DE102011002911A1 - Method for holding a vehicle in a traffic lane - Google Patents
Method for holding a vehicle in a traffic lane Download PDFInfo
- Publication number
- DE102011002911A1 DE102011002911A1 DE102011002911A DE102011002911A DE102011002911A1 DE 102011002911 A1 DE102011002911 A1 DE 102011002911A1 DE 102011002911 A DE102011002911 A DE 102011002911A DE 102011002911 A DE102011002911 A DE 102011002911A DE 102011002911 A1 DE102011002911 A1 DE 102011002911A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- lane
- lane keeping
- signal
- keeping system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 4
- 230000001419 dependent effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/082—Lane monitoring; Lane Keeping Systems using alarm actuation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/20—Road shapes
- B60T2210/24—Curve radius
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zum Führen eines Fahrzeuges (1) in einer Fahrspur (6) mittels eines Spurhaltesystems (9), bei dem das Fahrzeug (1) durch automatische Lenkeingriffe in der Fahrspur (6) geführt wird. Um den Fahrer rechtzeitig vor einem Ausfall des Spurhaltesystems zu warnen, wird vorgeschlagen, Daten (4) über einen vorausliegenden Streckenabschnitt (2) auszuwerten und daraus zu ermitteln, ob eine vorgegebene Systemgrenze des Spurhaltesystems (9) beim Durchfahren des Streckenabschnitts (2) überschritten werden wird, und ein Signal an den Fahrer auszugeben, wenn festgestellt wird, dass die vorgegebene Systemgrenze voraussichtlich überschritten werden wird.The invention relates to a method for guiding a vehicle (1) in a lane (6) by means of a lane keeping system (9), in which the vehicle (1) is guided in the lane (6) by automatic steering interventions. In order to warn the driver in time of a failure of the lane keeping system, it is proposed to evaluate data (4) about a route section (2) lying ahead and to determine therefrom whether a predetermined system limit of the lane keeping system (9) is exceeded when driving through the route section (2) and output a signal to the driver when it is determined that the predetermined system limit is likely to be exceeded.
Description
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren zum Halten eines Fahrzeuges in einer Fahrspur mittels eines Spurhaltesystems.The invention relates to a method for holding a vehicle in a traffic lane by means of a lane keeping system.
Aus dem Stand der Technik sind verschiedene Spurhaltesysteme für PKWs oder LKW bekannt, die den Fahrer beim Steuern des Fahrzeugs unterstützen. Einige der bekannten Systeme erzeugen ein gerichtetes Führungsmoment am Lenkrad, das vom Fahrer haptisch wahrnehmbar ist und den Fahrer dazu bringen soll, das Fahrzeug in die angegebene Richtung zu lenken. Andere Systeme führen das Fahrzeug vollautomatisch in der Fahrspur.Various lane-tracking systems for cars or trucks are known from the prior art, which assist the driver in controlling the vehicle. Some of the known systems generate directional steering torque on the steering wheel, which is tactile to the driver and causes the driver to steer the vehicle in the indicated direction. Other systems run the vehicle fully automatically in the lane.
Bekannte Spurhaltesysteme umfassen in der Regel ein Fahrspur-Erkennungssystem, mit dem der Fahrspurverlauf vor dem Fahrzeug und die relative Position des Fahrzeugs in der Fahrspur bestimmt werden können. Dazu werden der Verkehrsraum vor dem Fahrzeug z. B. mittels einer Videokamera erfasst und die gewonnenen Grauwertbilder in einem Steuergerät ausgewertet. Bei manchen Systemen werden auch Daten aus einer digitalen Karte zur Stützung und Erweiterung der videobasierten Spurinformationen mit einbezogen.Known lane departure warning systems generally include a lane recognition system with which the lane course in front of the vehicle and the relative position of the vehicle in the lane can be determined. These are the traffic space in front of the vehicle z. B. detected by a video camera and evaluated the obtained gray scale images in a control unit. Some systems also incorporate data from a digital map to support and expand the video-based lane information.
