Method for lane change assistance, driver assistance system for a motor vehicle, and motor vehicle

Abstract

For lane change assistance in a motor vehicle (1) which is located in a first lane (9a) of a road (8), sensor data of at least one surroundings sensor system (4, 5) of the motor vehicle (1) is obtained by means of a driver assistance system (2) of the motor vehicle (1), said sensor data representing a second lane (9b) of the road (8), which second lane is adjacent to the first lane (9a), and representing a first additional vehicle (10a) which is located in the second lane (9b). On the basis of the sensor data, a target distance to be maintained between the motor vehicle (1) and the first additional vehicle (10a) in the second lane (9b) is determined, which target distance is greater than a predefined minimum distance, and it is checked whether sufficient space is available for the motor vehicle (1) while maintaining the target distance. Depending on a result of the check, an automatic lane change of the motor vehicle (1) from the first lane (9a) to the second lane (9b) is initiated.

Description

[0001] Lane change assistance system, driver assistance system for a motor vehicle and motor vehicle

[0002] The invention relates to a method for lane-change assistance in a motor vehicle located in a first lane of a road, wherein sensor data from at least one environmental sensor system of the motor vehicle are obtained by means of a driver assistance system of the motor vehicle, representing a second lane of the road adjacent to the first lane and a first further vehicle located in the second lane. The invention further relates to a corresponding driver assistance system for a motor vehicle and a motor vehicle with such a driver assistance system.

[0003] Driver assistance systems for lane change assistance in motor vehicles are well-known. These systems can perform a lane change automatically, for example, when initiated by a corresponding action from the driver or, in the case of highly automated or autonomous vehicles, based on the current path planning. An important aspect is the positioning of the vehicle in the target lane after the lane change. Maintaining a sufficient minimum distance or safety distance to other vehicles ahead is particularly crucial.For this positioning, the conditions prevailing before the lane change can be taken into account, such as the positions of the individual vehicles involved, distances between vehicles in the target lane, speed differences between the vehicle performing the lane change and the other vehicles, accelerations of the road users, and so on. In particular, it is also checked whether the minimum distance would be maintained during the lane change. If this is not the case, the automatic lane change is not initiated.

[0004] In some situations, however, the driver of a motor vehicle may subjectively feel that the distance to a vehicle in the target lane is too small, even though the minimum distance is being maintained. This leads to a subjectively perceived reduction in safety. It is an object of the present invention to increase the subjectively perceived sense of safety in a lane-change assistance function of a driver assistance system.

[0005] This problem is solved by the subject matter of the independent claim. Advantageous further developments and preferred embodiments are the subject matter of the dependent claims.

[0006] The invention is based on the idea of ​​increasing the required distance, if possible, depending on sensor data from at least one environmental sensor system of the motor vehicle.

[0007] According to one aspect of the invention, a method for lane-change assistance in a motor vehicle is described. The motor vehicle is located in a first lane of a road, in particular, the motor vehicle is driving in the first lane. Sensor data from at least one environmental sensor system of the motor vehicle are obtained by means of a driver assistance system of the motor vehicle. The sensor data represent a second lane of the road adjacent to the first lane, in particular, they represent at least part of the second lane, as well as a first further vehicle located in the second lane, in particular, driving in the second lane.

[0008] The driver assistance system uses sensor data to determine a target distance between the vehicle and the first vehicle in the second lane, which is greater than a predefined minimum distance. Based on the sensor data, the system checks whether sufficient space is available for the vehicle while maintaining this target distance, particularly behind the first vehicle, especially if the vehicle were to change lanes from the first to the second lane. Depending on the result of this check, the driver assistance system initiates an automatic lane change from the first to the second lane, specifically behind the first vehicle.The lane change is initiated depending on the result of the check, in particular either while maintaining the minimum distance or while maintaining the target distance. The driver assistance system includes a data processing system that can perform the aforementioned steps. However, the driver assistance system does not necessarily include at least one environmental sensor system or other sensors of the vehicle or actuators for the final execution of the automatic lane change. Initiating the automatic lane change can therefore be understood as including the generation of at least one control signal that can be transmitted to the actuator(s) of the vehicle in order to actually carry out the automatic lane change. Accordingly, the method according to the invention can be implemented purely by computer.

[0009] Unless otherwise specified, all steps of such a computer-implemented procedure can be performed by the data processing system, which includes at least one data processing device, in particular by a motor vehicle data processing system. The terms "data processing system" and "at least one data processing device" may be used interchangeably.

