Driving assistance system and driving assistance method for a vehicle

Abstract

The invention relates to a driving assistance system (100) for a vehicle (10), comprising: - a surroundings detection module (110) designed to detect a narrow roadway (FE) lying ahead and an object (20) on the roadway (FB); - an analysis module (120) which is designed to determine whether a minimum free space for the vehicle (10) to drive past the object (20) is available in the region of the narrow roadway (FE) when the vehicle (10) encounters the object (20); and - a user interface module (130) which is designed to output at least one driver instruction if the analysis module (120) determines that the minimum free space is not available.

Description

[0001] Driver assistance system and driver assistance procedure for a vehicle

[0002] The present disclosure relates to a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. In particular, the present disclosure relates to bottleneck warning in the presence of oncoming traffic and / or obstacles.

[0003] State of the art

[0004] Modern vehicles are increasingly equipped with assistance systems designed to support the driver in driving. One example of such an assistance system is the head-up display (HUD), which projects basic information such as speed, warnings, alarms, speed limits, navigation instructions, etc. onto the windshield directly in the driver's field of vision. The primary goal of the HUD is to increase safety and driving comfort by allowing drivers to view important data without having to take their eyes off the road.

[0005] However, the scope of the information presented is limited, which means that

[0006] certain critical data may not be available and the potential of the assistance system may not be fully exploited.

[0007] Disclosure of the invention

[0008] It is an object of the present disclosure to provide a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method, which can prevent collisions, for example, due to misjudgments by a driver. In particular, it is an object of the present disclosure to increase road safety.

[0009] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims.

[0010] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises an environment detection module configured to detect an upcoming lane narrowing and an object on the lane; an analysis module configured to determine whether, in the area of ​​the lane narrowing, a minimum clearance is available for the vehicle to pass the object when the vehicle encounters the object; and a user interface module configured to output at least one driver notification if the analysis module determines that the minimum clearance is not available.

[0011] According to the invention, driver instructions are issued based on the analysis of the road situation. If an impending narrowing of the road is detected and the analysis shows that the host vehicle and an oncoming or stationary object will encounter each other at this narrow point and there is insufficient space available to safely pass, a corresponding instruction is issued to the driver. This instruction warns, for example, of the potential risk of collision if the driver maintains a constant speed at the narrow point. This early notification gives the driver the opportunity to react in time and, for example, adjust speed or take other measures to avoid a collision. As a result, road safety can be increased.

[0012] The environment detection module, the analysis module and the user interface module may comprise software components / algorithms configured to be executed on at least one processor and thereby to perform the functionalities of the respective module.

[0013] The roadway comprises an ego lane, i.e., a lane in which the ego vehicle with the driver assistance system of the present disclosure is traveling in a specific direction. Optionally, the roadway can comprise an oncoming lane for a direction of travel opposite to the direction of travel of the ego lane. The object can be located in the ego lane (e.g., at the side of the road in the area of ​​the lane narrowing or outside the lane narrowing) or can be located in the oncoming lane (e.g., in the area of ​​the lane narrowing or outside the lane narrowing).

[0014] Preferably, at the time of its detection, the object is located behind the lane narrowing as seen from the ego vehicle and is moving toward the lane narrowing. This can proactively prevent a situation in which the ego vehicle and the object meet in the lane narrowing area and collide due to a lack of space. However, the present disclosure is not limited to this, and the object may already be located in the lane narrowing area while the ego vehicle is still in front of it.

[0015] The term "lane narrowing," as used in this disclosure, refers to a location on a road or path where the available width for traffic flow is temporarily or permanently reduced. This can be caused by various circumstances, such as construction, accidents, natural obstacles, or deliberate traffic calming measures. Lane narrowings can occur on highways as well as urban or rural roads and are often announced by traffic signs or other warning signs.

