Methods for operating a vehicle, computer programs, control systems, and vehicles.

Abstract

A method for operating a vehicle (1), comprising: a) receiving (S1) sensor data (S) of a sensor system (3) of the vehicle (1); b) detecting the absence of lane markings based on the sensor data (S2); c) sending a command (B) to a human machine interface (17) of said vehicle (1) to prompt the driver of said vehicle (1) to drive towards the recognized centre line (18) of the lane (11) (S3); d) determining (S5) a virtual lane (23) based on the recognized center line (18) along which the driver is traveling; e) executing a lane keeping assist function to keep the vehicle (1) on the virtual lane (23) (S6); A method for providing the above.

Description

[Technical Field]

[0001] The present invention relates to a method for operating a vehicle, a computer program, a control system, and a vehicle having such a control system. [Background technology]

[0002] Modern vehicles, such as passenger cars, are equipped with multiple driver assistance systems. One example is a lane keeping system that detects the lane on the road the vehicle is traveling on based on sensor data and positions the vehicle within the lane boundaries. Lane keeping systems primarily rely on the detection of lane markings on the road. Problems arise when there are no lane markings on the road. US 2019 382 008 A1 proposes a method for lane keeping when no lane markings are detected, based on extrapolation of the last detected lane marking. [Overview of the Initiative]

[0003] One object of the present invention is to provide an improved method for operating a vehicle.

[0004] Therefore, a method for operating a vehicle is provided. This method is a) A step of receiving sensor data from the vehicle's sensor system, b) A step of detecting the absence of lane markings based on the sensor data, c) A step of sending a command to the human-machine interface of the vehicle to prompt the driver of the vehicle to drive toward the lane recognition center line, d) A step of determining a virtual lane based on the recognized center line that the driver drove towards, e) The step of performing a lane keeping assist function to keep the vehicle on the virtual lane, It is equipped with.

[0005] If lane markings are not detected in sensor data, the driver may be in a position to better recognize and understand the overall scenario. Therefore, lane keeping assistance can be provided even when lane markings are not detected in sensor data by prompting the driver to drive the vehicle toward the lane's center line and using the driver's position as input to determine the virtual lane. Thus, the vehicle's control system (e.g., lane keeping system) can receive feedback from the driver regarding the correct lane position and learn from this feedback.

[0006] For example, on a highway with two or more lanes where the left and right boundaries are visible due to the presence of guardrails but there are no lane markings, a lane keeping system can determine the curvature of the lane based on the detection of the guardrails, but it may not be able to determine the lateral position of the lane in which the vehicle is traveling or should be traveling. In this case, it may be easier for the driver to recognize the correct lateral position of the lane.

[0007] This method step is carried out, in particular, by the vehicle's control system. The control system outputs a command to the vehicle's steering system based on a determined virtual lane. The command is, for example, to steer toward the center line of the virtual lane.

[0008] The vehicle's (own vehicle's) sensor system is specifically an environmental sensor system comprising one or more environmental sensor units. The sensor units are configured to detect the vehicle's driving state and the vehicle's environment. Examples of such sensor units include a camera for capturing surrounding images, a radar device (radio wave detection ranging) for acquiring radar data, and a lidar device (optical detection ranging) for acquiring lidar data. In addition, the sensor system may include ultrasonic sensors, position sensors, wheel angle sensors, and wheel speed sensors. For example, each sensor unit is configured to output a sensor signal to a driver assistance system or parking assistance system that performs assisted driving or (semi-)autonomous driving, for example, as a function of the detected sensor signal. Specifically, each sensor unit is configured to output a sensor signal to a vehicle control system and / or lane keeping system that performs automatic lane keeping control, for example, as a function of the detected sensor signal.

[0009] For example, the presence or absence of lane markings on a road can be detected based on images from a vehicle's camera system (an example of sensor data). The camera system is, for example, a forward-facing camera positioned on the vehicle's windshield and configured to monitor the area in front of the vehicle. However, the camera system may be positioned on different windows of the vehicle, such as the sides and / or rear, and / or monitor different areas.

[0010] A vehicle's human-machine interface (HMI) includes, for example, one or more displays, one or more touch panels, one or more keyboards, one or more buttons, one or more (rotary) knobs, one or more speakers, one or more microphones, and / or one or more driver monitoring cameras.

[0011] The driver's perceived center line towards which the vehicle is directed can be used, for example, as the starting point and / or direction for determining a virtual lane. The driver's perceived center line towards which the vehicle is directed can also be used, for example, as one of several inputs used to determine a virtual lane.

[0012] The vehicle is, for example, a passenger car, a van, or a truck. The vehicle is configured, for example, for assisted driving, semi-autonomous driving, and / or fully autonomous driving. The level of automation of the vehicle is, for example, any one of level 1 or 2 (hands-on system) to level 5 (fully autonomous driving). The levels 1 to 5 correspond to the SAE classification system (Classification and Definitions of Terms Related to On-Road Vehicle Automated Driving Systems) issued as J3016 by SAE International in 2014.

[0013] Determining the virtual lane includes determining the center line and the lane width of the virtual lane. The center line starts, for example, from the front end of the vehicle (ego vehicle) (e.g., the front bumper). When a preceding target vehicle is detected, the center line can at least extend to, for example, the rear end of the preceding target vehicle (e.g., the rear bumper).

