Traffic jam warning for approaching the end of a traffic jam

Abstract

The invention relates to a method for generating and outputting a traffic jam warning for approaching the end (30) of a traffic jam for a vehicle (10) with at least one surroundings sensor (14, 16) for capturing surroundings (18) of the vehicle (10), said method comprising the steps of: receiving traffic jam information, wherein the traffic jam information contains a position of a forecast end (30) of the traffic jam, or the forecast end (30) of the traffic jam can be determined from the traffic jam information; capturing a position and direction of travel (20) of the vehicle (10); capturing the surroundings (18) of the vehicle (10) based on sensor information from at least one surroundings sensor (14, 16) of the vehicle (10); locating the position of the forecast end (30) of the traffic jam in the surroundings (18) of the vehicle (10); carrying out a plausibility check as to whether the position of the forecast end (30) of the traffic jam is ahead of the vehicle (10) in the direction of travel (20) and is not in the field of view of the at least one surroundings sensor (14, 16) of the vehicle (10) in the surroundings (18) of the vehicle (10); and outputting a traffic jam warning for the position of the forecast end (30) of the traffic jam if the plausibility check is positive. The invention also relates to a corresponding driving assistance system (12) for generating and outputting a traffic jam warning for approaching the end (30) of a traffic jam for a vehicle (10).

Description

[0001] Traffic jam warning when approaching the end of a traffic jam

[0002] The present invention relates to a method for generating and outputting a traffic jam warning for approaching the end of a traffic jam for a vehicle having at least one environmental sensor for detecting an environment of the vehicle.

[0003] The present invention also relates to a driving assistance system for generating and outputting a traffic jam warning for a vehicle approaching the end of a traffic jam.

[0004] Especially when driving on highways and other expressways, driving at high speeds can be dangerous if unforeseen obstacles are located in front of the vehicle. Such obstacles can be other road users, objects, animals, or people. A common problem is recognizing the end of a traffic jam as an obstacle in time to reduce speed before reaching the end and safely approach the end of the traffic jam.

[0005] To assist drivers, there are already systems that use environmental sensors to monitor the area in front of the vehicle and detect obstacles on the road ahead. Such obstacles include, for example, the end of a traffic jam that the vehicle is approaching.

[0006] For example, an optical camera can be used as an environmental sensor to monitor the road ahead of the vehicle, with obstacles reliably detected using artificial intelligence, for example. A similar approach applies when using a LiDAR-based environmental sensor, with one strength of the LiDAR-based environmental sensor being its ability to detect distances to potential obstacles. Overall, a combination of an optical camera with a LiDAR-based environmental sensor has proven particularly reliable for detecting obstacles based on the optical camera and determining the distances to the obstacles based on the LiDAR-based environmental sensor. For such systems to issue reliable warnings, a line of sight to the end of the traffic jam is required.Therefore, such systems are not suitable, or only suitable to a limited extent, for reliably detecting the end of a traffic jam on winding roads, particularly in valleys, tunnels, forests, or similar areas, as well as on mountain tops. Furthermore, both optical cameras and LiDAR-based environmental sensors have a limited range, meaning that the end of a traffic jam can sometimes only be detected with little lead time and therefore little preparation time. This can be particularly disadvantageous when driving on expressways and motorways. In addition, the function of the environmental sensors can be impaired, for example due to weather conditions such as rain or fog, meaning that the end of a traffic jam cannot be reliably detected. False warnings, i.e. the issuing of warnings in cases where there is no end of a traffic jam in front of the vehicle in the direction of travel, must also be avoided.

[0007] Alternatively, systems are also known that detect the end of a traffic jam based on externally provided traffic information. The traffic information can be provided, for example, via radio, by navigation systems with a cloud connection, or by corresponding telematics systems. While these systems can detect the end of a traffic jam with sufficient lead time, they are often very inaccurate and require continuous reception of traffic information, which can involve additional costs, especially when using a mobile phone connection. It is also necessary that the traffic information is always up-to-date and highly accurate. Neither of these is currently available, so these systems often issue false or erroneous warnings. This impairs traffic flow and increases the danger for the vehicle and other road users.User acceptance of such systems is also reduced if false or erroneous warnings are frequently issued.

[0008] Based on the above-mentioned prior art, the invention is therefore based on the object of specifying a method for generating and outputting a traffic jam warning for approaching the end of a traffic jam for a vehicle with at least one environmental sensor for detecting an environment of the vehicle and a corresponding driving assistance system for generating and outputting a traffic jam warning for approaching the end of a traffic jam for a vehicle, which has a high level of reliability with a low rate of false warnings.

[0009] The object is achieved according to the invention by the features of the independent claims. Advantageous embodiments of the invention are specified in the subclaims.

[0010] According to the invention, a method is thus provided for generating and outputting a traffic jam warning for approaching the end of a traffic jam for a vehicle having at least one environmental sensor for detecting the surroundings of the vehicle, comprising the steps of receiving traffic jam information, wherein the traffic jam information contains a position of a predicted end of the traffic jam, or the predicted end of the traffic jam can be determined from the traffic jam information, detecting a position and direction of travel of the vehicle, detecting the surroundings of the vehicle based on sensor information from at least one environmental sensor of the vehicle, locating the position of the predicted end of the traffic jam in the surroundings of the vehicle, performing a plausibility check as to whether the position of the predicted end of the traffic jam is in front of the vehicle in the direction of travel and not in the field of view of the at least one environmental sensor of the vehicle in the surroundings of the vehicle,and issuing a traffic jam warning for the position of the predicted end of the traffic jam if the plausibility check is positive.