[0016] Preferably, the environment detection module is configured to detect the upcoming lane narrowing based on environmental data from an environmental sensor system of the vehicle. The environment detection module can use suitable software, such as machine learning-based software, to analyze the environmental data in order to detect the lane narrowing. For example, the environment detection module can be configured for sign recognition and / or road detection in order to detect the lane narrowing.

[0017] The environmental sensor system preferably comprises at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasound system. The environmental sensor system can provide the environmental data (also referred to as “environmental data”) that depicts an area surrounding the vehicle.

[0018] Preferably, the environment detection module is configured to detect the lane narrowing based on digital map data, optionally in combination with a vehicle position (e.g. GPS position) and / or the environment data of the environment sensors.

[0019] Preferably, the environment detection module is configured to detect the object on the road based on the environmental data from the vehicle's environmental sensors. The environment detection module can, for example, implement a classification algorithm to analyze the environmental data to detect the object on the road. The classification algorithm is a model that has been and / or is being trained, for example, using machine learning (ML) to process input data (e.g., sensor data) during real-world vehicle operation in order to detect the vehicle's environment.

[0020] Preferably, the analysis module is configured to determine, based on a speed of the vehicle and a speed of the object, whether the vehicle will encounter the object in the area of ​​the lane narrowing. In other words, it can first be determined whether both parties will encounter each other in the area of ​​the lane narrowing, or whether both parties are outside the lane narrowing at the time of the encounter.

[0021] Preferably, the user interface module is configured to output the at least one driver alert only if it is determined that the vehicle will encounter the object in the area of ​​the lane narrowing. If the vehicle does not encounter the object in the area of ​​the lane narrowing, for example, because the encounter occurs before or after the lane narrowing due to the speed(s), no driver alert can be output. This avoids the output of unnecessary driver alerts, which increases user comfort.

[0022] Preferably, the minimum clearance corresponds to the sum of the width of the vehicle and the width of the object. The minimum clearance can, in particular, correspond to the sum of the width of the vehicle, the width of the object, and a safety margin. The minimum clearance can be defined essentially perpendicular to the direction of travel of the vehicle and / or the course of the roadway.

[0023] The minimum clearance can refer to a roadway width (e.g., the sum of the width of the first lane and the width of the oncoming lane). The roadway width can be defined, for example, between road markings and / or structural boundaries such as guardrails, bollards, traffic cones, etc. If the sum of the vehicle width, the width of the object, and optionally the safety margin is (equal to or) greater than the roadway width, the minimum clearance is not available. However, if the sum of the vehicle width, the width of the object, and optionally the safety margin is (equal to or) less than the roadway width, the minimum clearance is available.

[0024] The width of the vehicle is known to the driver assistance system and can, in particular, be the total width of the vehicle including the side mirrors. The width of the object can, for example, be determined or estimated from the ambient data of the vehicle's environmental sensors.

[0025] The safety margin refers to the additional space that should be left between the vehicle and the object (and optionally the opposite edge of the road) beyond what is immediately necessary to ensure safe passage. This safety margin is intended to minimize potential risks that could arise from unforeseen movements of the vehicle, the object (if it is capable of movement), or external influences such as gusts of wind. The size of the safety margin can vary depending on speed, vehicle size, weather conditions, and other factors.

[0026] Preferably, the user interface module is configured to output the at least one driver instruction to the driver optically and / or acoustically and / or haptically.

[0027] The user interface module can comprise at least one first output device for outputting the visual driver instructions. In some embodiments, the at least one first output device can comprise at least one display device for outputting the visual driver instructions. The at least one display device can comprise a display, in particular an LCD display, a plasma display, or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device configured to display information directly in the driver's field of vision, in particular to project it onto a windshield. The user interface module can comprise at least one second output device for outputting the acoustic driver instructions.In some embodiments, the at least one second output device may comprise at least one loudspeaker, in particular at least one vehicle interior loudspeaker, for outputting the acoustic driver instructions.