[0014] In an embodiment, in step d) of the method, the virtual lane is determined based on one or more objects near the vehicle (ego vehicle) in addition to the recognized center line that the driver is driving towards. In this example, the method includes a step of detecting one or more objects near the vehicle based on sensor data. The method may further include a step of determining the position information of the one or more objects based on the sensor data. Further, the virtual lane can be determined based on the position data of one or more objects near the vehicle in addition to the recognized center line that the driver is driving towards.

[0015] According to an embodiment, the method includes a step of detecting the presence of one or more other vehicles in a related area based on the sensor data, the virtual lane is determined based on the position information of the one or more other vehicles with respect to the ego vehicle, and the position information is determined based on the sensor data.

[0016] By determining the virtual lane based on the position information of the detected other vehicles in addition to the recognized center line of the driver, the virtual lane can be estimated better.

[0017] Specifically, this method includes the step of determining the position information (position data) of one or more other vehicles based on sensor data. The position information of one or more other vehicles is determined, for example, relative to the position of the host vehicle.

[0018] The position information of each other vehicle includes, for example, the lateral distance between each vehicle and the host vehicle, and / or the traveling direction (e.g., yaw angle) of each vehicle relative to the host vehicle. The lateral distance is, for example, the lateral distance between the central lateral position of each other vehicle and the central lateral position of the host vehicle (this is particularly applicable to the preceding target vehicle). Alternatively, the lateral distance is, for example, the lateral distance of the space between each other vehicle and the host vehicle (this is particularly applicable to the left / right target vehicle). The yaw angle is specifically the angle of the current traveling direction of each vehicle relative to the yaw angle of the current traveling direction of the host vehicle. The position information of each other vehicle includes, for example, the trajectory of each vehicle.

[0019] The relevant area is, for example, the area in front of the host vehicle. The width of the relevant vehicle includes, for example, the width of the road on which the host vehicle is traveling. The width of the relevant area is, for example, 12 meters or less, 10 meters or less, 8 meters or less, and / or 6 meters or less. The length of the relevant area is, for example, 100 meters or less, 90 meters or less, 80 meters or less, and / or 70 meters or less.

[0020] The lane keeping support function is executed, for example, to repeatedly determine a virtual lane based on the repeatedly updated position information of a specified target vehicle (i.e., the preceding target vehicle, the left target vehicle, and / or the right target vehicle), and to keep the host vehicle on the repeatedly updated virtual lane.

[0021] By determining the virtual lane using one or more target vehicles, the virtual lane can be estimated better and the dependence on the movement of a single other vehicle is reduced.

[0022] According to a further embodiment, this method f) A step in which, after the driver has driven toward the recognized center line, the driving path of the vehicle is determined based on the sensor data, wherein the length of the driving path corresponds to the distance the vehicle has traveled in a predetermined time span, the width of the driving path corresponds to a predetermined vehicle width, and the related area includes at least a portion of the driving area. g) A step of determining the ratio of overlap between the determined road and a vehicle detected in the relevant area that is preceding the vehicle itself, h) If the determined overlap ratio exceeds a predetermined value, the step of determining that the preceding vehicle is traveling in the same lane as the vehicle in question and is the preceding target vehicle, i) A step of determining the virtual lane based on the position information of the preceding target vehicle, It is equipped with.

[0023] By determining the vehicle's path and checking whether other vehicles in the relevant area (partially) overlap with the path, vehicles in the relevant area can be identified as preceding vehicles in the same lane as the vehicle itself. In particular, an overlap exceeding a predetermined value indicates that the preceding vehicle is suitable as a target vehicle for determining the virtual lane.

[0024] The driving path specifically represents the current trajectory of the vehicle after the driver has steered towards the perceived center line.

[0025] A roadway is, in particular, a two-dimensional region (defined, for example, by its width and length). Specifically, a roadway is a two-dimensional geometric region positioned parallel to the plane of the road on which a vehicle travels.

[0026] The overlap between the determined route and each vehicle is, for example, the overlap between the area occupied by the preceding vehicle and the area of ​​the route. The area occupied by the preceding vehicle is specifically a two-dimensional area. Specifically, the area occupied by the preceding vehicle is located on the same plane as the route.

[0027] The overlap between the determined route and each vehicle is, for example, the overlap in the lateral direction.

[0028] Determining the driving path after driving toward the recognized center line includes determining the driving path after confirming that the driver has driven toward the recognized center line.

[0029] The width of the road corresponding to the specified vehicle width is, for example, the width of the vehicle itself.

[0030] The predetermined value for step h) is, for example, 20%, 30%, 40%, 50%, or 60%.

[0031] According to further embodiments, If the ratio of the overlap is less than or equal to the predetermined value and is determined to exceed a further predetermined value smaller than the predetermined value, then steps c) and g) to i) are repeated. If the ratio of the overlap is determined to be less than or equal to the further predetermined value, the preceding vehicle is determined to be unsuitable for determining the virtual lane.

[0032] If the overlap ratio of vehicles detected in the determined road and associated area with vehicles preceding the vehicle is less than a predetermined value, the overlap is too small to assume that other vehicles are traveling in the same lane. In this case, by repeating step c), the driver is prompted to change the vehicle's position by driving (again) toward the recognized center line of the lane. The overlap ratio is then determined again.