[0011] According to the invention, a driving assistance system for generating and outputting a traffic jam warning for a vehicle approaching the end of a traffic jam is also specified, comprising a receiving device for receiving traffic jam information, wherein the traffic jam information contains a position of a predicted end of a traffic jam, or the predicted end of a traffic jam can be determined from the traffic jam information, a position detection device for detecting a position and direction of travel of the vehicle, at least one environmental sensor for detecting an environment of the vehicle, a computing unit, and a data connection which connects the receiving device, the position detection device, the at least one environmental sensor and the computing unit to one another, wherein the driving assistance system is designed to carry out the method for generating and outputting a traffic jam warning for a vehicle approaching the end of a traffic jam according to one of the preceding claims.The basic idea of ​​the present invention is therefore to perform a plausibility check on the received traffic jam information in order to only issue traffic jam warnings if the predicted end of the traffic jam is not perceptible to the vehicle according to the received traffic jam information, and also could not be perceptible. If the predicted end of the traffic jam is not perceptible to the vehicle according to the received traffic jam information, but is located at a position where it could be perceptible to the vehicle, the received traffic jam information is considered erroneous and is therefore ignored for the corresponding predicted end of the traffic jam or does not lead to the issuance of a traffic jam warning. The received traffic jam information is not plausible or can be discarded as implausible. Otherwise, i.e.If the predicted end of the traffic jam is not perceptible to the vehicle, it cannot be ruled out that the received traffic jam information is correct. The received traffic jam information is plausible or is considered plausible, and the traffic jam warning can be issued for the position of the predicted end of the traffic jam to warn the driver or to process the warning in another way within the vehicle, for example, in another driver assistance system or a system for autonomous or at least partially autonomous driving.

[0012] While traffic jam warnings based on traffic jam information are well known, since a traffic jam can be dynamic or even highly dynamic, and the traffic jam information can be low-resolution, imprecise, outdated, or even erroneous, this additional verification is useful and helpful for issuing traffic jam warnings with high reliability and a low rate of false alerts.

[0013] In this method, traffic jam warnings are issued when traffic jam information predicts the end of a traffic jam, but the predicted end of the traffic jam cannot be perceived by the vehicle. This does not affect the issuance of traffic jam warnings in cases where the predicted end of the traffic jam can also be perceived by the vehicle, i.e., when the predicted end of the traffic jam is visible. This is at least implicitly part of the method, as well as of the driver assistance system for issuing traffic jam warnings, whereby the end of the traffic jam can be detected autonomously, i.e., exclusively by the vehicle, or based on received traffic jam information.

[0014] Within the field of view of the at least one environmental sensor, it is easy to check whether the end of a traffic jam is located there. Therefore, if the position of the predicted end of the traffic jam is within the field of view of the at least one environmental sensor, it can be checked based on this whether the received traffic jam information, i.e., the position of the predicted end of the traffic jam, is correct or not. If the position of the predicted end of the traffic jam is not within the field of view of the at least one environmental sensor, a warning can be issued.

[0015] Additionally, a warning is issued if the position of the predicted end of a traffic jam cannot be detected, even though it is within the field of view of at least one environmental sensor, because the position of the predicted end of a traffic jam represents a potential hazard to the vehicle and its occupants. This reduces the risk of false warnings. By receiving traffic jam information, the end of a traffic jam can be detected with a high degree of reliability.

[0016] The vehicle's surroundings are detected using at least one environmental sensor. The at least one environmental sensor is mounted on the vehicle and can be part of the driving assistance system or part of another component of the vehicle. Different types of environmental sensors can be used alone or in different combinations, as explained in detail below.

[0017] The traffic jam information can be received in various ways, as explained further below. The traffic jam information is typically received while driving, but can also be received entirely or partially before the vehicle is started, for example, via a Wi-Fi connection at the vehicle's location. The received traffic jam information directly contains the position of a respective predicted end of the traffic jam for one or more traffic jams. Alternatively, the predicted end of the traffic jam can be determined from the traffic jam information. The position is typically specified in an absolute reference system, for example, a geodetic coordinate system. The receiving device for receiving the traffic jam information is designed accordingly.

[0018] The detection of the vehicle's position and direction of travel typically occurs while driving, as explained in detail below. It is also possible to detect the position based on landmarks in the vehicle's surroundings. The vehicle's position and direction of travel can each be determined relative to an initial value, for example, a starting value at the start of the journey, and / or as independent values. The position detection device for detecting the vehicle's position and direction of travel is designed accordingly.

[0019] The vehicle's surroundings are detected based on sensor information from at least one environmental sensor of the vehicle. The above statements regarding the at least one environmental sensor apply. The at least one environmental sensor for detecting the vehicle's surroundings provides the corresponding sensor information with which the surroundings can be detected. Sensor information from a plurality of similar environmental sensors or environmental sensors of different types can be fused to reliably detect the vehicle's surroundings.

[0020] The position of the predicted end of the traffic jam in the vehicle's surroundings is located relative to the vehicle's position. This allows, for example, the distance to and / or approach speed of the predicted end of the traffic jam to be determined. This does not affect the reception of traffic jam information or the recording of the vehicle's position in any common reference system.