[0010] In the event that the at least one data processing device comprises two or more data processing devices, certain steps performed by the at least one data processing device can be understood, for example, as different data processing devices performing different steps or different parts of a step. In particular, it is not necessary for each data processing device to perform the steps completely. In other words, the execution of the steps can be distributed among the two or more data processing devices.

[0011] Each embodiment of the computer-implemented method results in a corresponding embodiment of a lane-change assistance method that is not purely computer-implemented, in that it includes corresponding steps for generating the sensor data by the at least one environmental sensor system and / or for carrying out the lane change by the actuator(s) of the motor vehicle depending on the at least one control signal.

[0012] The term "automatic lane change" can be understood to mean, in particular, that at least the lateral control of the vehicle is carried out automatically, without any intervention from the driver. However, this can be performed at various levels of automation, especially according to SAE J3016. Whether sufficient space is available behind the first other vehicle for the vehicle while maintaining the target distance depends on that target distance.In particular, sufficient space is available for the motor vehicle while maintaining the target distance if, in a hypothetical automatic lane change, there is a distance between the motor vehicle and the first vehicle in front of it that is at least equal to the target distance, and if, on the other hand, there is either no other road user in the second lane behind the first vehicle, or such a road user has a sufficiently large distance from the first vehicle to create a gap into which the motor vehicle can fit even while maintaining the target distance, and in particular, so that the target distance or the minimum distance or a corresponding further minimum distance can also be maintained between the motor vehicle and any vehicle that may be driving behind it.

[0013] The fact that the minimum distance is specified does not imply that it is always universally the same. Rather, the minimum distance can be determined situationally, particularly depending on sensor data and / or other information, in a predefined manner. Known methods can be used for this purpose, which take into account, in particular, the relative positions of all road users relevant to the lane change and / or their speeds or relative speeds and / or accelerations, and so on.

[0014] In particular, the automatic lane change while maintaining the target distance is only initiated if the check determines that sufficient space is available for the vehicle while maintaining the target distance. The fact that the automatic lane change is initiated or carried out while maintaining the target distance can be understood here and in the following as meaning that the target distance for the automatic lane change is specified as the distance to be maintained or the minimum distance to be maintained. Since the target distance is greater than the minimum distance, this also implies that the distance maintained during the lane change is greater than the minimum distance.However, when the present disclosure refers to the automatic lane change being initiated or carried out while maintaining the minimum distance, this can be understood to mean that the minimum distance for the automatic lane change is specified as the distance to be maintained or the minimum distance to be maintained. In this case, the target distance for carrying out the automatic lane change is particularly irrelevant.

[0015] The inventive method, in particular, increases the distance considered during automatic lane changes from the minimum distance to the target distance, provided sufficient space is available. This can improve the subjective sense of safety or comfort of the person driving the vehicle. It should be noted that even the minimum distance does not necessarily fully utilize the technically feasible and / or regulatory permissible limits. According to the invention, however, the distance is selectively increased relative to the minimum distance based on sensor data, provided sufficient space is available.

[0016] The target distance can be determined in various ways. For example, under predefined conditions, the presence or absence of which can be verified based on sensor data, the target distance can be calculated based on the minimum distance. The target distance can be determined, for instance, by being greater than the minimum distance by a predefined difference, where this difference can be fixed or determined based on sensor data and / or other information. Alternatively, the target distance can be calculated by multiplying the minimum distance by a predefined scaling factor greater than one, where this scaling factor can be fixed or determined based on sensor data and / or other information.

[0017] According to at least one embodiment, if the result of the check indicates that there is insufficient space available for the vehicle while maintaining the target distance, and only if sufficient space is available for the vehicle while maintaining the minimum distance, is the automatic lane change initiated while maintaining the minimum distance, and in particular not while maintaining the target distance.

[0018] In particular, the target distance is specified as the distance to be maintained for initiating or carrying out the automatic lane change if the result of the check shows that sufficient space is available for the vehicle while maintaining the target distance, and the minimum distance is specified otherwise, provided that no other reasons or events lead to the lane change not being initiated or being initiated differently.

[0019] In such embodiments, the availability of the lane change assistance is increased without compromising road safety.

[0020] According to at least one embodiment, the sensor data is used to check whether sufficient space is available for the vehicle while maintaining the minimum distance, and the automatic lane change is only initiated while maintaining the minimum distance, and in particular not while maintaining the target distance, if the result of the check indicates that sufficient space is available for the vehicle while maintaining the minimum distance.