[0033] Further specified values ​​may be, for example, zero and / or greater than 1%, 5%, 10%, 15%, or 20%.

[0034] In an embodiment, if it is determined that a preceding vehicle is unsuitable for determining a virtual lane, and / or if it is determined that there is no preceding vehicle, and the driver is still traveling toward the recognized center line, the virtual lane may be determined based on one or more other vehicles to the right and / or left of the vehicle (the vehicle itself).

[0035] According to further embodiments, this method A step of determining the lateral distance between the vehicle itself and each of the one or more other vehicles detected in the relevant region based on the sensor data, wherein the lateral distance includes a left-lateral distance relative to the left side of the vehicle and a right-lateral distance relative to the right side of the vehicle. If the determined left lateral distance exceeds a predetermined threshold, it is determined that the other vehicle is traveling in the lane to the left of the vehicle and is a left-side target vehicle; if the determined right lateral distance exceeds the predetermined threshold, it is determined that the other vehicle is traveling in the lane to the right of the vehicle and is a right-side target vehicle; The steps of determining the virtual lane based on the position information of the target vehicle on the left and / or the target vehicle on the right in the adjacent lane to the left and / or the adjacent lane to the right, It is equipped with.

[0036] In this way, it is investigated whether one or more vehicles detected in the relevant area are traveling in the lane to the left or right of the vehicle in question. In particular, it is analyzed whether each of the other vehicles is suitable as an additional target vehicle for lane keeping (i.e., a left-side target vehicle or a right-side target vehicle).

[0037] The predetermined threshold is, for example, greater than half the width of the road. In other words, the predetermined threshold is set so that only vehicles outside the vehicle's own road are identified as vehicles in the adjacent lane to the left or right.

[0038] By determining the virtual lane based on the positional information of the target vehicle on the left and / or the target vehicle on the right, the vehicle's lane keeping function may be executed so that the vehicle maintains a lateral safety distance from the target vehicle on the left and / or the target vehicle on the right. If both the target vehicle on the left and the target vehicle on the right are present, the vehicle's lane keeping function may be executed so that the vehicle travels laterally (either in the middle or not in the middle) between the target vehicle on the left and the target vehicle on the right.

[0039] According to a further embodiment, the step of determining the virtual lane includes determining the left boundary of the virtual lane based on the position information of the left target vehicle, and / or determining the right boundary of the virtual lane based on the position information of the right target vehicle.

[0040] For example, the left boundary of the virtual lane is determined such that the distance between the driving path and the left boundary is greater than a predetermined lateral safety threshold. Furthermore, the right boundary of the virtual lane is determined such that the distance between the driving path and the right boundary is greater than a predetermined lateral safety threshold.

[0041] In a further embodiment, the center line of the virtual lane is determined based on a first reserve center line and / or a second reserve center line, the first reserve center line being derived based on a detected preceding target vehicle, and the second reserve center line being derived based on a detected left-side target vehicle and / or right-side target vehicle.

[0042] Thus, the virtual lane is determined based on both the preceding vehicle in the same lane as the vehicle itself, and one or more vehicles to the left and / or to the right in the adjacent lane.

[0043] According to a further embodiment, the center line of the virtual lane is determined based on the average and / or weighted average of the first reserve center line and the second reserve center line.

[0044] The center line of a virtual lane is determined, for example, based on the average and / or weighted average of the angle of turn of the preceding target vehicle and the respective angles of turn of one or more target vehicles to the left and / or to the right.

[0045] The center line of the virtual lane is determined, for example, by considering the lateral position of the preceding target vehicle and the lateral positions of one or more target vehicles to the left and / or to the right. The lateral position is the lateral position relative to the vehicle itself.

[0046] The virtual lane is determined, for example, based on the average and / or weighted average trajectories of the preceding vehicle and one or more vehicles to the left and / or to the right.

[0047] According to further embodiments, If a preceding target vehicle is detected, the first reserve center line of the virtual lane is determined based on the lateral distance between the preceding target vehicle and the vehicle itself. If a target vehicle on the left and a target vehicle on the right are detected, the second reserve center line of the virtual lane is determined such that the lateral distance between the second reserve center line and the target vehicle on the left is equal to the lateral distance between the second reserve center line and the target vehicle on the right, and / or If a target vehicle on the left and / or a target vehicle on the right are detected, the second reserve center line of the virtual lane is determined such that the lateral distance between the vehicle and the target vehicle on the left exceeds a predetermined safety distance, and / or the lateral distance between the vehicle and the target vehicle on the right exceeds the predetermined safety distance.

[0048] According to further embodiments, The lane width of the virtual lane is determined to be equal to the sum of the predetermined vehicle width, the left offset value, and the right offset value. The left-side offset value is determined based on the determined lateral distance between the vehicle itself and the vehicle to the left of it, or the left-side offset value is set to be equal to a predetermined value, and / or The right-side offset value is determined based on the determined lateral distance between the vehicle itself and the target vehicle to the right, or the right-side offset value is set to be equal to a predetermined value.

