Method for checking a lane change request signal, computing device, assistance system, and vehicle

Abstract

One aspect of the invention relates to a method for checking a lane change request signal of an assistance system of a vehicle, said assistance system being designed to carry out a lane change from an ego lane of the vehicle to an adjacent lane, having the steps of receiving the lane change request signal, which describes a request for the feasibility of the lane change; receiving surroundings data, which describes the surroundings of the vehicle; detecting a leading vehicle and an approaching following vehicle in the surroundings data; and determining a first and a second relative dynamics characteristic, wherein the first relative dynamics characteristic describes the dynamics of the leading vehicle relative to the vehicle, and the second relative dynamics characteristic describes the dynamics of the approaching following vehicle relative to the vehicle, and after a comparison between the first relative dynamics characteristics and the second relative dynamics characteristics, a lane change signal can be output on the basis of the comparison, said lane change signal describing the feasibility of the lane change.

Description

[0001] Method for checking a lane change request signal, computing device, assistance system, vehicle

[0002] The present invention relates to a method for checking a lane change request signal from an assistance system of a vehicle. Furthermore, the present invention relates to a computing device for a vehicle for carrying out such a method. Furthermore, the present invention relates to an assistance system for a vehicle for carrying out a lane change from an ego lane of the vehicle to an adjacent lane. Finally, the present invention also relates to a vehicle.

[0003] Assistance systems for vehicles are known from the prior art in which the system takes over the lateral guidance of the vehicle in certain driving situations in such a way that the vehicle is guided and kept within the lane. Typically, the system must be constantly monitored by the driver during operation, although the driver can take their hands off the steering wheel at least temporarily. In contrast to the also already known lane keeping assistance systems, which intervene to correct the lateral guidance of the vehicle if the vehicle leaves its lane, the driver can thus be relieved of the driving task of steering, at least temporarily. The system is therefore not just limited to corrective interventions, such as in the event of lane departure, but continuously supports the driver in staying in lane. During operation of the assistance system, lane markings and / or a driven trajectory ora path of the vehicle in front is recorded and used as the basis for a path or trajectory of the vehicle to be planned.

[0004] Assistance systems for vehicles for performing lane changes, also known as lane change assistance systems, are known from the state of the art. The driver can typically indicate a lane change request to the system through a specific control action. This request can be signaled by activating a corresponding control element, for example, a turn signal lever for indicating the direction of travel. If such a control action is detected, the lane change assistance system can maneuver the vehicle along a planned trajectory into the adjacent lane or into the target lane. It is conceivable that the system could also automate the longitudinal guidance of the vehicle in addition to lateral guidance.

[0005] The object of the present invention is to show a solution how lane change assistance systems can be improved.

[0006] This object is achieved by the features of the independent claims. Further advantageous embodiments of the invention are specified in the dependent claims.

[0007] In this document, the term "automated driving" refers to driving with automated longitudinal and / or lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving while parking. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation are assisted, partially automated, conditionally automated, highly automated, and fully automated driving (with increasing levels of automation in each case). The five levels of automation mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021. In assisted driving (SAE Level 1), the system performs longitudinal or lateral guidance in specific driving situations.In partially automated driving (SAE Level 2), the system assumes longitudinal and lateral guidance in certain driving situations, whereby the driver must continuously monitor the system, as in assisted driving. In conditionally automated driving (SAE Level 3), the system assumes longitudinal and lateral guidance in certain driving situations without the driver having to continuously monitor the system; however, the driver must be able to assume control of the vehicle within a certain period of time upon request from the system. In highly automated driving (SAE Level 4), the system assumes control of the vehicle in certain driving situations, even if the driver does not respond to a request for intervention, thus eliminating the driver as a fallback. In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0008] For the purposes of this document, the term "lane" refers to a lane. A lane can be defined, for example, as in Section 7 of the German Road Traffic Regulations (StVO), as the part of a roadway that a multi-lane vehicle requires to travel unhindered along the roadway. The lane can be marked by road markings, such as lane markings, lane boundaries, or guide lines. A lane can be a continuous lane, a merging and exiting lane, an acceleration and deceleration lane, a special lane for buses, taxis, or bicycles, or an additional lane within a specific section of road.