[0021] In such designs, road safety is increased. Whether sufficient space is available behind the first other vehicle for the motor vehicle while maintaining the minimum distance depends on the minimum distance.In particular, sufficient space is available for the motor vehicle while maintaining the minimum distance if, in a hypothetical automatic lane change, there is a distance between the motor vehicle and the first vehicle in front of it that is at least equal to the minimum distance, and if, on the other hand, there is either no other road user in the second lane behind the first vehicle, or such a road user has a sufficiently large distance from the first vehicle to create a gap into which the motor vehicle can fit even while maintaining the target distance, and in particular so that the minimum distance or a corresponding further minimum distance can also be maintained between the motor vehicle and any vehicle that may be driving behind it.

[0022] According to at least one embodiment, depending on the sensor data, a type and / or size of the first additional vehicle is determined, and the target distance is determined depending on the type and / or size of the first additional vehicle.

[0023] The type and / or size can be determined, in particular, by classifying the first subsequent vehicle, for example, using one or more object recognition algorithms, which may be based on trained artificial neural networks or other trained machine learning models. For classification purposes, the first subsequent vehicle can be assigned to one of two or more predefined classes regarding vehicle type and / or one of two or more predefined classes regarding vehicle size. The vehicle type classes can specify, for example, whether it is a passenger car, a small car, an SUV (sports utility vehicle), a light commercial vehicle, a truck, a motorcycle, a bicycle, and so on. However, other classes, fewer classes, or more classes can also be defined.The vehicle size classes can specify, for example, whether the vehicle is very small, small, medium-sized, large, or very large, with corresponding size ranges predefined. However, other classes, fewer classes, or more classes can also be defined.

[0024] In this way, the target distance to be maintained during automatic lane changes can be increased, particularly compared to the minimum distance, if the vehicle is especially large, or increased further the larger the first following vehicle is, and not increased or increased less if the vehicle is smaller. Corresponding rules can be specified depending on the vehicle type and / or size class. In particular, the differential distance and / or the scaling factor can be determined depending on the vehicle type and / or size class.

[0025] According to at least one embodiment, the sensor data represents a second vehicle located in the second lane directly behind the first, creating a gap. Checking whether sufficient space is available for the vehicle while maintaining the target distance involves verifying whether the gap provides sufficient space for the vehicle while maintaining the target distance. Alternatively or additionally, checking whether sufficient space is available for the vehicle while maintaining the minimum distance involves verifying whether the gap provides sufficient space for the vehicle while maintaining the minimum distance.The fact that the second additional vehicle is driving directly behind the first additional vehicle can be understood, in particular, to mean that there is no other road user and, in particular, no other vehicle between the first additional vehicle and the second additional vehicle.

[0026] In such embodiments, the benefit of the invention is particularly great, since when two vehicles are driving one behind the other in the second lane, the situation arises particularly frequently in which a reduced sense of safety is subjectively perceived.

[0027] Checking whether sufficient space is available for the vehicle can also include verifying whether, if an automatic lane change were performed, there would be a sufficient distance between the vehicle and the second vehicle after the automatic lane change. This can also be assessed based on the target distance and / or minimum distance, or based on a further minimum distance.

[0028] According to at least one embodiment, depending on the sensor data, a type and / or size of the second additional vehicle is determined, and the target distance is determined depending on the type and / or size of the second additional vehicle.

[0029] The above explanations regarding the determination of the type and / or size of the first additional vehicle or the determination of the target distance depending thereon can be applied analogously to the determination of the type and / or size of the second additional vehicle or the determination of the target distance depending thereon.

[0030] According to at least one embodiment, weather conditions in the vicinity of the motor vehicle are determined based on the sensor data, and the target distance is determined based on the weather conditions.

[0031] Weather conditions can particularly include weather elements such as precipitation, temperature, wind, fog, and so on.

[0032] Thus, the target distance to be maintained during automatic lane changes can be increased, particularly compared to the minimum distance, if poor weather conditions prevail, or increased more significantly the worse the weather conditions are, and not increased or increased less significantly if the weather conditions are good. Corresponding rules can be predefined depending on the specific weather conditions. In particular, the differential distance and / or the scaling factor can be determined based on the weather conditions.

[0033] According to at least one embodiment, a road surface condition is determined and the target distance is determined depending on the road surface condition.

[0034] The road surface condition can indicate, for example, whether the first lane and / or the second lane is icy, snow-covered or wet, or whether there are standing puddles, gravel or other objects on the first lane and / or the second lane.

[0035] Thus, the desired distance to be maintained during automatic lane changes can be increased, especially compared to the minimum distance, if the road surface is unfavorable.