[0021] The output of the traffic jam warning for the position of the predicted end of the traffic jam, if the plausibility check is positive, can in principle be done via any user interface (UI) of the vehicle. Alternatively, the driving assistance system can have its own output unit for outputting the traffic jam warning. This allows the vehicle's occupants, in particular a driver, to be warned. Alternatively or additionally, an internal warning can be generated for a driving assistance function or a function for autonomous or semi-autonomous driving. The computing unit can be any data processing unit that carries out the method for generating and outputting a traffic jam warning for approaching the end of a traffic jam. Such computing units are known in the automotive sector as electronic control units (ECUs).

[0022] The data connection interconnects the receiving device, the position detection device, the at least one environmental sensor, and the computing unit. The data connection can comprise a data bus that interconnects the receiving device, the position detection device, the at least one environmental sensor, and the computing unit, as well as other optional components. Various bus systems such as CAN, FlexRay, LON, and others are known as data buses in the automotive sector. Alternatively or additionally, the data connection can comprise one or more point-to-point connections between the receiving device, the position detection device, the at least one environmental sensor, and the computing unit.

[0023] In an advantageous embodiment of the invention, receiving traffic jam information comprises receiving the traffic jam information via a communication connection from a cloud-based traffic jam information service or from another road user, or receiving traffic jam information comprises receiving the traffic jam information in the manner of a radio transmission. The traffic jam information can thus be received in different ways from different sources. When receiving the traffic jam information via a communication connection, the received traffic jam information can already be individually adapted to the position and / or direction of travel of the vehicle, for example if the position of the vehicle is known in the cloud-based traffic jam information service. Corresponding communication systems for communicating with the cloud-based traffic jam information service or the other road user are known as such.Receiving traffic information in the manner of a broadcast transmission can be carried out using a corresponding receiver, typically referred to as a radio. Such systems are known, for example, as TMC (Traffic Message Channel). In an advantageous embodiment of the invention, detecting a vehicle's position and direction of travel comprises receiving satellite data from a global navigation satellite system. The position detection device comprises a corresponding receiver for satellite data from the global navigation satellite system. The satellite data can be received according to one of the GPS, Galileo, Beidou, or GLONASS standards. Corresponding receivers are known as such. A combination of several global navigation satellite systems can also be used to determine the vehicle's position.

[0024] In an advantageous embodiment of the invention, detecting a position and direction of travel of the vehicle comprises receiving odometry data from at least one odometry sensor of the vehicle. Particularly in areas with poor or disrupted satellite data reception, for example in tunnels, the position of the vehicle can be continuously determined using odometry data such as wheel revolutions (wheel tics) and / or a steering angle, starting from a previous, known position. Corresponding odometry sensors are known per se. Furthermore, the odometry data can be provided with a low latency compared to the reception of satellite data from a global navigation satellite system, so that the position and direction of travel of the vehicle can be detected particularly up-to-date.

[0025] In an advantageous embodiment of the invention, detecting the surroundings of the vehicle based on sensor information from at least one environmental sensor of the vehicle comprises detecting the surroundings of the vehicle based on sensor information from at least one environmental sensor from a group comprising an optical camera, a LiDAR-based environmental sensor, and a radar sensor. Such environmental sensors can provide various types of sensor information for further processing. Such environmental sensors can be selected and used alone or in any combination.

[0026] In an advantageous embodiment of the invention, performing a plausibility check comprises generating and / or updating an environmental map based on the sensor information from the at least one environmental sensor of the vehicle for detecting the surroundings of the vehicle, locating the position of the vehicle based on the detected position and direction of travel of the vehicle in the environmental map, locating the position of the predicted end of the traffic jam based on the received traffic jam information in the environmental map, and performing the plausibility check to determine whether the position of the predicted end of the traffic jam lies in front of the vehicle in the direction of travel and not in the field of view of the at least one environmental sensor of the vehicle in the surroundings of the vehicle, based on the environmental map. The environmental map represents a simple means for locating objects, including the predicted end of the traffic jam.In the surroundings map, areas can also be identified that are within the field of view of the at least one environmental sensor of the vehicle. Or, for each predicted end of a traffic jam, a check can be made to determine whether it is within the field of view of the at least one environmental sensor of the vehicle. In both cases, the plausibility check can be easily performed using the surroundings map. The surroundings map can also be combined with map information, for example, from a map or navigation service of the vehicle, which facilitates both the detection of the vehicle's surroundings and the plausibility check. Furthermore, sensor information from a plurality of environmental sensors can be easily displayed together in the surroundings map. Furthermore, the surroundings map can be used universally.In particular, the surrounding area map can be used jointly by different driving assistance systems, with the surrounding area map only needing to be created once and updated each time. The surrounding area map can be created and updated by the driving assistance system itself or by another system in the vehicle.

[0027] In an advantageous embodiment of the invention, the method comprises a step for performing a relevance check of the received traffic jam information for the vehicle based on the position of the predicted end of the traffic jam, the detected position of the vehicle, and the detected direction of travel of the vehicle. The relevance check can be used to check whether the predicted end of the traffic jam is actually near the vehicle, or whether the vehicle is approaching the predicted end of the traffic jam. The relevance check can, for example, be performed immediately when the traffic jam information is received and the position and direction of travel of the vehicle have been detected. The relevance check of the traffic jam information for the vehicle can be performed in addition to the plausibility check. The relevance check is performed before the plausibility check.