[0009] One aspect of the invention relates to a method for checking a lane change request signal from an assistance system of a vehicle, wherein the assistance system is configured to perform a lane change from an ego lane to an adjacent lane of the vehicle, comprising receiving the lane change request signal, which describes a request for the feasibility of the lane change. The method also comprises receiving environmental data, which describe an environment of the vehicle. The method further comprises detecting a leading vehicle and an approaching following vehicle in the environmental data. Furthermore, the method comprises determining a first and a second relative dynamics characteristic, wherein the first relative dynamics characteristic describes a dynamics of the leading vehicle relative to the vehicle and the second relative dynamics characteristic describes a dynamics of the approaching following vehicle relative to the vehicle.Following a comparison of the first relative dynamics characteristic with the second relative dynamics characteristic, a lane change signal can be output depending on the comparison, wherein the lane change signal describes the feasibility of the lane change.

[0010] The method can be carried out, for example, using a computing device. The computing device can be embodied, for example, as at least one electronic control unit of the vehicle, which comprises one or more programmable processors. Furthermore, the computing device can have a computer-readable storage medium on which a computer program is stored. In order to carry out corresponding method steps, such as determining the first and second relative dynamics parameters, the computer program can be executed on the computing device.

[0011] The procedure for checking the lane change request signal is intended to determine whether a lane change can be performed safely in the current situation. The ego lane refers to the lane or lane in which the vehicle is located. The adjacent lane can be either a lane to the left or right of the vehicle. Furthermore, the adjacent lane does not have to be located directly adjacent to the ego lane. For example, one or more lanes can be located between the adjacent lane and the ego lane.

[0012] To check the lane change request signal, the lane change request signal can first be received. The lane change request signal can describe the request of the assistance system and / or a driver of the vehicle in the form of a request. In the case of the assistance system, this request can arise, for example, as a result of the currently planned trajectory or the currently planned path. A conceivable scenario here is, in addition to an overtaking maneuver due to a slower vehicle in front, also the pursuit of a current navigation destination (e.g., changing lanes to reach a motorway exit or the like). As already indicated, the request to perform a lane change can also be expressed by the driver of the vehicle in the form of an operating action, e.g., by actuating a control element.

[0013] During the check, particular consideration should be given to the vehicle in front and the approaching vehicle behind. For this purpose, environmental data describing the vehicle's surroundings can be received. The environmental data can be provided, in particular, by an environmental sensor of the vehicle. The environmental sensor can be a radar, a lidar, a camera sensor, or the like. It is also conceivable for the environmental data to describe (fused) data from multiple environmental sensors. The multiple environmental sensors can also combine a wide variety of sensor technologies. Furthermore, it is conceivable for the environmental data to be provided via vehicle-to-vehicle communication (car-to-car communication) or, more generally, C2X communication.

[0014] Based on the surrounding data, the vehicle in front and the approaching vehicle behind can be detected and / or identified. This can be achieved, for example, using object recognition, as well as at a deeper sensor data processing level, for example, at the detection or recognition level.

[0015] The leading vehicle and the approaching following vehicle are recorded at the point cloud level. Furthermore, the leading vehicle and the approaching following vehicle can be assigned to a lane, so that the leading vehicle and the approaching following vehicle can be characterized and identified as such.

[0016] Depending on the data included in the environmental data, the detection or identification of the vehicle in front and the approaching following vehicle may itself include determining a speed parameter for the vehicle in front and / or the approaching following vehicle. In other words, the first and second relative dynamic parameters can be determined directly within the context of the detection of the vehicle in front and the approaching following vehicle.