[0049] For example, if a target vehicle on the left is detected, the left-side offset value is determined based on the determined lateral distance between the vehicle and the target vehicle on the left. If no target vehicle is detected on the left, the left-side offset value is set to a predetermined value. The same applies to target vehicles on the right.

[0050] According to further embodiments, Step c) is The system transmits a command to the human-machine interface and outputs a question to the driver regarding whether the driver intends to drive toward the lane's center line. Receiving information from the human-machine interface corresponding to the driver's response, If the received information corresponds to a positive response, a command is sent to the human-machine interface to prompt the driver to confirm that the driver is driving toward the recognized center line of the lane. Includes.

[0051] Therefore, the virtual lane is determined based on the vehicle's current position only if the driver confirms that it corresponds to the lane's recognized center line.

[0052] According to further embodiments, this method Steps include: performing adaptive cruise control based on the detected preceding target vehicle to control the longitudinal distance between the vehicle and the preceding target vehicle to a predetermined distance value, and / or, Steps include: performing cruise control based on the detected target vehicle on the left and / or the target vehicle on the right, and controlling the speed of the vehicle itself based on the speed of the target vehicle on the left and / or the target vehicle on the right; It is equipped with.

[0053] According to a second embodiment, a computer program is provided. The computer program includes instructions that cause the computer to perform the method described above when the program is executed by the computer.

[0054] Computer programs (computer program products), such as computer program means, can be embodied as memory cards, USB sticks, CD-ROMs, DVDs, or as files that can be downloaded from a server on a network. For example, such files can be provided by transferring the files constituting the computer program product over a wireless communication network.

[0055] According to a third embodiment, a control system for a vehicle is provided. The control system is configured to carry out the method described above.

[0056] The control system is, for example, a lane keeping system, or a part of a lane keeping system.

[0057] According to a fourth aspect, a vehicle having the control system described above is provided.

[0058] Each of the entities described above or below, such as a control system, receiving unit, detection unit, communication unit, decision unit, lane keeping unit, and output unit, can be implemented in hardware and / or software. When an entity is implemented in hardware, it can be embodied as a device, such as a computer, or as a processor, or as part of a system such as a computer system. When an entity is implemented in software, it can be embodied as a computer program product, as a function, as a routine, as an algorithm, as program code, as part of program code, or as an executable object. Furthermore, each of the entities described above can be designed as part of a higher-level control system of a vehicle, such as a central electronic control unit (ECU).

[0059] The embodiments and features described with reference to the methods of the present invention are also applicable to the computer programs, control systems, and vehicles of the present invention.

[0060] Further possible embodiments or alternative solutions of the present invention also include combinations of features described above or below with respect to embodiments that are not expressly mentioned herein. Furthermore, those skilled in the art may add individual or distinct embodiments and features to the most basic forms of the present invention.

[0061] Further embodiments, features, and advantages will become apparent from the following description and dependent claims.

[0062] The present invention will be described in detail below based on preferred embodiments with reference to the following drawings. [Brief explanation of the drawing]

[0063] [Figure 1] Figure 1 shows a top view of a vehicle according to an embodiment. [Figure 2] Figure 2 shows the vehicle from Figure 1 and other vehicles on the road. [Figure 3] Figure 3 shows a diagram similar to Figure 2, but with the determined virtual lanes added. [Figure 4] Figure 4 shows a diagram similar to Figure 3, but with a different vehicle arrangement. [Figure 5] Figure 5 shows the control system of the vehicle in Figure 1. [Figure 6] Figure 6 shows a flowchart illustrating how to operate the vehicle shown in Figure 1. [Modes for carrying out the invention]

[0064] In drawings, similar reference figures indicate similar or functionally equivalent elements unless otherwise specified.

[0065] Figure 1 shows a schematic top view of vehicle 1. Vehicle 1 is, for example, a passenger car. Vehicle 1 may be other types of vehicles such as vans or trucks. Vehicle 1 is equipped with a control system 2 for controlling vehicle 1. Specifically, control system 2 is a lane keeping system.

[0066] Vehicle 1 further includes an electronically controllable steering system (not shown). Control system 2 is configured to send command A (Figure 5) to the steering system to maintain the lane.

[0067] As shown in Figure 1, the vehicle 1 is equipped with a sensor system 3 which includes a plurality of environmental sensor units 4, 5, 6, and 7 located on the vehicle 1. Specifically, the sensor system 3 includes one or more camera devices 4, which are, for example, one or more forward-facing camera devices. The camera device 4 is configured to acquire image data around the vehicle 1 8 and to transmit the image data or the image analysis results of the image data to the control unit 2. The forward-facing camera device 4 is mounted on the windshield 9 of the vehicle 1.

[0068] The sensor system 3 includes, for example, one or more radar devices 5 for acquiring radar data around the vehicle 1. The sensor system 3 may further include, for example, one or more lidar devices 6 for acquiring lidar data around the vehicle 1 8.

[0069] The sensor system 3 may further include sensors such as an ultrasonic sensor 7, a rain sensor, a light sensor, a wheel sensor, and / or a wheel speed sensor (not shown).

[0070] The following describes how to operate vehicle 1, with reference to Figures 2 to 6. Specifically, this method is for performing the lane keeping assist function.