Auf Basis des Fahrspurverlaufs und ggf. von weiteren Fahrzustandsgrößen wird dann eine Solltrajektorie ermittelt, der das Fahrzeug folgen soll. Weicht das Fahrzeug zu weit von der Solltrajektorie ab, greift das System z. B. über ein Führungsmoment am Lenkrad oder durch gezieltes Bremsen an einem bestimmten Rad in den Fahrbetrieb ein und führt das Fahrzeug auf die Solltrajektorie zurück.On the basis of the lane course and, if appropriate, further driving state variables, a desired trajectory is then determined which the vehicle is to follow. If the vehicle deviates too far from the desired trajectory, the system z. B. via a guide torque on the steering wheel or by selective braking at a certain wheel in the driving and leads the vehicle back to the desired trajectory.
Der Betrieb von Spurhaltesystemen unterliegt jedoch bestimmen Systemgrenzen, die sich aus Einschränkungen z. B. in der Gültigkeit von Modellannahmen oder in der technischen Leistungsfähigkeit der verwendeten Systemkomponenten ergeben. So können zum Beispiel in sehr engen Kurven aufgrund des begrenzten horizontalen Winkelerfassungsbereichs einer Videosensorik Spurmarkierungen auf den Straßen nicht mehr erfasst werden. Eine andere Einschränkung entsteht dadurch, dass das zur Berechnung der Solltrajektorie verwendete Einspurmodell (ein im Stand der Technik verwendetes mathematisches Modell zur Beschreibung der Fahrzeugquerbewegung in Abhängigkeit des eingestellten Lenkwinkels) bei Querbeschleunigungen von mehr als 4 m/s2 nicht mehr akkurate Werte liefert.However, the operation of lane keeping systems is subject to certain system limits resulting from constraints such. As in the validity of model assumptions or in the technical performance of the system components used. For example, in very tight bends, lane markings on the roads can no longer be detected due to the limited horizontal angle detection range of a video sensor. Another limitation arises from the fact that the single-track model used for calculating the desired trajectory (a mathematical model used in the prior art for describing the vehicle lateral movement as a function of the adjusted steering angle) no longer provides accurate values at transverse accelerations of more than 4 m / s 2.
Heutige Spurhaltesysteme stoßen ebenfalls auf Grenzen in komplexeren Verkehrssituationen, wie zum Beispiel Kreuzungen, Kreisverkehren, Einmündungen, komplexen Vorfahrtsregelungen, Baustellen, Staus oder anderen Verkehrsbehinderungen. Beim Erreichen einer Systemgrenze stellen bekannte Spurhaltesysteme unmittelbar ihre Unterstützung ein, und der Lenker eines Fahrzeugs muss sofort die Kontrolle übernehmen, ohne dass er die Möglichkeit hat, sich auf diese Situation vorzubereiten. Ein unerwarteter Ausfall eines Spurhaltesystems kann bei Unaufmerksamkeit des Fahrers zu gefährlichen Situationen führen.Today's lane keeping systems also encounter limits in more complex traffic situations, such as intersections, roundabouts, junctions, complex right of way regulations, construction sites, traffic jams or other traffic obstructions. When a system boundary is reached, known lane keeping systems immediately cease to support them, and the driver of a vehicle must immediately take control without being able to prepare for this situation. An unexpected failure of a lane keeping system can lead to dangerous situations in the driver's inattention.
Offenbarung der ErfindungDisclosure of the invention
Es ist daher die Aufgabe der vorliegenden Erfindung, die Sicherheit von Spurhaltesystemen zu verbessern.It is therefore the object of the present invention to improve the safety of lane departure warning systems.