[0017] When determining the first and second relative dynamics parameters, for example, a relative speed of the vehicle in front and / or the approaching following vehicle can be determined. A relative dynamics parameter for a potentially new vehicle in front in the adjacent lane can also be determined. However, the first and second relative dynamics parameters can also be an acceleration of the vehicle in front and / or the approaching following vehicle. However, it can also be advantageous if, for example, taking other parameters into account, the first and / or the second relative dynamics parameter describe a parameter derived from the speed, distance and / or acceleration. The first and second relative dynamics parameters can therefore also describe, for example, a so-called time headway, which describes a time-measured distance / duration between two objects moving relative to one another.Another example of derived parameters that can be described by the first and / or second relative dynamics parameter is the so-called time-to-collision (TTC), which describes the time until a collision between two objects. It can also be a difference in speed between the vehicle in front and the vehicle, a difference in speed between the approaching vehicle behind and the vehicle behind, or a difference in speed between the vehicle in front and the approaching vehicle behind, as well as any other difference in speed.

[0018] By comparing the first relative dynamics parameter with the second relative dynamics parameter, a decision can be made regarding the feasibility of the lane change request. The comparison can include a comparison using a mathematical operator (e.g., a Boolean logical operator). For example, speeds (with or without a threshold) can be compared.

[0019] The comparison can also be performed (additionally or alternatively) using a decision table. The decision table can be used to consistently map complex dependencies between multiple conditions of the first and second relative dynamics parameter. The comparison can also include a decision tree.

[0020] The decision, or the result of comparing the first relative dynamics parameter with the second relative dynamics parameter or the additional relative dynamics parameters, can also be based on the application of a binary classifier. Possible classifiers can include support vector machines, random (decision) forests, Bayesian networks, neural networks, or similar. In this case, it is also particularly conceivable for the binary classifiers to be trained using real driving data.

[0021] Finally, the lane change signal can be output depending on the comparison. The lane change signal can, for example, be an electrical signal that is output to the vehicle's assistance system. The lane change signal can confirm that the lane change from the vehicle's ego lane to the adjacent lane can be performed safely. The assistance system can then perform the lane change from the vehicle's ego lane to the adjacent lane.

[0022] However, the lane change signal can also indicate that the lane change cannot currently be performed without risk. As a result, the assistance system may abort the lane change or not comply with the driver's request, or may do so at a later time.

[0023] A further embodiment of the method provides that the first relative dynamics parameter describes a speed difference between the vehicle and the vehicle in front. This is particularly advantageous when the vehicle is traveling at a higher speed than the vehicle in front. The speed difference can, for example, provide information about how much time a possible overtaking maneuver will take. The speed difference can also be used to decide how urgent a lane change is. In the case of a small speed difference (e.g., less than 10 km / h), a lane change may be less necessary under certain circumstances than in the case of a large speed difference. In other words, in the case of a small speed difference, reducing the vehicle's speed may also be considered or may even bring advantages.If the first relative dynamics parameter describes a speed difference, a well-founded decision can be made when checking the lane change request signal. Furthermore, the speed difference can be measured explicitly, for example, by a radar sensor using the Doppler effect.

[0024] A further embodiment of the method provides that the second relative dynamics parameter describes a time headway between the vehicle and the approaching following vehicle, wherein the time headway describes a time-measured or determined distance / duration between the vehicle and the approaching following vehicle. The time headway typically describes a safety distance from a vehicle ahead that is preferred by drivers. The driver implicitly takes their own speed into account and typically selects a distance from a vehicle ahead of around one to three seconds. The driver may therefore find it pleasant if the assistance system also regulates the longitudinal guidance of the vehicle according to such a time headway. This can improve the driver's trust in the assistance system.

[0025] Analyses have now shown that a safety distance to a vehicle behind the vehicle that is based on a time headway is also perceived as pleasant. It can therefore be advantageous if the second relative dynamics parameter describes a time headway or a time to collision (TTC) between the vehicle and the approaching vehicle. This allows the driver's sense of safety to be taken into account when assessing or comparing the first relative dynamics parameter with the second relative dynamics parameter and thus when checking the lane change request signal from the assistance system. For example, a short time headway or a short TTC can indicate that the distance to the approaching vehicle is too small and that the lane change cannot therefore be carried out safely or that the driver's safety request cannot be met when carrying out the lane change.For example, by comparing the speed difference between the vehicle and the vehicle in front with the time headway between the vehicle and the approaching following vehicle, it can be weighed up whether the driver's desire for safety or the urgency of changing lanes (e.g. because of the risk of colliding with the vehicle in front) prevails in the case of a lane change.