[0036] The road surface condition can be determined, for example, depending on sensor data and / or off-board information, such as information from a backend server or the like, and / or V2X information from other vehicles, and so on.

[0037] According to at least one embodiment, the lane width of the second lane is determined depending on the sensor data, and the target distance is determined depending on the lane width.

[0038] Thus, the desired distance to be maintained during automatic lane changes can be increased, particularly compared to the minimum distance, if the lane width is especially narrow, or increased more significantly the narrower the lane width, and otherwise not increased or increased less significantly. Corresponding rules can be predefined for this purpose, depending on the specific lane width. In particular, the differential distance and / or the scaling factor can be determined depending on the lane width. According to a further aspect of the invention, a driver assistance system for a motor vehicle is provided. The driver assistance system comprises a data processing system adapted to carry out a lane-change assistance method according to the invention for a motor vehicle.

[0039] The terms "data processing system" and "at least one data processing device" may be used interchangeably within the scope of this disclosure. In this disclosure, a data processing device may, for example, be understood as a device with processing circuits for processing data. A data processing device can thus perform arithmetic operations to process data. Indexed access to a data structure, such as a lookup table (LUT) or a database, may also be considered an arithmetic operation. Similarly, data processing that is partially or fully implemented in hardware may be considered an arithmetic operation.

[0040] A data processing device may, in particular, comprise one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more systems-on-a-chip (SoCs). A data processing device may also comprise one or more processors, for example, one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs). The data processing device may also comprise a physical or virtual cluster of computers or other devices of the aforementioned type.

[0041] A data processing device can also include one or more hardware and / or software interfaces, for example, for receiving and / or providing data. A data processing device can also include one or more storage devices.

[0042] According to at least one embodiment, the driver assistance system includes at least one environmental sensor system and / or one or more actuators of the motor vehicle. Further embodiments of the driver assistance system according to the invention follow directly from the various configurations of the method according to the invention, and vice versa. In particular, individual features and corresponding explanations as well as advantages relating to the various embodiments of the method according to the invention can be transferred analogously to corresponding embodiments of the driver assistance system according to the invention. In particular, the driver assistance system according to the invention is configured or programmed to carry out a method according to the invention. In particular, the driver assistance system according to the invention carries out the method according to the invention.

[0043] According to another aspect of the invention, a motor vehicle is specified which has a driver assistance system according to the invention.

[0044] Further features of the invention will become apparent 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 in the figures alone, are not only usable in the combinations specified, but also in other combinations or on their own.

[0045] The invention will now be explained in more detail with reference to a preferred embodiment and the drawings. The drawings show:

[0046] Fig. 1 shows a schematic representation of an exemplary embodiment of a motor vehicle according to the invention; and

[0047] Fig. 2 shows a schematic representation of an exemplary scenario for the use of an exemplary embodiment of a lane-change assistance method according to the invention.

[0048] Figure 1 schematically illustrates an exemplary embodiment of a motor vehicle 1 according to the invention, including a driver assistance system 2 according to the invention. The driver assistance system 2 comprises a data processing system 3 adapted to perform a lane-change assistance method according to the invention for the motor vehicle 1. Figure 2 schematically illustrates an exemplary scenario in which an exemplary embodiment of a lane-change assistance method according to the invention can be performed. The motor vehicle 1, for example, the driver assistance system 2, has, in particular, at least one environmental sensor system 4, 5. This can, for example, include one or more cameras 4 and / or one or more radar systems 5 and / or one or more lidar systems and / or one or more ultrasonic sensor systems, and so on.

[0049] The method according to the invention can be carried out in particular when the motor vehicle 1 is located on a first lane 9a of a road 8, as schematically illustrated in the example of Fig. 2. The data processing system 3 receives sensor data from the at least one environmental sensor system 4, 5, which represent a second lane 9b of the road adjacent to the first lane 9a, as well as a first further vehicle 10a which is located on the second lane 9b.Based on sensor data, data processing system 3 determines a target distance to be maintained between the vehicle and the first other vehicle in the second lane, which is greater than a predefined minimum distance, and checks whether sufficient space is available for the vehicle if an automatic lane change of vehicle 1 from the first lane 9a to the second lane 9b were initiated or carried out. Depending on the result of this check, data processing system 3 initiates the automatic lane change of vehicle 1 from the first lane 9a to the second lane 9b.For this purpose, the data processing system can, for example, generate one or more control signals and transmit them to one or more actuators of the vehicle 1, which influence lateral guidance and optionally longitudinal guidance of the vehicle 1, so that the automatic lane change is carried out.