[0028] In an advantageous embodiment of the invention, detecting the position of the vehicle based on the detected position and direction of travel of the vehicle comprises detecting a lane of the vehicle, locating the position of the predicted end of the traffic jam in the surroundings of the vehicle comprises locating the position of the predicted end of the traffic jam in the surroundings of the vehicle for individual lanes, and checking the relevance of the received traffic jam information for the vehicle is carried out with additional consideration of the detected traffic lane of the vehicle and the position of the predicted end of the traffic jam in the surroundings of the vehicle for individual lanes. The position of the vehicle in a specific lane can be used together with the lane of the predicted end of the traffic jam to evaluate the relevance of the received traffic jam information for the vehicle if a traffic jam is only relevant for certain lanes.If the vehicle is not in a lane in which the predicted end of the traffic jam is located, the end of the traffic jam is not relevant. This can be relevant, for example, at intersections, including motorway interchanges, or in areas with separate lanes. Detecting the vehicle's lane may include detecting the current lane and / or a future lane, particularly in the area of ​​the predicted end of the traffic jam. For example, if a route provided by a navigation system indicates that the vehicle will choose a particular lane in the area of ​​a predicted end of a traffic jam, the end of the traffic jam in a different lane at that location may be deemed irrelevant.

[0029] Alternatively or additionally, detecting the position of the vehicle based on the detected position and direction of travel of the vehicle includes detecting a lane of the vehicle. Localizing the position of the predicted end of the traffic jam in the vehicle's surroundings includes localizing the position of the predicted end of the traffic jam in the vehicle's surroundings for individual lanes. The plausibility check of the received traffic jam information for the vehicle is performed with additional consideration of the detected lane of the vehicle and the position of the predicted end of the traffic jam in the vehicle's surroundings for individual lanes. The above statements regarding the implementation of the relevance check with additional consideration of the detected lane of the vehicle apply.

[0030] In an advantageous embodiment of the invention, the relevance check of the received traffic jam information for the vehicle is carried out based on the position of the predicted end of the traffic jam, the detected position of the vehicle, and the detected direction of travel of the vehicle, additionally taking into account a distance between the position of the predicted end of the traffic jam and the detected position of the vehicle. Thus, on the one hand, a type of "distance filter" of the traffic jam warning can be defined, so that a predicted end of the traffic jam at a distance greater than a minimum distance in front of the vehicle in the direction of travel is rejected as irrelevant. Alternatively or additionally, the relevance check can be carried out, for example, in a graded form, so that a predicted end of the traffic jam at a greater distance from the vehicle has a different relevance than one at a shorter distance from the vehicle.Based on this, the further processing of the received traffic jam information by the driving assistance system can be adapted.

[0031] Alternatively or additionally, the plausibility check can be performed based on the position of the predicted end of the traffic jam, the detected position of the vehicle, and the detected direction of travel of the vehicle, while also taking into account a distance between the position of the predicted end of the traffic jam and the detected position of the vehicle. The above statements regarding the relevance check apply accordingly.

[0032] In an advantageous embodiment of the invention, issuing a traffic jam warning for the position of the predicted end of the traffic jam, if the plausibility check is positive, comprises determining a speed and acceleration of the vehicle and issuing the traffic jam warning taking into account the determined speed and acceleration of the vehicle. The speed and acceleration can be indicators of a potential danger posed by the predicted end of the traffic jam, with a higher speed typically indicating a greater potential danger for the vehicle. Therefore, if the speed and / or acceleration is / are greater, a different warning or even a different type of warning can be issued than if there is less time until the predicted end of the traffic jam is reached. The speed and acceleration also allow conclusions to be drawn about whether the vehicle will reach the predicted end of the traffic jam.For example, the decision as to whether and / or how the traffic jam warning is issued can be based on the vehicle's acceleration. If the vehicle is already decelerating, the traffic jam warning may not be issued or may be less pronounced, as the potential danger has already been reduced. In this case, a countermeasure has already been taken—wittingly or unknowingly.

[0033] In an advantageous embodiment of the invention, issuing a traffic jam warning for the position of the predicted end of the traffic jam, if the plausibility check is positive, comprises determining a time until the end of the traffic jam is reached and comparing the time until the end of the traffic jam is reached with a limit value, wherein the limit value is in particular speed-dependent and / or is determined based on a maximum deceleration of the vehicle. By issuing the traffic jam warning depending on the time until the predicted end of the traffic jam is reached, the reaction to the end of the traffic jam can be taken into account. If the time until the end of the traffic jam is reached is sufficient for normal braking, a different type of warning can be issued than if emergency braking is necessary. This allows, for example, graduated warnings to be issued if multiple limit values ​​are defined.It is also possible, for example, to decide whether and / or how the traffic jam warning is issued. If the distance between the predicted end of the traffic jam and the vehicle is greater than the limit value, the traffic jam warning may not be issued or may be less pronounced. When the limit value is reached, the traffic jam warning is issued or the traffic jam warning may be more pronounced. By adjusting the limit value, depending on the speed and / or based on a maximum deceleration of the vehicle, it can be ensured that the traffic jam warning is highly relevant. If the vehicle can only be stopped by emergency braking before reaching the predicted end of the traffic jam, a different warning can be issued than if the vehicle reaches the predicted end of the traffic jam by "coasting". Accordingly, a different warning or even a different type of warning can be issued.

[0034] Features and advantages of the described method can be readily transferred to the described driving assistance system, and vice versa. Individual steps of the method can also be performed in any order. The method is not limited to the sequence of steps described by way of example, as will be obvious to those skilled in the art from the description.