[0028] The user interface module can comprise at least one third output device for outputting the haptic driver instructions or can be connected to at least one third output device and control it to output the haptic driver instructions. The at least one third output device can comprise, for example, a vibration mechanism of a steering wheel and / or a belt tensioner of a driver's seat.

[0029] In some embodiments, the user interface module may comprise or be a central information output and information input device of an infotainment system, such as a head unit, a pillar-to-pillar display, or a head-up display. Preferably, the user interface module is permanently installed in the vehicle.

[0030] Preferably, the at least one driver notification is configured as a collision warning. The collision warning warns the driver of the potential risk of a collision with the detected object.

[0031] Preferably, the at least one driver instruction is configured as a driving instruction. The driving instruction is an instruction or recommendation aimed at avoiding a collision with the object. The driving instruction can, for example, be an instruction to reduce speed so that the encounter occurs outside (or, as seen from the vehicle, before) the lane narrowing on a normal-width roadway. In another example, the driving instruction can be an instruction to increase speed so that the encounter occurs outside (or, as seen from the vehicle, after) the lane narrowing on a normal-width roadway. Preferably, in the area of ​​the lane narrowing, there is at least partially no separation between the oncoming lane and the first lane. The separation can, for example, include, but is not limited to, lane markings and / or a median strip.In areas without a separation between the oncoming lane and the first lane, it is particularly difficult for drivers to assess whether there is sufficient space to pass the object. The driver assistance system of the present disclosure can support the driver in such situations.

[0032] Preferably, the object is a moving object. The object can move in a direction opposite to the direction of travel of the ego vehicle. The moving object can be, for example, another vehicle, such as a car, truck, bus, mobile home, motorcycle, etc.

[0033] Preferably, the object is stationary. The stationary object can be, for example, a parked vehicle, such as a car, truck, bus, mobile home, motorcycle, etc., or another stationary object such as construction equipment (e.g., traffic cones).

[0034] The driver assistance system is preferably configured to automatically execute or initiate at least one movement-related action if the analysis module determines that the minimum clearance is not available. The at least one movement-related action can, for example, be automatically executed or initiated if the driver does not react to the at least one driver instruction within a predetermined period of time and / or in a timely manner. For example, the driver assistance system can automatically reduce the speed of the vehicle in order to prevent an encounter and / or collision of the vehicle with the object in the area of ​​the lane narrowing. This can be achieved, for example, by bringing the vehicle to a standstill before entering the lane narrowing. Thus, the object, such as another vehicle, can pass through the lane narrowing, and the ego vehicle can subsequently pass through the lane narrowing.In another example, the driver assistance system can automatically reduce the speed of the vehicle (but without coming to a standstill) so that a relative speed between the vehicle and the object is reduced when both meet, for example, in the area of ​​the road narrowing.

[0035] According to a further independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system according to the embodiments of the present disclosure.

[0036] The term "vehicle" includes cars, trucks, vans, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0037] According to a further independent aspect of the present disclosure, a driver assistance method for a vehicle, in particular a motor vehicle, is specified. The driver assistance method comprises detecting, by an environment detection module, an upcoming lane narrowing and an object on the lane; determining, by an analysis module, whether a minimum clearance is available in the area of ​​the lane narrowing for the vehicle to pass the object when the vehicle encounters the object; and outputting, by a user interface module, at least one driver instruction if it is determined that the minimum clearance is not available.

[0038] The driver assistance procedure can implement the aspects of the driver assistance system described in this document.

[0039] According to a further independent aspect of the present disclosure, a software (SW) program is specified. The SW program can be configured to be executed on one or more processors and thereby to carry out the driving assistance method described in this document. According to a further independent aspect of the present disclosure, a storage medium is specified. The storage medium can comprise a SW program configured to be executed on one or more processors and thereby to carry out the driving assistance method described in this document.