Gelöst wird diese Aufgabe gemäß der Erfindung durch die im Patentanspruch 1 angegebenen Merkmale. Weitere Ausgestaltungen der Erfindung sind Gegenstand von Unteransprüchen.This object is achieved according to the invention by the features specified in
Gemäß der Erfindung wird vorgeschlagen, einen vorausliegenden Streckenabschnitt zu analysieren und zu ermitteln, ob voraussichtlich eine vorgegebene Systemgrenze des Spurhaltesystems überschritten werden wird, wenn das Fahrzeug den vorausliegenden Streckenabschnitt durchfährt. Sofern eine mögliche Überschreitung einer vorgegebenen Systemgrenze festgestellt wird, wird ein Signal an den Fahrer ausgegeben, das den Fahrer vor einem bevorstehenden Ausfall des Spurhaltesystems warnen und dazu auffordern soll, die Kontrolle über das Lenkrad zu übernehmen. Das Warnsignal wird dabei eine bestimmte Zeit vor dem voraussichtlichen Überschreiten der Systemgrenze ausgegeben. Dieses Verfahren hat somit den Vorteil, dass der Fahrer nicht durch einen plötzlichen Ausfall des Spurhaltesystems überrascht wird und er sich rechtzeitig auf den Ausfall einstellen kann. Bei der Entscheidung, ob voraussichtlich eine vorgegebene Systemgrenze des Spurhaltesystems überschritten werden wird, werden vorzugsweise auch das eigene Fahrzeug betreffende Informationen berücksichtigt, wie z. B. dessen Position und/oder Geschwindigkeit und/oder Entfernung und/oder Fahrzustand (Bremsen, Beschleunigen), etc..According to the invention, it is proposed to analyze a preceding section of the route and to ascertain whether a predefined system limit of the lane keeping system is likely to be exceeded when the vehicle passes through the route ahead. If a potential system limit is exceeded, a signal is issued to the driver to warn the driver of an imminent failure of the lane keeping system and to request that he take control of the steering wheel. The warning signal is output a certain time before the expected exceeding of the system limit. This method thus has the advantage that the driver is not surprised by a sudden failure of the lane keeping system and he can adjust in time for the failure. When deciding whether a predefined system limit of the lane keeping system is likely to be exceeded, information relating to one's own vehicle is also preferably taken into account, such as, for example, B. its position and / or speed and / or distance and / or driving condition (braking, acceleration), etc ..
Ein vorausliegender Streckenabschnitt kann z. B. vom Fahrzeug bis etwa 200 m oder 500 m vor das Fahrzeug reichen. Die Größe des überwachten Streckenabschnitts kann von der Fahrzeuggeschwindigkeit oder einer anderen Größe, z. B. auch von Wetterdaten, abhängig sein.A preceding stretch may, for. B. from the vehicle to about 200 m or 500 m in front of the vehicle. The size of the monitored stretch may vary from the vehicle speed or other size, e.g. B. also be dependent on weather data.
Auch der Zeitpunkt der Ausgabe des Warnsignals kann von der Fahrzeuggeschwindigkeit oder einer anderen Größe abhängig sein. Bei hohen Geschwindigkeiten oder widrigen Witterungsbedingungen sollte prinzipiell früher eine Warnung an den Fahrer ausgegeben werden als bei niedrigeren Geschwindigkeiten oder unkritischen Witterungsbedingungen.Also, the timing of issuing the warning signal may be dependent upon the vehicle speed or other size. At high speeds or adverse weather conditions, a warning to the driver should in principle be given earlier than at lower speeds Speeds or uncritical weather conditions.
Die vom Spurhaltesystem analysierten Daten über einen vorausliegenden Streckenabschnitt können z. B. Daten über Kurvenradien und/oder Krümmungsverläufe vorausliegender Kurven, Kreuzungen, Kreisverkehre, Einmündungen, Vorfahrtsregelungen, Straßentyp, Geschwindigkeitsbegrenzungen, Wetterdaten, Baustellen oder andere Behinderungen, Verkehrszonen, Staus und/oder Verkehrslagen enthalten. Anhand dieser Daten lässt sich in Verbindung mit Informationen über das eigene Fahrzeug (z. B. dessen Position, Geschwindigkeit, etc.) im Voraus ermitteln, ob und wann gegebenenfalls Systemgrenzen des Spurhaltesystems überschritten werden.The data analyzed by the lane keeping system over a preceding section of the route may e.g. B. data on curve radii and / or curvature curves of preceding curves, intersections, roundabouts, junctions, right-of-way rules, road type, speed limits, weather data, construction sites or other disabilities, traffic zones, traffic jams and / or traffic conditions included. On the basis of this data, in conjunction with information about the own vehicle (eg its position, speed, etc.) it is possible to determine in advance whether and when, if necessary, system limits of the lane keeping system are exceeded.