[0071] Figure 2 shows vehicle 1 on road 10. Road 10 has three lanes 11, 12, and 13, but there are no lane markings on road 10. Therefore, the lane keeping system (control system 2) cannot perform a lane keeping function based on detected lane markings. In Figure 2, vehicle 1 (own vehicle 1) is shown at two different positions P0 and P1.

[0072] In the first step S1 of this method, the control system 2 of the vehicle 1 receives sensor data (Figure 5) from the sensor system 3 (Figure 1) of the vehicle 1. Specifically, the sensor data S includes data from the camera device (Figure 1) of the vehicle 1. The sensor data S may also include, for example, data from the radar device 5 and / or LiDAR device 6 of the vehicle 1. The control system 2 includes, for example, a receiving unit 14 (Figure 5) for receiving the sensor data S from the sensor system 3.

[0073] In the second step S2 of this method, the control system 2 detects that there are no lane markings on the road 10 based on sensor data S. The control system 2 includes, for example, a detection unit (Figure 5) for detecting the absence of lane markings based on sensor data S.

[0074] In the third step S3 of this method, the control system 2 transmits command B to the human-machine interface 17 (HMI unit 17, Figure 5) of the vehicle 1, prompting the driver of the vehicle 1 to drive along the recognized center line 18 (recognized center line 18) of the lane 11 (Figure 2). The control system 2 includes, for example, a communication unit 16 (Figure 5) for transmitting command B to the HMI unit 17.

[0075] For example, control system 2 (e.g., communication unit 16) sends command B to HMI unit 17 to output a question to the driver asking if the driver intends to drive to the recognized center line 18 of lane 11. The question is output, for example, by visual and / or audible notification from HMI unit 17. Furthermore, control system 2 (e.g., communication unit 16) receives information C from HMI unit 17 corresponding to the driver's response. The driver's information C (response C) is, for example, "yes". The driver can input response C by, for example, touching each field on the touch panel, pressing a button, turning a knob, uttering one or more words, and / or making a gesture. Furthermore, the driver drives from the initial position P0 to position P1 (Figure 1). Next, control system 2 (e.g., communication unit 16) sends command D to HMI unit 17 to prompt the driver to confirm that they have driven to the recognized center line 18 of lane 11. The driver can then input response E as confirmation.

[0076] In the fourth step S4 of this method, the control system 2 (e.g., detection unit 15) detects, based on sensor data S, that one or more other vehicles 19, 20, and 21 are present on the road 10 where vehicle 1 (the vehicle itself) is traveling. Specifically, the other vehicles 19, 20, and 21 are detected in the relevant region 22. In the example shown in Figure 2, a preceding vehicle 19 is in the same lane 11 as vehicle itself. Furthermore, vehicle 20 is in the adjacent lane 12 to the left, and vehicle 21 is in the adjacent lane 13 to the right.

[0077] The control system 2 (for example, the detection unit 15) obtains the position data of vehicles 10, 20, and 21 relative to the position P1 of the vehicle 1, for example, based on the sensor data S.

[0078] In the fifth step S5 of this method, the control system 2 determines a virtual lane 23 (Figure 3) based on the recognized center line 18 driven by the driver and the position data obtained for the vehicles 19, 20, and 21. The control system 2 includes, for example, a determination unit 24 (Figure 5) for determining the virtual lane 23.

[0079] First, the control system 2 searches for a suitable target vehicle 19 that is ahead of its own vehicle 1. Specifically, after the driver has driven to the recognized center line (Figure 2), the control system 2 determines the driving path T of its own vehicle 1. The length L of the driving path T corresponds to the distance traveled by its own vehicle 1 in a predetermined time span. The predetermined time span is, for example, 0.5 to 2 seconds, 0.8 to 1.2 seconds, and / or 1 second or less. The length L is determined based on the predetermined time span and the measured speed of its own vehicle 1. The speed is measured based on sensor data S (e.g., wheel speed sensor data) from the sensor system 3 of its own vehicle 1. The width W of the driving path T D For example, a predetermined vehicle width W V Equal to, or a given vehicle width W V Slightly larger (e.g., 10%, 20%, or 30% larger). The relevant region 22 includes at least part of the travel path T.

[0080] Furthermore, the control system 2 determines the overlap O ratio between the determined driving path T and the preceding vehicle 19. In the example shown in Figure 2, the overlap O ratio between the determined driving path T and the preceding vehicle 19 is 100%. If the determined overlap O ratio exceeds a predetermined value (for example, 30%), it is determined that the preceding vehicle 19 is traveling in the same lane as the vehicle 11. Therefore, the vehicle 19 shown in Figure 2 is classified as a preceding target vehicle 19 suitable for lane keeping purposes.

[0081] In another example where the overlapping O ratio is below a predetermined value (e.g., 30%) and exceeds another predetermined value (e.g., 10%), the driver is prompted to change the position of the host vehicle 1. Next, the above-described suitability test based on the determination of the overlap O is repeated. Then, the vehicle 19 is classified as a preceding target vehicle 19 suitable for the purpose of lane keeping, or it is determined that the preceding vehicle 19 is not suitable for the determination of the virtual lane 23.