[0035] The invention will be explained in more detail below with reference to preferred embodiments and the accompanying drawings. The features presented may represent an aspect of the invention both individually and in combination. Features of various embodiments are transferable from one embodiment to another.

[0036] It shows

[0037] Fig. 1 is a schematic view of a vehicle with a driving assistance system for generating and outputting a traffic jam warning for approaching the end of a traffic jam according to a first preferred embodiment, wherein the vehicle has at least one environmental sensor for detecting an environment of the vehicle,

[0038] Fig. 2 is a schematic view of the vehicle of the first embodiment of Fig. 1 when approaching a predicted end of a traffic jam, wherein the end of the traffic jam is located at the position of the predicted end of the traffic jam and the end of the traffic jam is in the field of view of at least one of the vehicle's environmental sensors,

[0039] Fig. 3 is a schematic view of the vehicle of the first embodiment of Fig. 1 when approaching a predicted end of a traffic jam, wherein the end of the traffic jam is located at the position of the predicted end of the traffic jam and the end of the traffic jam is not in the field of view of at least one of the vehicle's environmental sensors,

[0040] Fig. 4 is a schematic view of the vehicle of the first embodiment of Fig. 1 when approaching a predicted end of a traffic jam, wherein there is no end of a traffic jam at the position of the predicted end of a traffic jam and the predicted end of a traffic jam is in the field of view of at least one of the vehicle's environmental sensors, and

[0041] Fig. 5 is a flowchart of a method for generating and outputting a traffic jam warning for approaching the end of a traffic jam, which is carried out with the vehicle from Fig.1.

[0042] Figure 1 shows a vehicle 10 with a driver assistance system 12 according to a first preferred embodiment. The driver assistance system 12 can be part of a combination of various driver assistance systems known as ADAS (Advanced Driver Assistance Systems), or part of another driver assistance system or part of a system for autonomous or semi-autonomous driving.

[0043] In this exemplary embodiment, the driving assistance system 12 comprises a combination of an optical camera 14 and a LiDAR-based environmental sensor 16, which together, as environmental sensors 14, 16, provide sensor information for detecting an environment 18 of the vehicle 10. The environmental sensors 14, 16 detect the environment 18 of the vehicle 10 in an area in the direction of travel 20 in front of the vehicle 10. The environmental sensors 14, 16 are mounted at suitable locations on the vehicle 10.

[0044] In this exemplary embodiment, the driving assistance system 12 further comprises a position detection device 22 for detecting a position and direction of travel 20 of the vehicle 10 based on the reception of satellite navigation signals. The position detection device 22 is accordingly designed as a receiver for satellite data from a global navigation satellite system. In this exemplary embodiment, the position detection device 22 is designed according to one of the GPS, Galileo, Beidou, or GLONASS standards. Corresponding receivers are known as such. The position detection device 22 can also be designed to receive satellite data from multiple global navigation satellite systems. In this exemplary embodiment, the driving assistance system 12 also comprises a receiving device 24 for receiving traffic jam information.The receiving device 24 is designed to establish a communication connection with a cloud-based traffic jam information service in order to receive the information and, if necessary, to carry out further communication, for example to transmit the position and direction of travel 20 of the vehicle 10 to the cloud-based traffic jam information service.

[0045] In this exemplary embodiment, the driving assistance system 12 additionally comprises a computing unit 26. The computing unit 26 is any desired data processing unit and comprises a processor and a memory for executing a program for performing an assistance function of the driving assistance system 12, as well as for carrying out the method described below. Such computing units 26 are known in the automotive sector as electronic control units (ECUs). The computing unit 26 receives and processes the position and direction of travel 20 of the vehicle 10 determined by the position detection device 14, as well as sensor information from the environmental sensors 14, 16.

[0046] The driving assistance system 12 further comprises a data connection 28, which interconnects the optical camera 14, the LiDAR-based environmental sensor 16, the position detection device 22, the receiving device 24, and the computing unit 26. The data connection 28 can comprise one or more data buses, which interconnect the optical camera 14, the LiDAR-based environmental sensor 16, the position detection device 22, the receiving device 24, and the computing unit 26, as well as optionally other components. Various bus systems such as CAN, FlexRay, LON, or others are known as data buses in the automotive sector. Alternatively, the data connection 28 can be implemented with point-to-point connections between the optical camera 14, the LiDAR-based environmental sensor 16, the position detection device 22, the receiving device 24, and the computing unit 26.

[0047] In this exemplary embodiment, the driving assistance system 12 is a standalone system. Alternatively, the driving assistance system 12 can be part of another, for example, higher-level, driving assistance system 12. In this exemplary embodiment, the driving assistance system 12 is designed to generate and output a traffic jam warning for the vehicle 10 when approaching the end of a traffic jam 30.

[0048] A corresponding method for generating and outputting a traffic jam warning for approaching the end of a traffic jam 30 for the vehicle 10 using the environmental sensors 14, 16 for detecting the surroundings 18 of the vehicle 10 is described below. The method is carried out using the driving assistance system 12 described above and is illustrated in Figure 5. The method is described with additional reference to Figures 2 to 4.

[0049] The method begins in step S100 by receiving traffic jam information, wherein the traffic jam information contains a position of a predicted traffic jam end 30, or the predicted traffic jam end 30 can be determined from the traffic jam information.