Gemäß einer bevorzugten Ausführungsform der Erfindung wird wenigstens ein Teil der Daten über den vorausliegenden Streckenabschnitt aus einer digitalen Karte ermittelt. Die Daten über den vorausliegenden Streckenabschnitt können auch aus anderen Quellen entstammen, zum Beispiel einem Video- und/oder Radarsystem, dem Verkehrsfunk, einem Temperatur- oder Regensensor, oder einer anderen Sensorik.According to a preferred embodiment of the invention, at least part of the data on the route ahead is determined from a digital map. The data on the preceding section of the route can also come from other sources, for example a video and / or radar system, the traffic information system, a temperature or rain sensor, or other sensors.
Systemgrenzen im Sinne der Erfindung sind Grenzen, welche einen Betriebsbereich, in dem das Spurhaltesystem funktioniert, von einem Betriebsbereich, in dem das Spurhaltesystem nicht oder nur eingeschränkt funktioniert, trennen. Systemgrenzen des Spurhaltesystems können z. B. Kurven mit einem Radius sein, der kleiner ist als ein vorgegebener Schwellenwert, eine vorgegebene maximale Querbeschleunigung des Fahrzeugs, eine Kreuzung, ein Kreisverkehr, eine Einmündung, eine Vorfahrtsregelung, eine Baustelle und/oder eine andere Verkehrsbehinderung, eine vorgegebene Verkehrszone, wie z. B. eine städtische Zone oder ein Stau. Eine Systemgrenze wird beispielsweise überschritten, wenn das Fahrzeug in eine Kurve fährt, deren Radius kleiner ist als ein vorgegebener Schwellenwert, oder das Fahrzeug in einem Kreisverkehr fährt. In solchen Situationen ist das Spurhaltesystem nicht mehr in der Lage, das Fahrzeug sicher in der Fahrspur zu führen.System boundaries within the meaning of the invention are limits that separate an operating area in which the lane keeping system works from an operating area in which the lane keeping system does not function or only to a limited extent. System limits of the lane keeping system can, for. B. curves with a radius that is smaller than a predetermined threshold, a predetermined maximum lateral acceleration of the vehicle, an intersection, a roundabout, a junction, a priority, a construction site and / or other traffic obstruction, a predetermined traffic zone such , As an urban area or a traffic jam. A system limit is exceeded, for example, when the vehicle is traveling in a curve whose radius is smaller than a predetermined threshold, or the vehicle is driving in a roundabout. In such situations, the lane keeping system is no longer able to guide the vehicle safely in the lane.
Der eingangs genannte Signalgeber kann ein optisches, akustisches oder ein vom Fahrer haptisch wahrnehmbares Signal abgeben. Ein optisches Signal kann z. B. mittels eines blinkenden oder leuchtenden Lämpchens oder eines Bildschirms erzeugt werden. Auf einem Bildschirm oder einer anderen Anzeigeeinrichtung können eventuell auch detaillierte Informationen angezeigt werden, z. B. wie lange die verbleibende Zeit bis zum Ausfall ist. Als akustisches Signal kann z. B. ein Ton erklingen, der z. B. lauter werden oder die Frequenz ändern kann, solange der Fahrer nicht eingreift und je näher der Ausfall rückt. Andere Möglichkeiten zur Information des Fahrers bestehen z. B. in einer Vibration des Lenkrads oder des Fahrersitzes. Ebenso möglich ist eine Kombination verschiedener Varianten.The aforementioned signal generator can emit an optical, acoustic or haptic perceptible by the driver signal. An optical signal can, for. B. by means of a flashing or glowing lamp or a screen. On a screen or other display device may also be displayed detailed information, such. For example, how long the remaining time to failure. As an acoustic signal z. B. a sound, the z. B. louder or can change the frequency as long as the driver does not intervene and the closer the failure moves. Other ways to inform the driver exist z. B. in a vibration of the steering wheel or the driver's seat. Also possible is a combination of different variants.