[0026] A further embodiment of the method provides that the vehicle in front and / or the approaching following vehicle is assigned to a lane, wherein the determination and / or comparison of the first relative dynamics parameter with the second relative dynamics parameter is carried out when the vehicle in front is assigned to the ego lane and / or the approaching following vehicle is assigned to the adjacent lane of the vehicle. The lanes can be detected, for example, using a camera sensor. By assigning the vehicle in front and / or the following vehicle to a lane, a more informed decision can be made. This can be particularly relevant if the vehicle in front is in the ego lane and / or if the following vehicle is in the adjacent lane. In such cases, in particular, a decision must be made as to whether there is no risk of collision with the approaching following vehicle in the event of an overtaking maneuver.

[0027] A further embodiment of the method provides that the assistance system is configured for automated driving according to SAE Level 3, and the lane change request signal is based on a lane change request from the assistance system. In general, the lane change request can describe a request / desire from the assistance system to change lanes as a result of a planned trajectory or path. Particularly with automated driving according to SAE Level 3 or 4, additional safety checks may be necessary to achieve a corresponding safety level (ASIL - Automotive Safety Integrity Level). Using the method for checking the lane change request signal, a further safety check can be provided.

[0028] A further embodiment of the method provides that the lane change request signal is based on a lane change request from a vehicle user, and a warning signal is issued instead of the lane change signal if the comparison indicates that the lane change is not feasible. Additional safety checks can be advantageous to increase the safety of using the assistance system. If, for example, the user or driver misjudges the situation, which can be the case particularly at high speeds and with rapidly approaching vehicles, the method for checking the lane change request signal can prevent a dangerous driving situation resulting from a lane change request based on a misjudgment by the driver and already signaled. Overall safety can thus be increased. In addition, the driver can be given feedback about their misjudgment.

[0029] A further aspect of the invention relates to a computing device for a vehicle, which is configured to execute a method according to the invention for checking a lane change request signal of an assistance system and the advantageous embodiments thereof. The computing device can be designed, for example, as an electronic control unit comprising one or more programmable processors. The computing device can also be integrated into the assistance system itself or into a control unit that executes driving functions of the assistance system.

[0030] A further aspect of the invention relates to an assistance system for a vehicle for performing a lane change from an ego lane to an adjacent lane of the vehicle. The assistance system is configured to receive a lane change request signal describing a request for the feasibility of the lane change. The assistance system is also configured to receive environmental data describing the environment of the vehicle. The assistance system is also configured to recognize a leading vehicle and an approaching following vehicle in the environmental data. The assistance system is further configured to determine a first and a second relative dynamics characteristic, wherein the first relative dynamics characteristic describes the dynamics of the leading vehicle relative to the vehicle, and the second relative dynamics characteristic describes the dynamics of the approaching following vehicle relative to the vehicle.Finally, the assistance system is configured to compare the first relative dynamics parameter with the second relative dynamics parameter and to output a lane change signal depending on the comparison, wherein the lane change signal describes the feasibility of the lane change.

[0031] The assistance system can include one or more environmental sensors.

[0032] Environmental sensors can be radar, lidar, and / or camera sensors. The environmental sensors can provide environmental data, which can also be fused data from multiple (technologically different) environmental sensors or an environment or environment model.

[0033] A further aspect of the invention relates to a vehicle comprising an assistance system according to the invention for performing a lane change from an ego lane to an adjacent lane of the vehicle. The vehicle can be designed, in particular, as a passenger car.

[0034] The present invention also relates to a computer-readable storage medium comprising instructions which, when executed by a computing device, cause the computing device to execute a method according to the invention for checking a lane change request signal from an assistance system and the advantageous embodiments thereof. Finally, the present invention also relates to a computer program comprising instructions which, when executed by a computing device, cause the computing device to execute a method according to the invention for checking a lane change request signal from an assistance system and the advantageous embodiments thereof.