[0040] According to a further independent aspect of the present disclosure, software with program code is provided. The software is configured to implement the driver assistance method when the software runs on one or more software-controlled devices.

[0041] According to a further independent aspect of the present disclosure, a driver assistance system for a vehicle is provided. The driver assistance system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions executable by the one or more processors to carry out the driver assistance method described in this document.

[0042] A processor or processor module is a programmable computing unit, i.e. a machine or an electronic circuit that controls other elements according to given instructions and thereby drives an algorithm (process).

[0043] Short description of the drawings

[0044] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show:

[0045] Figure 1 schematically shows a vehicle with a driver assistance system according to embodiments of the present disclosure,

[0046] Figure 2 schematically shows a traffic situation at a lane narrowing according to embodiments of the present disclosure, and Figure 3 shows a flowchart of a driver assistance method according to embodiments of the present disclosure.

[0047] Embodiments of the disclosure

[0048] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0049] Figure 1 schematically shows a vehicle 10 with a driver assistance system 100 according to embodiments of the present disclosure. Figure 2 schematically shows a traffic situation at a lane narrowing VE according to embodiments of the present disclosure.

[0050] The roadway FB illustrated by way of example in Figure 2 comprises an ego lane EFS, on which the ego vehicle 10 with the driver assistance system 100 of the present disclosure travels. The roadway FB further comprises an oncoming lane GFS, on which a foreign vehicle 20 is traveling toward the ego vehicle 10. It should be understood that, although the foreign vehicle 20 is shown in the example of Figure 2, the embodiments of the present disclosure are applicable to other stationary and moving objects.

[0051] Furthermore, there is a lane narrowing (VE). At the lane narrowing (VE), the available width (BR) for traffic flow is temporarily or permanently reduced. This can be caused by various circumstances, such as construction sites, accidents, natural obstacles, or deliberate traffic calming measures.

[0052] In some embodiments, in the area of ​​the lane narrowing FE, there is at least partially no separation between the oncoming lane GFS and the first lane EFS. The separation may include, for example, a lane marking and / or a median strip, but is not limited thereto. In areas without a separation between the oncoming lane GFS and the first lane EFS, it is particularly difficult for drivers to assess whether there is sufficient space to pass the object. The driver assistance system 100 of the present disclosure can assist the driver in such situations.

[0053] The driver assistance system 100 includes an environment detection module 110 configured to detect the lane narrowing FB and a third-party vehicle 20 (or other object) on the lane FB. At the time of its detection, the third-party vehicle 20 is located behind the lane narrowing FE as seen from the ego vehicle 10 and is moving toward the lane narrowing FE. However, the present disclosure is not limited thereto, and the third-party vehicle 20 may already be in the area of ​​the lane narrowing FE while the ego vehicle 10 is still in front of it or is moving toward the lane narrowing FE.

[0054] In some embodiments, the environment detection module 110 is configured to detect the upcoming lane narrowing FE based on environmental data from an environmental sensor system of the vehicle 10. For example, the environment detection module 110 can be configured for sign recognition and / or road detection in order to detect the lane narrowing FE. Additionally or alternatively, the environment detection module 110 can be configured to detect the lane narrowing FE based on digital map data, optionally in combination with a vehicle position (e.g., GPS position) and / or the environmental data from the environmental sensor system.

[0055] In some embodiments, the environment detection module 110 is configured to detect the other vehicle 20 in the oncoming lane GFS based on the environmental data from the environmental sensors of the vehicle 10. For example, the environment detection module can implement a classification algorithm for analyzing the environmental data to detect the other vehicle 20 in the oncoming lane GFS.

[0056] The driver assistance system 100 further comprises an analysis module 120 which is configured to determine whether a minimum clearance is available in the area of ​​the lane narrowing FE for the vehicle 10 to pass the other vehicle 20 when the vehicle 10 encounters the other vehicle 20.