Gemäß der Erfindung wir der Fahrer rechtzeitig über den bevorstehenden Ausfall des Spurhaltesystems informiert. Der Zeitpunkt oder Ort, an dem das Warnsignal ausgegeben wird, ist vorzugsweise einstellbar. Er kann von der Fahrzeuggeschwindigkeit oder einer anderen Größe abhängig sein.According to the invention, the driver is informed in good time about the imminent failure of the lane keeping system. The time or location at which the warning signal is output is preferably adjustable. It may be dependent on vehicle speed or other size.
Ein erfindungsgemäßes Spurhaltesystem umfasst ein Steuergerät mit einem Algorithmus, der Daten über einen vorausliegenden Streckenabschnitt analysiert und aus diesen Daten ermittelt, ob eine vorgegebene Systemgrenze des Spurhaltesystems voraussichtlich überschritten werden wird, wenn das Fahrzeug den Streckenabschnitt durchfährt. Wenn die Überschreitung einer Systemgrenze erwartet wird, wird ein Signalgeber aktiviert, um den Fahrer rechtzeitig vordem bevorstehenden Ausfall zu warnen.A lane keeping system according to the invention comprises a control unit with an algorithm which analyzes data on a preceding section of track and determines from these data whether a predetermined system limit of the lane keeping system is likely to be exceeded when the vehicle passes through the section. When exceeding a system limit is expected, a buzzer is activated to warn the driver well in advance of the impending failure.
Das Steuergerät ist vorzugsweise mit verschiedenen anderen Einrichtungen verbunden, von denen es Daten über das eigene Fahrzeug oder einen vorausliegenden Streckenabschnitt erhält, z. B. mit einem Navigationssystem, einem Speicher mit einer digitalen Karte, mit einem Regensensor, einem Temperatursensor, mit Raddrehzahlsensoren, oder einer anderen Sensorik bzw. Quelle, die entscheidungsrelevante Daten liefert.The controller is preferably connected to various other devices, from which it receives data about its own vehicle or a preceding section of the route, for. B. with a navigation system, a memory with a digital map, with a rain sensor, a temperature sensor, with wheel speed sensors, or other sensor or source that provides decision-relevant data.
Der vorstehend genannte Algorithmus entscheidet unter Berücksichtigung aller verfügbarer Informationen, ob beim Erreichen des vorausliegenden Streckenabschnitts ein Ausfall des Spurhaltesystems zu erwarten ist oder nicht.The above-mentioned algorithm, taking into account all available information, decides whether a failure of the lane keeping system is to be expected or not on reaching the preceding route section.
Dies Systemgrenzen können feste oder variable Werte sein. Sie können z. B. von einer Betriebsgröße des Fahrzeugs, wie z. B. der Geschwindigkeit oder von anderen Daten, z. B. den Witterungsverhältnissen, abhängen.These system boundaries can be fixed or variable values. You can z. B. from an operating size of the vehicle, such as. As the speed or other data, eg. B. the weather conditions depend.
Gemäß einer speziellen Ausführungsform der Erfindung wird überprüft, ob eine Systemgrenze beim Durchfahren eines vorausliegenden Streckenabschnitts voraussichtlich mehrere Male kurz hintereinander, z. B. innerhalb weniger Minuten, überschritten werden wird. In einem solchen Fall wird vorgeschlagen, das Wiedereinschalten des Systems in den dazwischen liegenden Streckenabschnitten zu unterbinden. Dadurch wird dem Fahrer ein ständiger Wechsel zwischen einem Fahrbetrieb mit und ohne Systemunterstützung erspart.According to a specific embodiment of the invention, it is checked whether a system boundary when passing through a preceding section of the route is likely to be repeated several times in quick succession, for B. within a few minutes, will be exceeded. In such a case, it is proposed to prevent the reconnection of the system in the intervening sections. As a result, the driver is spared a constant change between driving with and without system support.