[0035] The preferred embodiments presented with reference to the method according to the invention and their advantages apply accordingly to the computing device according to the invention, to the assistance system according to the invention, and to the vehicle according to the invention. Furthermore, the preferred embodiments presented with reference to the method according to the invention and their advantages also apply to the computer-readable storage medium according to the invention and to the computer program according to the invention.

[0036] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0037] The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings. Figure 1 shows a schematic representation of a vehicle comprising an assistance system for performing a lane change and a computing device for checking a lane change request;

[0038] Fig. 2 is a schematic representation of a leading vehicle, an approaching following vehicle and an (ego) vehicle including its lane change trajectory; and

[0039] Fig. 3 is a schematic representation of an environment model of a traffic situation based on environment data according to Fig. 2.

[0040] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0041] Fig. 1 shows a schematic representation of a vehicle 1, comprising an assistance system 2 for performing a lane change and a computing device 3 for checking a lane change request. The vehicle 1 includes environment sensors 4, 5, and 6, wherein the environment sensors 4 and 6 are configured as radar sensors in the embodiment of Fig. 1. The environment sensor 5 is configured as a camera sensor.

[0042] The data from the environmental sensors 4, 5, 6 can first be merged in a central sensor control unit 7 to form environmental data 8, for example in the form of an environmental model. The environmental data 8 can then be received by the computing device 3.

[0043] Furthermore, vehicle 1 includes a turn signal lever 9 as a control element for the driver to signal a lane change request or lane change intention. Furthermore, a lane change request can also be indicated by the assistance system, provided this assistance system is configured for at least partially automated driving. The lane change request can be received by the computing device 3 in the form of a lane change request signal.

[0044] The computing device 3 can detect a leading vehicle 11 and an approaching following vehicle 12 using the surroundings data 8. In the exemplary embodiment, the lanes and the corresponding lane markings can be detected based on the surroundings data 8, in particular based on the data from the camera sensor 5.

[0045] The computing device 3 can then determine a first and a second relative dynamics characteristic, wherein the first relative dynamics characteristic describes a dynamics of the leading vehicle 11 relative to the vehicle 1, and the second relative dynamics characteristic describes a dynamics of the approaching following vehicle 12 relative to the vehicle 1. After comparing the first relative dynamics characteristic with the second relative dynamics characteristic, a lane change signal 15 can be output depending on the comparison. The lane change signal 15 can describe the feasibility of the lane change along a lane change trajectory 16.

[0046] Fig. 2 shows a schematic representation of a leading vehicle 11, an approaching following vehicle 12 and an (ego) vehicle 1 including its lane change trajectory 16. In the traffic situation of Fig. 2, the vehicle 1 and the leading vehicle 11 are located in an ego lane 13. The approaching following vehicle 12 is located in an adjacent lane 14.

[0047] Fig. 3 shows a schematic representation of an environment model of a traffic situation according to Fig. 2 based on environment data 8. Based on the environment data 8, the data from the environment sensors 4, 5, 6, and / or an additional evaluation, dynamic data, such as a speed or the like, can be assigned to the vehicle in front 11 and the approaching following vehicle 12. In the traffic situation from Fig. 2 or Fig. 3, a (detected) speed of the respective vehicle is represented in the form of a speed vector 17. The magnitude of the respective speed is determined by the magnitude (i.e., the length) of the speed vector 17.

[0048] The leading vehicle 11 has the lowest speed. This results in a speed difference 18 between vehicle 1 and the leading vehicle 11. The speed difference 18 can be determined and used as the first relative dynamic characteristic.

[0049] In the example of Fig. 2 or Fig. 3, the approaching following vehicle 12 has the highest speed in terms of absolute value. Therefore, a time headway and / or TTC 19 between vehicle 1 and the approaching following vehicle 12 can be determined, with the time headway 19 describing a temporally measured distance between vehicle 1 and the approaching following vehicle 12. The time headway 19 can be determined and used as the second relative dynamics parameter. The comparison can now be performed, for example, using a decision table, a binary classifier, or the like.

