (F), the travel speeds of the vehicles (1, 2) passing each other and the positions of the vehicles (1, 2) passing each other are calculated by a plurality of vehicles (1, 2).

3. 3. The method according to claim 2, characterized in that the calculated width (b) of the roadway (F), the driving speeds and the positions of the mutually passing vehicles (1, 2) are transmitted as information to a computing unit outside the vehicles (1, 2) which is connected in data-technical terms to each vehicle (1, 2).

4. 4. The method according to claim 3, characterized in that, using the calculation unit, a statistical analysis of the information transmitted to it by the vehicles (1, 2) is performed, and road sections (S) on which the vehicles (1, 2) are traveling at a speed that is below the speed limit stored in the digital map by a predetermined value are identified as having an inappropriate speed limit.

5. 5. The method according to claim 4, characterized in that the statistical analysis of the information includes, using the calculation unit, determining a causal relationship between the roadway (F) having a width (b) below a predetermined value and a reduction in the driving speed of the plurality of vehicles (1, 2).

6. 2. The method according to claim 1, characterized in that the suitable driving speed is set based on a statistical average calculation of the respective driving speeds of a plurality of vehicles (1, 2) detected on the road section (S).

7. 7. A method for assisting a driver of a vehicle (1, 2), characterized in that the appropriate driving speed calculated according to the method according to any one of claims 1 to 6 is output to the driver of the vehicle (1, 2) as a recommended speed when driving on the roadway (F) and / or serves as the basis for controlling an assistance system of the vehicle (1, 2).

8. 8. The method according to claim 7, characterized in that the suitable driving speed is used as the recommended speed when driving on the roadway (F) in an assistance system for automated driving or in an assistance system for speed-dependent distance control of each vehicle (1, 2).

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