Die Erfindung wird nachstehend anhang der beigefügten Zeichnungen beispielhaft näher erläutert. Es zeigen: The invention will be explained in more detail below by way of example with reference to the appended drawings. Show it:
Das Fahrzeug
Das Spurhaltesystem ermittelt die relative Position des Fahrzeugs
Das Fahrzeug
Um zu vermeiden, dass der Fahrer vom Systemausfall überrascht wird, ist vorgesehen, den Fahrer rechtzeitig zu warnen, noch bevor das Fahrzeug
Dabei berücksichtigt der Algorithmus
Die für die Überwachung erforderlichen Daten und Informationen
Am Steuergerät
Die Funktion des Spurhaltesystems bei einem bevorstehenden Ausfall des Systems wird im Folgenden beispielhaft anhand der in
Der Signalgeber
Greift der Fahrer bis dahin immer noch nicht ein, wird die Meldung durch eine Stimme aus dem Lautsprecher
Claims (9)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011002911A DE102011002911A1 (en) | 2011-01-20 | 2011-01-20 | Method for holding a vehicle in a traffic lane |
PCT/EP2011/073552 WO2012097940A1 (en) | 2011-01-20 | 2011-12-21 | Method for keeping a vehicle in a lane |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011002911A DE102011002911A1 (en) | 2011-01-20 | 2011-01-20 | Method for holding a vehicle in a traffic lane |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102011002911A1 true DE102011002911A1 (en) | 2012-07-26 |
Family
ID=45440534
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102011002911A Withdrawn DE102011002911A1 (en) | 2011-01-20 | 2011-01-20 | Method for holding a vehicle in a traffic lane |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102011002911A1 (en) |
WO (1) | WO2012097940A1 (en) |
Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013225759A1 (en) | 2012-12-17 | 2014-06-18 | Conti Temic Microelectronic Gmbh | Method for driver assistance system for tracking vehicle, involves reducing vehicle speed continuously or stepwise, when driver after issue of transfer request is no response in predetermined period of time |
CN104108391A (en) * | 2013-04-17 | 2014-10-22 | 福特全球技术公司 | Method And Device For Controlling The Driving Dynamics Of Vehicle Having Track Groove Compensation |
DE102013013568A1 (en) | 2013-08-14 | 2015-02-19 | GM Global Technology Operations, LLC (n.d. Ges. d. Staates Delaware) | Lane keeping assistance system and method for lane keeping a motor vehicle |
CN104925001A (en) * | 2014-03-18 | 2015-09-23 | 沃尔沃汽车公司 | Vehicle sensor diagnosis system and method and a vehicle comprising such a system |
DE102014008353A1 (en) * | 2014-06-04 | 2015-12-17 | Audi Ag | Method for operating a driver assistance system for the automated guidance of a motor vehicle and associated motor vehicle |
DE102015004469A1 (en) * | 2015-04-04 | 2016-08-25 | Audi Ag | Method for informing a driver during the fully automatic operation of a motor vehicle |
EP3109115A1 (en) * | 2015-06-23 | 2016-12-28 | Volvo Car Corporation | Arrangement and method for facilitating handover to and from an automated autonomous driving aid system |
EP3381758A1 (en) * | 2017-03-30 | 2018-10-03 | Alpine Electronics, Inc. | Driver information system and method for a vehicle capable of driving in an autonomous driving mode |
WO2019081420A1 (en) * | 2017-10-25 | 2019-05-02 | Volkswagen Aktiengesellschaft | Method for the early indication of an operating range with an insufficient reliability status of an assistance system of a transportation means, system and automobile |
DE102019212489A1 (en) * | 2019-08-21 | 2021-02-25 | Robert Bosch Gmbh | Availability optimization system for an autonomously drivable vehicle |
DE102021203428A1 (en) | 2021-04-07 | 2022-10-13 | Continental Autonomous Mobility Germany GmbH | Device and method for stability monitoring of an ego vehicle |
DE102021203424A1 (en) | 2021-04-07 | 2022-10-13 | Continental Autonomous Mobility Germany GmbH | Device and method for stability monitoring in automated guidance of an ego vehicle |