[0057] The minimum clearance can be the sum of the vehicle width 10 (including mirrors), the width of the other vehicle 20, and a safety margin. The minimum clearance can refer to the width BR of the roadway FB in the area of ​​the road narrowing FE. If the sum of the vehicle width 10, the width of the other vehicle 20, and the safety margin is greater than the width BR of the roadway FB, the minimum clearance is not available. However, if the sum of the vehicle width 10, the width of the other vehicle 20, and the safety margin is less than the width BR of the roadway FB, the minimum clearance is available.

[0058] The safety margin refers to the additional space that should be left between the vehicle 10 and the other vehicle 20 (and optionally the opposite side of the road) beyond what is immediately necessary to ensure safe passage. This safety margin is intended to minimize potential risks that could arise from unforeseen movements of the vehicle 10, the other vehicle 20, or from external influences such as gusts of wind. The size of the safety margin can vary depending on speed, vehicle size, weather conditions, and other factors.

[0059] The driver assistance system 100 further comprises a user interface module 130 configured to output at least one visual and / or acoustic and / or haptic driver notification when the analysis module 120 determines that the minimum clearance is not available. This proactively prevents a situation in which the host vehicle 10 and the other vehicle 20 meet in the area of ​​the lane narrowing FE and collide due to a lack of space.

[0060] In some embodiments, the user interface module 130 is configured to output the at least one driver notification only if the analysis module 120 determines that an encounter between the vehicle 10 and the other vehicle 20 occurs in the area of ​​the lane narrowing FE. If the encounter between the vehicle 10 and the other vehicle 20 does not occur in the area of ​​the lane narrowing FE, for example, because the encounter occurs before or after the lane narrowing FE due to the speed(s), no driver notification can be output. This avoids the output of unnecessary driver notifications, which increases user comfort.

[0061] In some embodiments, the at least one driver notification is configured as a collision warning. The collision warning warns the driver of the potential risk of a collision with the detected other vehicle 20. Additionally or alternatively, the at least one driver notification can be configured as a driving instruction. The driving instruction is an instruction or recommendation aimed at avoiding the collision with the other vehicle 20. The driving instruction can, for example, be an instruction to reduce speed so that the encounter occurs before the lane narrowing FE on the normal-width roadway FB, as seen from the vehicle 10. In a further example, the driving instruction can be an instruction to increase speed (taking into account applicable speed limits), so that the encounter occurs after the lane narrowing FE on the normal-width roadway FB, as seen from the vehicle 10.

[0062] According to some embodiments, the driver assistance system 100 can be further configured to automatically execute or initiate at least one movement-related action if the analysis module 120 determines that the minimum clearance is not available. The at least one movement-related action can, for example, be automatically executed or initiated if the driver does not respond to the at least one driver instruction within a predetermined period of time and / or in a timely manner. For example, the driver assistance system 100 can automatically reduce the speed of the vehicle 10 to prevent an encounter and / or collision of the vehicle 10 with the other vehicle 20 in the area of ​​the lane narrowing FE. This can be achieved, for example, by bringing the vehicle 10 to a standstill before entering the lane narrowing FE.Thus, the other vehicle 20 can pass the lane narrowing FE, and the other vehicle 10 can subsequently pass the lane narrowing FE. In another example, the driver assistance system 100 can automatically reduce the speed of the vehicle 10 (but without coming to a standstill), so that a relative speed between the vehicle 10 and the other vehicle 20 is reduced when the two encounter each other in the area of ​​the lane narrowing VE.

[0063] Figure 3 schematically shows a flowchart of a driver assistance method 300 according to embodiments of the present disclosure. The driver assistance method 300 can be implemented by appropriate software that can be executed by one or more processors (e.g., a CPU).

[0064] The driver assistance method 300 comprises, in block 310, detection, by an environment detection module, of an upcoming lane narrowing and an object on the lane; in block 320, determination, by an analysis module, of whether a minimum clearance is available in the area of ​​the lane narrowing for the vehicle to pass the object when the vehicle encounters the object; and, in block 330, output, by a user interface module, of at least one driver instruction if it is determined that the minimum clearance is not available.