[0050] The traffic jam information is received continuously while the vehicle 10 is traveling. The received traffic jam information directly contains a position of a respective predicted end of the traffic jam 30 for one or more traffic jams 32. The position is specified here in an absolute reference system, for example, a geodetic coordinate system. The traffic jam information is received by the receiving device 24 via the communication connection from the cloud-based traffic jam information service (not shown here).

[0051] Such a traffic jam 32 is illustrated by way of example in Figures 2 and 3. A plurality of third-party vehicles 34 form the traffic jam 32, and the end of the traffic jam 30 is determined by the position of the last third-party vehicle 34 in the traffic jam 32. The end of the traffic jam 30 here corresponds to the predicted end of the traffic jam 30, as determined from the received traffic jam information. The vehicle is traveling on a road 36, with a curve 38 between the vehicle 10 and the end of the traffic jam 30. Figure 4 shows a fundamentally comparable situation, although the predicted end of the traffic jam 30 is located behind the curve 38, but there are no third-party vehicles 34 that could form a traffic jam. The traffic jam information therefore does not correspond to the actual traffic situation. In addition, Figure 3 shows an obstacle 40 which limits the field of view 42 of the environmental sensors 14, 16 in such a way that the position of the predicted end of the traffic jam 30 cannot be detected by the environmental sensors 14, 16.The field of vision 42 is indicated here by a direct line of sight 42 between the vehicle 10 and the predicted end of the traffic jam 30.

[0052] In an alternative embodiment, the driving assistance system 12 first transmits the position and direction of travel 20 of the vehicle 10 to the receiving device 24 via the communication connection to the cloud-based traffic jam information service. In this case, for example, step S100 and the subsequent step S110 can be interchanged. The traffic jam information from the cloud-based traffic jam information service is then individually adapted for the vehicle 10 and transmitted to the vehicle 10. Accordingly, the cloud-based traffic jam information service filters the traffic jam information based on the position and direction of travel 20 of the vehicle 10 in order to reduce the amount of data to be transmitted and to transmit only traffic jam information relating to the surroundings 18 of the vehicle 10. This can include a relevance check according to the subsequent step S120.

[0053] Step S110 relates to detecting a position and direction of travel 20 of the vehicle 10. The detection of the position and direction of travel 20 of the vehicle 10 takes place continuously during the journey by receiving the satellite data of the global navigation satellite system with the position detection device 22. The position and direction of travel 20 are transmitted to the computing unit 26 via the data connection 28.

[0054] Step S120 relates to performing a relevance check of the received traffic jam information for the vehicle 10 based on the position of the predicted traffic jam end 30, the detected position of the vehicle 10 and the detected direction of travel 20 of the vehicle 10.

[0055] The relevance check determines whether the predicted end of the traffic jam 30 is located near the vehicle 10, or whether the vehicle 10 is in principle approaching the predicted end of the traffic jam 30. The relevance check is performed by the computing unit 26. The relevance check of the received traffic jam information for the vehicle 10 is performed here taking into account a distance between the position of the predicted end of the traffic jam 30 and the previously detected position of the vehicle 10. A predicted end of the traffic jam 30 at a distance greater than a minimum distance in the direction of travel 20 in front of the vehicle 10 is rejected as irrelevant. A predicted end of the traffic jam 30 on the road 36, but behind the vehicle 10 in the direction of travel 20, is also rejected as irrelevant.

[0056] Step S130 relates to detecting the environment 18 of the vehicle 10 based on sensor information from the environment sensors 14, 16 of the vehicle 10.

[0057] The environmental sensors 14, 16 provide the corresponding sensor information with which the environment 20 is detected. The sensor information is transmitted from the environmental sensors 14, 16 to the computing unit 26 via the data connection 28. In the computing unit 26, the sensor information from the environmental sensors 14, 16 is merged.

[0058] Step S140 relates to locating the position of the predicted end of the traffic jam 30 in the environment 20 of the vehicle 10.

[0059] The location of the position of the predicted end of the traffic jam 30 in the environment 20 of the vehicle 10 is relative to the position of the vehicle 10 in the common reference system, ie in the geodetic coordinate system.

[0060] Step S150 relates to performing a plausibility check as to whether the position of the predicted end of the traffic jam 30 in the direction of travel 20 is in front of the vehicle 10 and not in the field of view of the at least one environmental sensor 14, 16 of the vehicle 10 in the environment 20 of the vehicle 10.

[0061] Therefore, if, as shown in Figure 2, the position of the predicted end of the traffic jam 30 lies within the field of view of the environmental sensors 14, 16, and the predicted end of the traffic jam is detected by at least one of the environmental sensors 14, 16, no plausibility check is required. If the position of the predicted end of the traffic jam 30 is not within the field of view of at least one of the environmental sensors 14, 16, as shown in Figure 3, it is plausible that there is actually a traffic jam end 30 at the position of the predicted end of the traffic jam 30. Accordingly, a warning can subsequently be issued if the end of the traffic jam 30 is not detected by at least one of the environmental sensors 14, 16.

[0062] However, if the position of the predicted end of the traffic jam 30 is within the field of view of at least one of the environmental sensors 14, 16, as shown in Figure 4, it is not plausible that there is actually a traffic jam end 30 at the position of the predicted end of the traffic jam 30, since there is no traffic jam end 30 there. Accordingly, no warning is subsequently issued.

[0063] The plausibility check is carried out based on the position of the predicted end of the traffic jam 30, the detected position of the vehicle 10 and the detected direction of travel 20 of the vehicle 10, additionally taking into account a distance between the position of the predicted end of the traffic jam 30 and the detected position of the vehicle 10.