[0082] Second, the control system 2 searches for suitable left and / or right target vehicles 20, 21. Specifically, the control system 2 determines the lateral distance M L , M R (FIG. 3) between each of the vehicles 20, 21 detected in the relevant area 22 and the host vehicle 1 based on the sensor data S L , M R The lateral distance M L includes the left lateral distance M L with respect to the left side 25 of the host vehicle 1 and the right lateral distance M

[0083] Next, when the determined left lateral distance M L between the host vehicle 1 and each vehicle 20 exceeds a predetermined threshold, the control system 2 determines that each other vehicle 20 is traveling in the left adjacent lane 12 with respect to the host vehicle 1. Further, when the determined right lateral distance M R between the host vehicle 1 and each vehicle 21 exceeds a predetermined threshold, the control system 2 determines that each other vehicle 21 is traveling in the right adjacent lane 13 with respect to the host vehicle 1 (right-side target vehicle 21). Therefore, the vehicle 20 shown in FIG. 3 is classified as a left-side target vehicle 20 suitable for the purpose of lane keeping, and the vehicle 21 shown in FIG. 3 is classified as a right-side target vehicle 21 suitable for the purpose of lane keeping.

[0084] Thus, in the examples shown in FIGS. 2 and 3, due to the presence of three appropriate target vehicles 19, 20, 21, the virtual lane 23 can be advantageously determined based on the position data of the three target vehicles 19, 20, 21.

[0085] Next, the left boundary 35 of the virtual lane 23 (Figure 3) is determined by the position information M of the left target vehicle 20. L By determining the position information M of the target vehicle 21 on the right, and / or the position information M of the target vehicle 21 on the right. R The virtual lane 23 is determined by determining the right-side boundary 36 of the virtual lane 23 based on the following. For example, the lateral distance M between the driving path T and the left-side boundary 35. T The left boundary 35 of the virtual lane 23 is determined such that it is greater than a predetermined lateral threshold. Furthermore, the distance M between the driving path T and the right boundary 36 is determined. T The right-hand boundary 36 of the virtual lane 23 is determined such that it is greater than a predetermined lateral threshold. If both the left-hand target vehicle 20 and the right-hand target vehicle 21 are present, the lane keeping function of the vehicle 1 may be executed so that the vehicle 1 travels laterally (either in the middle or not in the middle) between the left-hand target vehicle 20 and the right-hand target vehicle 21.

[0086] Furthermore, for example, a first reserve center line 27 is derived based on the preceding target vehicle 19, and a second reserve center line 28 is derived based on the left target vehicle 20 and the right target vehicle 21. Then, the center line 29 of the virtual lane 23 is determined based on the first reserve center line 27 and the second reserve center line 28. In the examples shown in Figures 2 and 3, a symmetrical situation is illustrated in which the first reserve center line 27 and the second reserve center line 28 are identical. However, in other (more realistic) situations, the first reserve center line 27 and the second reserve center line 28 may not be identical. In such asymmetrical situations, the center line 29 of the virtual lane 23 may be determined based on the average or weighted average of the first reserve center line 27 and the second reserve center line 28.

[0087] The first reserve center line 27 of the virtual lane 23 is determined, for example, based on the lateral distance M1 (Figure 4) between the preceding target vehicle 19 and the own vehicle 1, and / or based on the trajectory 30 (Figure 3) of the preceding target vehicle 19. Note that Figure 3 illustrates a situation where the lateral distance between the preceding target vehicle 19 and the own vehicle 1 is zero, while Figure 4 illustrates a situation where the lateral distance between the preceding target vehicle 19 and the own vehicle 1 is greater than zero.

[0088] Furthermore, the second reserve center line 28 of the virtual lane 23 is determined, for example, such that the lateral distance M2 (Figure 4) between the second reserve center line 28 and the left target vehicle 20 is equal to the lateral distance M3 between the second reserve center line 28 and the right target vehicle 21. In other words, the second reserve center line 28 is the midpoint between the trajectory 31 of the left target vehicle 20 and the trajectory 32 of the right target vehicle 21.

[0089] If only one of the target vehicle 20 on the left or the target vehicle 21 on the right exists, the second reserve center line 28 is set to the lateral distance M between the vehicle 1 and the target vehicles 20, 21 on the right or left. L M R (Figure 3) The predetermined safety distance M S You may decide to proceed as described above.

[0090] As shown in Figure 3, the lane width W of the virtual lane 23 L The specified vehicle width W V The left offset value O1 (left-side offset value) and the right offset value O2 (right-side offset value) are determined to be equal to the sum of these two values. If a target vehicle 20 on the left is detected, the left offset value O1 is determined, for example, by the determined lateral distance M between the vehicle 1 and the target vehicle 20 on the left. L Determined based on (for example, O1 = 1 / 2M) L If no suitable target vehicle is detected in the left lane 12, the left offset value O1 is set to be equal to a predetermined value. Furthermore, if a target vehicle 21 on the right is detected, the right offset value O2 is set to, for example, the determined lateral distance M between the vehicle 1 and the right symmetrical vehicle. R Determined based on (for example, O2 = 1 / 2M) R If no suitable target vehicle is detected in the right lane 13, the right offset value O2 is set to be equal to a predetermined value.