[0065] According to the invention, driver instructions are issued based on the analysis of the road situation. If an impending narrowing of the road is detected and the analysis shows that the host vehicle and an oncoming or stationary object will encounter each other at this narrow point and there is insufficient space available to safely pass, a corresponding instruction is issued to the driver. This instruction warns, for example, of the potential risk of collision if the driver maintains an unchanged speed at the narrow point. The early notification gives the driver the opportunity to react in time and, for example, adjust speed or take other measures to avoid a collision. As a result, road safety can be increased.Although the invention has been illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the examples mentioned are not limited to the scope of the invention.

[0066] Embodiments are really only examples that are not to be understood as limiting the scope, possible applications or configuration of the invention in any way. Rather, the foregoing description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, wherein the person skilled in the art, with knowledge of the disclosed

[0067] The inventive concept can be subjected to a wide variety of changes, for example with regard to the function or arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

Patent claims 1. A driver assistance system (100) for a vehicle (10), comprising: an environment detection module (110) configured to detect an upcoming lane narrowing (FE) and an object (20) on the lane (FB); an analysis module (120) configured to determine whether, in the area of ​​the lane narrowing (FE), a minimum clearance is available for the vehicle (10) to pass the object (20) when the vehicle (10) encounters the object (20); and a user interface module (130) configured to output at least one driver instruction if the analysis module (120) determines that the minimum clearance is not available.

2. The driver assistance system (100) according to claim 1, wherein the environment detection module (110) is configured to: detect the lane narrowing (FE) ahead based on environmental data from an environmental sensor system of the vehicle (10) and / or digital map data; and / or detect the object (20) based on environmental data from the environmental sensor system of the vehicle (10), in particular wherein the object (20) is located in an oncoming lane (GFS).

3. Driver assistance system (100) according to claim 1 or 2, wherein the analysis module (120) is configured to determine, based on a speed of the vehicle (10) and a speed of the object (20), whether the vehicle (10) will encounter the object (20) in the area of ​​the lane narrowing (FE), and wherein the at least one driver instruction is only output if it is determined that the vehicle (10) will encounter the object (20) in the area of ​​the lane narrowing (FE).

4. Driver assistance system (100) according to one of claims 1 to 3, wherein the minimum clearance is a sum of a width of the vehicle (10) and a width of the object (20), in particular wherein the minimum clearance corresponds to a sum of a width of the vehicle (10), a width of the object (20) and a safety margin.

5. Driver assistance system (100) according to one of claims 1 to 4, wherein the at least one driver instruction is configured as Collision warning; and / or driving instructions.

6. Driver assistance system (100) according to one of claims 1 to 5, wherein in the region of the lane narrowing (FE) there is at least partially no separation between an oncoming lane (GFS) and an ego lane (EFS), in particular no lane marking and / or no central reservation.

7. Driver assistance system (100) according to one of claims 1 to 6, wherein the object (20) is a moving or stationary object; and / or a third-party vehicle.

8. Vehicle (10), in particular a motor vehicle, comprising the driver assistance system (100) according to one of claims 1 to 7.

9. Driver assistance method (300) for a vehicle (10), comprising: Detecting (310), by an environment detection module (HO), a road narrowing (FE) ahead and an object (20) on the road (FB); Determining (320), by an analysis module (120), whether in the area of ​​the lane narrowing (FE) a minimum clearance is available for the vehicle (10) to pass the object (20) when the vehicle (10) encounters the object (20); and Outputting (330), by a user interface module (130), at least one driver indication when it is determined that the minimum clearance is not available.

10. A storage medium comprising a software program configured to be executed on one or more processors and thereby to execute the driver assistance method (300) according to claim 9.

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