[0064] Performing a plausibility check here additionally includes generating and updating a surroundings map based on the sensor information from the surroundings sensors 14, 16 of the vehicle 10 in order to perform the plausibility check based on the surroundings map. The position of the vehicle 10 is located in the surroundings map based on the detected position and direction of travel 20 of the vehicle 10. In addition, the position of the predicted end of the traffic jam 30 is located in the surroundings map based on the received traffic jam information. Accordingly, the plausibility check determines whether the position of the predicted end of the traffic jam 30 lies in front of the vehicle 10 in the direction of travel 20 and not in the field of view of at least one of the surroundings sensors 14, 16 of the vehicle 10 in the surroundings 20 of the vehicle 20, based on the surroundings map. Figures 2 to 4 contain comparable schematic representations.

[0065] In the surroundings map, general areas can be identified that are within the field of view of at least one of the surroundings sensors 14, 16 of the vehicle 10 in the surroundings 20 of the vehicle 10 or not. The surroundings map can also be combined with map information, for example from a map or navigation service of the vehicle 10. Thus, for example, based on the situation shown in Figure 3, the obstacle 40, if it is a building, for example, can be incorporated into the surroundings map based on the map information.

[0066] In this embodiment, the surrounding area map is created and updated by the driving support system 12 itself.

[0067] Step S160 concerns issuing a traffic jam warning for the position of the predicted traffic jam end 30 if the plausibility check is positive.

[0068] As explained above, the plausibility check is positive if the position of the predicted end of the traffic jam 30 in the direction of travel 20 is in front of the vehicle 10 and not in the field of view 42 of at least one of the environmental sensors 14, 16 of the vehicle 10 in the environment 18 of the vehicle 10. This means that the predicted end of the traffic jam 30 cannot be verified based on the sensor information from one or more of the environmental sensors 14, 16 of the vehicle 10 because it is not in the field of view of at least one of the environmental sensors 14, 16.

[0069] Issuing the traffic jam warning for the position of the predicted end of the traffic jam 30 upon a positive plausibility check involves determining a speed and acceleration of the vehicle 10 and issuing the traffic jam warning taking into account the determined speed and acceleration of the vehicle 10. If the speed and / or acceleration is / are greater, a different warning or even a different type of warning can be issued than if the time until reaching the predicted end of the traffic jam 30 is shorter. The decision as to whether and / or how the traffic jam warning is issued depends on the acceleration of the vehicle 10. If the vehicle 10 is already decelerating, the traffic jam warning may, for example, not be issued or may be less intense.

[0070] For example, a time until the end of the traffic jam 30 is reached can be determined and the time until the end of the traffic jam 30 is reached can be compared with a limit value, wherein the limit value is in particular speed-dependent and / or is determined based on a maximum deceleration of the vehicle 10. If the time until the end of the traffic jam 30 is reached is sufficient for normal braking, a different type of warning is issued than if emergency braking is necessary, whereby graduated warnings can be issued if several limit values ​​are defined. It can also be decided, for example, whether and / or how the traffic jam warning is issued. If the distance of the predicted end of the traffic jam 30 from the vehicle 10 is above the limit value, the traffic jam warning can, for example, not be issued or can be less pronounced, and when the limit value is reached, the traffic jam warning is issued or the traffic jam warning is more pronounced.By adjusting the threshold, depending on the speed and / or based on the maximum deceleration of vehicle 10, it can be ensured that the traffic jam warning is highly relevant. If vehicle 10 can only be stopped with emergency braking until it reaches the predicted end of the traffic jam 30, a different warning can be issued than if vehicle 10 reaches the predicted end of the traffic jam 30 by "coasting out."

[0071] The output of the traffic jam warning for the position of the predicted end of the traffic jam 30, if the plausibility check is positive, can in principle be done via any user interface (UI) of the vehicle 10. Alternatively, the driving assistance system 12 can have its own output unit for outputting the traffic jam warning.

[0072] Further alternatively or additionally, an internal warning can be generated in the vehicle 10 for a driving assistance function or a function for autonomous or semi-autonomous driving.

[0073] In this method, traffic jam warnings are issued when the predicted end of the traffic jam 30 cannot be perceived by the vehicle 10, as shown in Figure 3. This does not affect the issuance of traffic jam warnings for cases in which the predicted end of the traffic jam 30 can also be perceived by the vehicle 10, ie, when the predicted end of the traffic jam 30 is visible, as shown in Figure 2. However, if the position of the predicted end of the traffic jam 30 is within the field of view of at least one of the environmental sensors 14, 16, but the predicted end of the traffic jam 30 cannot be detected, the traffic jam warning is omitted.