DE102012214206B4 (en) | 2012-08-09 | 2022-12-22 | Bayerische Motoren Werke Aktiengesellschaft | Method for detecting the curvature of a lane course during fully automatic vehicle guidance |
DE102017114471B4 (en) | 2016-08-25 | 2023-05-04 | Toyota Jidosha Kabushiki Kaisha | vehicle control device |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
SE536717C2 (en) * | 2012-10-03 | 2014-06-17 | Scania Cv Ab | Device and method for diagnosing vehicle functions |
CN103085816B (en) * | 2013-01-30 | 2015-10-28 | 同济大学 | A kind of Trajectory Tracking Control method for automatic driving vehicle and control setup |
US10773642B2 (en) | 2013-11-06 | 2020-09-15 | Frazier Cunningham, III | Vehicle driver nudge system |
EP2921363A1 (en) * | 2014-03-18 | 2015-09-23 | Volvo Car Corporation | Vehicle, vehicle system and method for increasing safety and/or comfort during autonomous driving |
EP2921362B1 (en) | 2014-03-18 | 2020-08-12 | Volvo Car Corporation | Vehicle, vehicle system and method for increasing safety and/or comfort during autonomous driving |
WO2017186560A1 (en) | 2016-04-26 | 2017-11-02 | Unilever N.V. | Savoury composite food product comprising gel pieces |
JP6614178B2 (en) * | 2017-02-16 | 2019-12-04 | トヨタ自動車株式会社 | Vehicle communication system and vehicle control apparatus |
CN109377755B (en) * | 2018-10-31 | 2021-11-30 | 惠州市德赛西威汽车电子股份有限公司 | Lane traffic efficiency optimizing grouping device and method |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005002760B4 (en) * | 2004-01-20 | 2018-05-24 | Volkswagen Ag | Device and method for accident prevention in motor vehicles |
DE102005057251A1 (en) * | 2005-11-29 | 2007-06-06 | Daimlerchrysler Ag | Drive assistance system e.g. lane keeping system, operating method for use in motor vehicle, involves automatically deactivating system by boundary condition during exceedance or falling below of threshold value |
DE102006004772B4 (en) * | 2006-02-02 | 2022-02-10 | Robert Bosch Gmbh | Driver assistance system and method for its control |
DE102007020280A1 (en) * | 2007-04-30 | 2008-11-06 | Robert Bosch Gmbh | Method and device for controlling a driver assistance system |
DE102007022184A1 (en) * | 2007-05-11 | 2008-11-13 | Robert Bosch Gmbh | Driver assistance device and method for its control |
DE102008002401A1 (en) * | 2008-06-12 | 2009-12-17 | Robert Bosch Gmbh | Method and device for controlling a driver assistance system |
-
2011
- 2011-01-20 DE DE102011002911A patent/DE102011002911A1/en not_active Withdrawn
- 2011-12-21 WO PCT/EP2011/073552 patent/WO2012097940A1/en active Application Filing
Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012214206B4 (en) | 2012-08-09 | 2022-12-22 | Bayerische Motoren Werke Aktiengesellschaft | Method for detecting the curvature of a lane course during fully automatic vehicle guidance |
DE102013225759A1 (en) | 2012-12-17 | 2014-06-18 | Conti Temic Microelectronic Gmbh | Method for driver assistance system for tracking vehicle, involves reducing vehicle speed continuously or stepwise, when driver after issue of transfer request is no response in predetermined period of time |
CN104108391B (en) * | 2013-04-17 | 2018-04-10 | 福特全球技术公司 | The method and apparatus of the drive propulsion of vehicle of the control with rut compensation |
CN104108391A (en) * | 2013-04-17 | 2014-10-22 | 福特全球技术公司 | Method And Device For Controlling The Driving Dynamics Of Vehicle Having Track Groove Compensation |
DE102013013568A1 (en) | 2013-08-14 | 2015-02-19 | GM Global Technology Operations, LLC (n.d. Ges. d. Staates Delaware) | Lane keeping assistance system and method for lane keeping a motor vehicle |
CN104925001A (en) * | 2014-03-18 | 2015-09-23 | 沃尔沃汽车公司 | Vehicle sensor diagnosis system and method and a vehicle comprising such a system |
CN104925001B (en) * | 2014-03-18 | 2018-12-07 | 沃尔沃汽车公司 | Vehicle sensors diagnostic system and method and vehicle including this system |