[0050] List of reference symbols

[0051] vehicle

[0052] Assistance system

[0053] computing device

[0054] Surroundings sensor (front radar sensor)

[0055] Environment sensor (camera sensor)

[0056] Surroundings sensor (rear side radar sensor)

[0057] Sensor control unit

[0058] Environmental data

[0059] Turn signal lever

[0060] Lane change request signal

[0061] Front vehicle

[0062] Following vehicle

[0063] Ego lane adjacent lane

[0064] Lane change signal

[0065] Lane change trajectory

[0066] Velocity vector

[0067] Speed ​​difference

[0068] Time-Headway

Claims

Claims 1. A method for checking a lane change request signal (10) of an assistance system (2) of a vehicle (1), wherein the assistance system (2) is configured to perform a lane change from an ego lane to an adjacent lane (14) of the vehicle (1), comprising the steps: - receiving the lane change request signal (10) which describes a request for the feasibility of the lane change, - receiving environmental data (8) which describe an environment of the vehicle (1), - detecting a leading vehicle (11) and an approaching following vehicle (12) in the surrounding data (8), - Determining a first and a second relative dynamics characteristic, wherein the first relative dynamics characteristic describes a dynamic of the leading vehicle (11) relative to the vehicle (1) and the second relative dynamics characteristic describes a dynamic of the approaching following vehicle (12) relative to the vehicle (1), - comparing the first relative dynamics parameter with the second relative dynamics parameter, and - Outputting a lane change signal (15) depending on the adjustment, wherein the lane change signal (15) describes the feasibility of the lane change.

2. Method according to claim 1, characterized in that the first relative dynamic characteristic describes a speed difference (18) between the vehicle (1) and the vehicle in front (11).

3. Method according to claim 1 or 2, characterized in that the second relative dynamic characteristic describes a time headway between the vehicle (1) and the approaching following vehicle (12), wherein the time headway describes a time-measured distance / duration between the vehicle (1) and the approaching following vehicle (12).

4. Method according to one of the preceding claims, characterized in that - a leading vehicle (11) and / or the approaching following vehicle (12) is assigned to a lane, and - the determination and / or comparison of the first relative dynamics characteristic with the second relative dynamics characteristic is carried out when the front vehicle (11) is assigned to the ego lane of the vehicle (1) and / or the approaching following vehicle (12) is assigned to the adjacent lane (14) of the vehicle (1).

5. Method according to one of the preceding claims, characterized in that the assistance system (2) is set up for automated driving according to SAE Level 3, and the lane change request signal is based on a lane change request of the assistance system (2).

6. Method according to one of claims 1 to 4, characterized in that - the lane change request signal is based on a lane change request from a user of the vehicle (1), and - a warning signal is issued instead of the lane change signal (15) if the comparison shows that the lane change is not feasible.

7. Computing device (3) for a vehicle (1), which is configured to carry out a method for checking a lane change request signal (10) of an assistance system (2) according to one of the preceding claims.

8. Assistance system (2) for a vehicle (1) for carrying out a lane change from an ego lane to an adjacent lane (14) of the vehicle (1), wherein the assistance system (2) is configured to - to receive a lane change request signal describing a request for the feasibility of the lane change, - to receive environmental data (8) which describe an environment of the vehicle (1), - to detect a leading vehicle (11) and an approaching following vehicle (12) in the surrounding data (8), - to determine a first and a second relative dynamics characteristic, wherein the first relative dynamics characteristic describes a dynamic of the vehicle in front (11) relative to the vehicle (1) and the second relative dynamics characteristic describes a dynamic of the approaching following vehicle (12) relative to the vehicle (1), - to compare the first relative dynamics parameter with the second relative dynamics parameter, and - to output a lane change signal (15) depending on the adjustment, wherein the lane change signal (15) describes the feasibility of the lane change.

9. Assistance system (2) according to claim 7, which is configured to carry out a method according to one of claims 2 to 6.

10. Vehicle (1), in particular a passenger car, comprising an assistance system (2) according to claim 8 or 9.

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