[0091] In step S6 of this method, the control system 2 performs a lane keeping assist function to keep the vehicle 1 in the determined virtual lane 23. The control system 2 includes, for example, a lane keeping unit 33 (Figure 5) for performing the lane keeping assist function. The control system 2 further includes, for example, an output unit 34 (Figure 5) that outputs a command A to guide the vehicle toward the center line 29 of the determined virtual lane 23 without using the steering system (shown) of the vehicle 1.

[0092] Furthermore, if a preceding target vehicle is detected, an adaptive cruise control function may be executed based on the detected preceding target vehicle 19 to control the longitudinal distance N (Figure 4) between the vehicle 1 and the preceding target vehicle 19 to a constant distance value.

[0093] If only the preceding target vehicle 19 is detected and the left target vehicle 20 and / or the right target vehicle 21 are not detected, and the preceding target vehicle 19 begins to move away, for example, by changing lanes, the control system 2 may detect that the preceding target vehicle 19 is moving away, for example, based on the determined lateral speed of the preceding target vehicle 19 exceeding a predetermined speed threshold. In this case, the control system 2 may abandon the determination of a virtual lane 23 based on the preceding target vehicle 19 and may send a command to the HMI unit 17 to notify the driver, for example, by visual and / or audible notification. When the vehicle 1 approaches a new preceding vehicle (not shown), the control system 2 may determine whether the new preceding vehicle is suitable as a preceding target vehicle (may determine the overlap O ratio) and may determine a virtual lane 23 based on the position data of the new preceding vehicle.

[0094] Furthermore, if a target vehicle 20 on the left and / or a target vehicle 21 on the right are detected, cruise control may be implemented based on the detected target vehicle 20 on the left and / or a target vehicle 21 on the right, so that the speed of the vehicle 1 is controlled based on the speed of the target vehicle 20 on the left and / or a target vehicle 21 on the right.

[0095] In short, even if there are no lane markings on the road being used (Figure 2), the control system 2 can provide lane keeping assistance by determining a virtual lane 23 (Figure 3). Specifically, the virtual lane 23 is derived based on the driver of a vehicle traveling on the recognized center line 18 (Figure 2) of lane 11. Thus, the driver, who is in a favorable position to recognize and understand the overall scenario, is providing feedback to the control system 2 on where the correct lane 11 might be located. Furthermore, in addition to the driver's feedback, the virtual lane 23 is also determined by the position data M1, M21 of other vehicles 19, 20, 21 within the related region 22 (Figure 2). L M R This can be determined based on 30, 31, and 32. In this way, the lane keeping function can be improved.

[0096] Although the present invention has been described based on preferred embodiments, it will be apparent to those skilled in the art that all embodiments are modifiable. [Explanation of symbols]

[0097] 1 vehicle 2. Control System 3 Sensor System 4 Sensor Units 5 Sensor Unit 6 Sensor Unit 7 Sensor Unit 8 Surroundings 9 Windshield 10 road 11 lanes 12 lanes 13 lanes 14 Receiving Unit 15 detection units 16 Communication Unit 17 HMI Units 18 Chuo Line 19 vehicles 20 vehicles 21 vehicles 22 Related Fields 23 Virtual lanes 24 Decision Units 25 Left side 26 Right side 27. First Reserve Central Line 28. Third Reserve Central Line 29 Chuo Line 30 Trajectory 31 Trajectory 32 Trajectory 33 Lane Keeping Unit 34 Output Units 35 Boundary 36 Boundary A command B-command C Information (answer) D-command E-Answer L Length M1 Lateral distance M2 Lateral distance M3 lateral distance M L Horizontal distance M R Horizontal distance M S safety distance M T safety distance N Longitudinal distance O overlap O1 Left-side offset value O2 Right-side offset value P0 position P1 position S1-S6 Method Steps T driving path W D width W L width W V width

Claims

1. A method for operating the vehicle (1), a) Step (S1) receiving sensor data (S) from the sensor system (3) of the vehicle (1), b) A step (S2) of detecting the absence of lane markings based on the sensor data (S), c) A step (S3) in which a command (B) is transmitted to the human-machine interface (17) of the vehicle (1) to prompt the driver of the vehicle (1) to drive toward the recognized center line (18) of the lane (11), d) A step (S5) in which the driver drives towards the recognized center line (18) to which the driver is heading, e) Step (S6) to perform a lane keeping support function that keeps the vehicle (1) on the virtual lane (23), A method for providing this.

2. The system includes step (S4) of detecting the presence of one or more other vehicles (19, 20, 21) in the relevant region (22) based on the aforementioned sensor data, The virtual lane (23) is determined based on the recognized center line (18) that the driver drove towards, as well as the position information (M1, ML, MR, 30, 31, 32) of one or more other vehicles (19, 20, 21) relative to the vehicle (1). The position information (M1, ML, MR, 30, 31, 32) is determined based on the sensor data (S). The method according to claim 1.