[0074] 10 vehicles

[0075] 12 Driving assistance system

[0076] 14 optical camera, environmental sensor

[0077] 16 LiDAR-based environmental sensor, environmental sensor

[0078] 18 Surroundings

[0079] 20 Direction of travel

[0080] 22 Position detection device

[0081] 24 Receiving device

[0082] 26 computing unit

[0083] 28 Data connection

[0084] 30 traffic jams

[0085] 32 traffic jam

[0086] 34 Third vehicle

[0087] 36 Street

[0088] 38 Curve

[0089] 40 Obstacle

[0090] 42 field of view

Claims

Patent claims 1. A method for generating and outputting a traffic jam warning for approaching the end of a traffic jam (30) for a vehicle (10) with at least one environmental sensor (14, 16) for detecting an environment (18) of the vehicle (10), comprising the steps Receiving traffic jam information, wherein the traffic jam information contains a position of a predicted traffic jam end (30), or the predicted traffic jam end (30) can be determined from the traffic jam information, Detecting a position and direction of travel (20) of the vehicle (10), detecting the surroundings (18) of the vehicle (10) based on sensor information from at least one environmental sensor (14, 16) of the vehicle (10), Localizing the position of the predicted end of the traffic jam (30) in the surroundings (18) of the vehicle (10), Carrying out a plausibility check as to whether the position of the predicted end of the traffic jam (30) in the direction of travel (20) is in front of the vehicle (10) and not in the field of view of the at least one environmental sensor (14, 16) of the vehicle (10) in the environment (18) of the vehicle (10), and Issuing a traffic jam warning for the position of the predicted end of the traffic jam (30) if the plausibility check is positive.

2. Method according to claim 1, characterized in that receiving traffic jam information comprises receiving the traffic jam information via a communication connection from a cloud-based traffic jam information service or from another road user, or receiving traffic jam information comprises receiving the traffic jam information in the manner of a broadcast transmission.

3. Method according to one of claims 1 or 2, characterized in that detecting a position and direction of travel (20) of the vehicle (10) comprises receiving satellite data from a global navigation satellite system.

4. Method according to one of the preceding claims, characterized in that the detection of a position and direction of travel (20) of the vehicle (10) comprises receiving odometry data from at least one odometry sensor of the vehicle (10).

5. Method according to one of the preceding claims, characterized in that the detection of the surroundings (18) of the vehicle (10) based on sensor information from at least one environmental sensor (14, 16) of the vehicle (10) comprises detecting the surroundings (18) of the vehicle (10) based on sensor information from at least one environmental sensor (14, 16) from a group comprising an optical camera (14), a LiDAR-based environmental sensor (16) and a radar sensor.

6. The method according to one of the preceding claims, characterized in that performing a plausibility check comprises generating and / or updating an environment map based on the sensor information from the at least one environment sensor (14, 16) of the vehicle (10) for detecting the environment (18) of the vehicle (10), locating the position of the vehicle (10) based on the detected position and direction of travel (20) of the vehicle (10) in the environment map, locating the position of the predicted end of the traffic jam (30) based on the received traffic jam information in the environment map, and performing the plausibility check as to whether the position of the predicted end of the traffic jam (30) lies in the direction of travel (20) in front of the vehicle (10) and not in the field of view of the at least one environment sensor (14, 16) of the vehicle (10) in the environment (18) of the vehicle (10), based on the environment map.

7. Method according to one of the preceding claims, characterized in that the method comprises a step of carrying out a relevance check of the received traffic jam information for the vehicle (10) based on the position of the predicted traffic jam end (30), the detected position of the vehicle (10) and the detected direction of travel (20) of the vehicle (10).

8. The method according to claim 7, characterized in that detecting the position of the vehicle (10) based on the detected position and direction of travel (20) of the vehicle (10) comprises detecting a lane of the vehicle (10), locating the position of the predicted end of the traffic jam (30) in the surroundings (18) of the vehicle (10) comprises locating the position of the predicted end of the traffic jam (30) in the surroundings (18) of the vehicle (10) for individual lanes, and the relevance check of the received traffic jam information for the vehicle (10) is carried out with additional consideration of the detected lane of the vehicle (10) and the position of the predicted end of the traffic jam (30) in the surroundings (18) of the vehicle (10) for individual lanes.

9. Method according to one of claims 7 or 8, characterized in that the relevance check of the received traffic jam information for the Vehicle (10) based on the position of the predicted end of the traffic jam (30), the detected position of the vehicle (10) and the detected direction of travel (20) of the vehicle (10), additionally taking into account a distance between the position of the predicted end of the traffic jam (30) and the detected position of the vehicle (10).

10. Method according to one of the preceding claims, characterized in that the issuing of a traffic jam warning for the position of the predicted end of the traffic jam (30) in the case of a positive plausibility check comprises determining a speed and acceleration of the vehicle (10) and issuing the Congestion warning taking into account the determined speed and acceleration of the vehicle (10).

11. Method according to one of the preceding claims, characterized in that the output of a traffic jam warning for the position of the predicted end of the traffic jam (30) in the event of a positive plausibility check comprises determining a time until the end of the traffic jam (30) is reached and comparing the time until the end of the traffic jam (30) is reached with a limit value, wherein the limit value is in particular speed-dependent and / or is determined based on a maximum deceleration of the vehicle (10).

12. A driving assistance system (12) for generating and outputting a traffic jam warning for approaching the end of a traffic jam (30) for a vehicle (10), comprising a receiving device (24) for receiving traffic jam information, wherein the traffic jam information contains a position of a predicted end of the traffic jam (30), or the predicted end of the traffic jam (30) can be determined from the traffic jam information, a position detection device (22) for detecting a position and direction of travel (20) of the vehicle (10), at least one environmental sensor (14, 16) for detecting an environment (18) of the vehicle (10), a computing unit (26), and a data connection (28) which connects the receiving device (24), the position detection device (22), the at least one environmental sensor (14, 16), and the computing unit (26) to one another, wherein the driving assistance system (12) is designed,to carry out the method for generating and outputting a traffic jam warning for approaching the end of a traffic jam (30) for a vehicle (10) according to one of the preceding claims 1 to 11.,

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