[0050] In particular, the automatic lane change while maintaining the target distance is only initiated if, according to the check, sufficient space is available for vehicle 1 while maintaining the target distance. If this is not the case, and sufficient space is available for vehicle 1 while maintaining the minimum distance, the automatic lane change can be initiated while maintaining the minimum distance.

[0051] The target distance, in particular a difference distance to the minimum distance or a scaling factor for multiplication by the minimum distance, can be determined, for example, depending on the type and / or size of the first further vehicle 10a, the lane width of the second lane 9b and / or weather conditions in the surrounding area.

[0052] In some scenarios, such as those shown in Fig. 2 and Fig. 3, a second vehicle 10b is driving behind the first vehicle 10a in the second lane 9b, creating a gap 11 between the first and second vehicles 10a. The data processing system 3 can then check, in particular, whether there would be sufficient space in the gap 11 for the vehicle 1 while maintaining the target distance. For this purpose, the data processing system 3 can, for example, estimate an expected distance d of the vehicle 1 to the preceding vehicle 10a and, optionally, a further expected distance d' between the vehicle 1 and the second vehicle 10b that is then behind the vehicle 1.The data processing system 3 can then, for example, decide whether the gap 11 would provide enough space for the vehicle 1 based on a comparison of the expected distance d with the target distance and optionally based on a comparison of the further expected distance d' with the target distance or a further minimum distance, and independently initiate the automatic lane change.

[0053] Reference symbol list

[0054] motor vehicle

[0055] Driver assistance system

[0056] Data processing system

[0057] camera

[0058] radar system

[0059] Street a, 9b Lanes 0a, 10b Vehicles 1 Gap

Claims

Patent claims 1. Method for lane change assistance in a motor vehicle (1) located in a first lane (9a) of a road (8), wherein a driver assistance system (2) of the motor vehicle (1) Sensor data from at least one environmental sensor system (4, 5) of the motor vehicle (1) are obtained, which represent a second lane (9b) of the road (8) adjacent to the first lane (9a) and a first additional vehicle (10a) located on the second lane (9b); depending on the sensor data, a target distance to be maintained between the motor vehicle (1) and the first additional vehicle (10a) on the second lane (9b) is determined, which is greater than a specified minimum distance, and it is checked whether sufficient space is available for the motor vehicle (1) while maintaining the target distance; and depending on a result of the check, an automatic lane change of the motor vehicle (1) from the first lane (9a) to the second lane (9b) is initiated.

2. Method according to claim 1, wherein the automatic lane change is initiated only if the result of the check indicates that sufficient space is available for the motor vehicle (1) while maintaining the target distance.

3. Method according to one of the preceding claims, wherein, if the result of the check indicates that there is not sufficient space available for the motor vehicle (1) while maintaining the target distance, and only if there is sufficient space available for the motor vehicle (1) while maintaining the minimum distance, the automatic lane change is initiated while maintaining the minimum distance.

4. Method according to claim 3, wherein, depending on the sensor data, it is checked whether sufficient space is available for the motor vehicle (1) while maintaining the minimum distance and the automatic lane change only occurs under The procedure for maintaining the minimum distance will be initiated if the result of the inspection shows that sufficient space is available for the motor vehicle (1) while maintaining the minimum distance.

5. Method according to one of the preceding claims, wherein a type and / or size of the first further vehicle (10a) is determined depending on the sensor data and the target distance is determined depending on the type and / or size of the first further vehicle (10a).

6. Method according to one of the preceding claims, wherein the sensor data represents a second further vehicle (10b) which is located on the second lane (9b) directly behind the first further vehicle (10a), such that a gap (11) is formed; and checking whether sufficient space is available for the motor vehicle (1) while maintaining the target distance includes checking whether the gap (11) provides sufficient space for the motor vehicle (1) while maintaining the target distance.

7. Method according to claim 6, wherein a type and / or size of the second further vehicle (10b) is determined depending on the sensor data and the target distance is determined depending on the type and / or size of the second further vehicle (10a).

8. Method according to one of the preceding claims, wherein a lane width of the second lane (9b) is determined depending on the sensor data and the target distance is determined depending on the lane width.

9. Method according to one of the preceding claims, wherein weather conditions in the vicinity of the motor vehicle (1) are determined depending on the sensor data and the target distance is determined depending on the weather conditions.

10. Driver assistance system (2) for a motor vehicle (1) comprising a data processing system (3) adapted to perform a method according to one of the preceding claims.

11. Motor vehicle (1) with a driver assistance system (2) according to claim 10.

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