3. f) A step in which, after the driver has driven toward the recognized center line (18), the driving path (T) of the vehicle (1) is determined based on the sensor data (S), wherein the length (L) of the driving path (T) corresponds to the distance traveled by the vehicle (1) in a predetermined time span, the width (WD) of the driving path (T) corresponds to a predetermined vehicle width (WV), and the related area (22) includes at least a portion of the driving path (T), g) A step of determining the ratio of overlap (O) between the determined travel path (T) and the vehicle (19) detected in the related area (22) that is preceding the vehicle (1), h) If the determined ratio of the overlap (O) exceeds a predetermined value, the step of determining that the preceding vehicle (19) is traveling in the same lane (11) as the vehicle itself (1) and is the preceding target vehicle (19), i) A step of determining the virtual lane (23) based on the position information (M1, 30) of the preceding target vehicle (19), The method according to claim 2, comprising:

4. If the ratio of the overlap (O) is less than or equal to the predetermined value and is determined to exceed a further predetermined value smaller than the predetermined value, then steps c) and g) to i) are repeated. If the ratio of the overlap (O) is determined to be less than or equal to the further predetermined value, the preceding vehicle (19) is determined to be unsuitable for determining the virtual lane (23). The method according to claim 3.

5. A step of determining the lateral distance (ML, MR) between the vehicle (1) and each of the one or more other vehicles (20, 21) detected in the related region (22) based on the sensor data (S), wherein the lateral distance (ML, MR) includes the left lateral distance (ML) relative to the left side (25) of the vehicle (1) and the right lateral distance (MR) relative to the right side (26) of the vehicle (1). If the determined left lateral distance (ML) exceeds a predetermined threshold, it is determined that another vehicle (20) is traveling in the lane (12) to the left of the vehicle (1) and is the left target vehicle (20); if the determined right lateral distance (MR) exceeds the predetermined threshold, it is determined that another vehicle (21) is traveling in the lane (13) to the right of the vehicle (1) and is the right target vehicle (21); The steps include determining the virtual lane (23) based on the position information (ML, MR, 31, 32) of the left target vehicle (20) and / or the right target vehicle (21) on the left adjacent lane (12) and / or the right adjacent lane (13), The method according to claim 3, comprising:

6. The step of determining the virtual lane (23) includes determining the left boundary (35) of the virtual lane (23) based on the position information (ML, 31) of the left target vehicle (20), and / or determining the right boundary (36) of the virtual lane (23) based on the position information (MR, 32) of the right target vehicle (21). The method according to claim 5.

7. The center line (29) of the virtual lane (23) is determined based on the first reserve center line (27) and / or the second reserve center line (28). The first reserve center line (27) is derived based on the detected preceding target vehicle (19), The second reserve center line (28) is derived based on the detected left target vehicle (20) and / or right target vehicle (21), The method according to claim 5.

8. The center line (29) of the virtual lane (23) is determined based on the average value and / or weighted average value of the first reserve center line (27) and the second reserve center line (28). The method according to claim 7.

9. If a preceding target vehicle (19) is detected, the first reserve center line (27) of the virtual lane (23) is determined based on the lateral distance (M1) between the preceding target vehicle (19) and the vehicle itself (1). When a target vehicle on the left (20) and a target vehicle on the right (21) are detected, the second reserve center line (28) of the virtual lane (23) is determined such that the lateral distance (M2) between the second reserve center line (28) and the target vehicle on the left (20) is equal to the lateral distance (M3) between the second reserve center line (28) and the target vehicle on the right (21), and / or When a target vehicle on the left (20) and / or a target vehicle on the right (21) are detected, the second reserve center line (28) of the virtual lane (23) is determined such that the lateral distance (ML) between the vehicle (1) and the target vehicle on the left (20) exceeds a predetermined safety distance (MS), and / or the lateral distance (MR) between the vehicle (1) and the target vehicle on the right (21) exceeds the predetermined safety distance (MS). The method according to claim 7.

10. The lane width (WL) of the virtual lane (23) is determined to be equal to the sum of the predetermined vehicle width (WV), the left offset value (O1), and the right offset value (O2). The left-side offset value (O1) is determined based on the determined lateral distance (ML) between the vehicle itself (1) and the left-side target vehicle (20), or the left-side offset value (O1) is set to be equal to a predetermined value, and / or The right-side offset value (O2) is determined based on the determined lateral distance (MR) between the vehicle (1) and the target vehicle (21) on the right side, or the right-side offset value (O2) is set to be equal to a predetermined value. The method according to claim 7.

11. Step c) is The command (B) is transmitted to the human-machine interface (17) to output a question to the driver regarding whether the driver intends to drive toward the recognized center line (18) of the lane (11), Receiving information (C) from the human-machine interface (17) corresponding to the driver's response, If the received information (C) corresponds to a positive response, a command (D) is sent to the human-machine interface (17) to prompt the driver to confirm that the driver is driving toward the recognized center line (18) of the lane. The method according to claim 1, including the method described in claim 1.

12. Adaptive cruise control is performed based on the detected preceding target vehicle (19) to control the longitudinal distance (N) between the vehicle (1) and the preceding target vehicle (19) to have a predetermined distance value, and / or, Cruise control is performed based on the detected target vehicle on the left (20) and / or the target vehicle on the right (21), and the speed of the vehicle (1) is controlled based on the speed of the target vehicle on the left (20) and / or the target vehicle on the right (21). The method according to claim 2.

13. A computer program, wherein, when the program is executed by a computer, the computer program includes an instruction that causes the computer to perform the method described in one of claims 1 to 12.

14. A control system (2) for a vehicle (1) configured to carry out the method described in one of claims 1 to 12.

15. A vehicle (1) comprising the control system (2) according to claim 14.

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