US10086844B2 (en) | 2014-03-18 | 2018-10-02 | Volvo Car Corporation | Vehicle sensor diagnosis system and method and a vehicle comprising such a system |
DE102014008353A1 (en) * | 2014-06-04 | 2015-12-17 | Audi Ag | Method for operating a driver assistance system for the automated guidance of a motor vehicle and associated motor vehicle |
DE102014008353B4 (en) * | 2014-06-04 | 2016-09-15 | Audi Ag | Method for operating a driver assistance system for the automated guidance of a motor vehicle and associated motor vehicle |
DE102015004469A1 (en) * | 2015-04-04 | 2016-08-25 | Audi Ag | Method for informing a driver during the fully automatic operation of a motor vehicle |
US9919716B2 (en) | 2015-06-23 | 2018-03-20 | Volvo Car Corporation | Arrangement and method for facilitating handover to and from an automated autonomous driving aid system |
CN106292649A (en) * | 2015-06-23 | 2017-01-04 | 沃尔沃汽车公司 | For contributing to the apparatus and method that automatic autonomous driving aid system toggles |
EP3109115A1 (en) * | 2015-06-23 | 2016-12-28 | Volvo Car Corporation | Arrangement and method for facilitating handover to and from an automated autonomous driving aid system |
DE102017114471B4 (en) | 2016-08-25 | 2023-05-04 | Toyota Jidosha Kabushiki Kaisha | vehicle control device |
EP3381758A1 (en) * | 2017-03-30 | 2018-10-03 | Alpine Electronics, Inc. | Driver information system and method for a vehicle capable of driving in an autonomous driving mode |
WO2019081420A1 (en) * | 2017-10-25 | 2019-05-02 | Volkswagen Aktiengesellschaft | Method for the early indication of an operating range with an insufficient reliability status of an assistance system of a transportation means, system and automobile |
DE102019212489A1 (en) * | 2019-08-21 | 2021-02-25 | Robert Bosch Gmbh | Availability optimization system for an autonomously drivable vehicle |
DE102021203428A1 (en) | 2021-04-07 | 2022-10-13 | Continental Autonomous Mobility Germany GmbH | Device and method for stability monitoring of an ego vehicle |
US20220324486A1 (en) * | 2021-04-07 | 2022-10-13 | Continental Automotive Gmbh | Apparatus and method for monitoring the stability of an ego vehicle |
DE102021203424A1 (en) | 2021-04-07 | 2022-10-13 | Continental Autonomous Mobility Germany GmbH | Device and method for stability monitoring in automated guidance of an ego vehicle |
DE102021203428B4 (en) | 2021-04-07 | 2023-05-04 | Continental Autonomous Mobility Germany GmbH | Device and method for stability monitoring of an ego vehicle |
Also Published As
Publication number | Publication date |
---|---|
WO2012097940A1 (en) | 2012-07-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102011002911A1 (en) | Method for holding a vehicle in a traffic lane | |
DE102017212362B4 (en) | DEVICE FOR VEHICLE DRIVING ASSISTANCE | |
EP1751728B1 (en) | Assistance system for motor vehicles | |
EP1797453A1 (en) | Driver assisting method and device | |
WO2005118372A1 (en) | Method for holding the course of a vehicle | |
DE102015209952A1 (en) | Device and computer program for supporting a vehicle driver | |
EP2188798A1 (en) | Traffic guidance system | |
DE102016223579A1 (en) | Method for determining data of a traffic situation | |
DE102014012781B4 (en) | Lane change assistant, associated method of operation and motor vehicle | |
EP2766244B1 (en) | Method for assisting a driver of a vehicle in leaving a perpendicular/diagonal parking space | |
EP2777032A1 (en) | Method and device for warning the driver of a motor vehicle in the event of a lack of attention | |
DE102017011140A1 (en) | Control system and control method for driving a motor vehicle and avoiding a collision with another motor vehicle | |
DE102007027000B4 (en) | Lane departure warning and method for warning the driver of a vehicle | |
DE102018203376A1 (en) | Method for detecting and taking into account irregular driving behavior of a target vehicle | |
DE102017213071A1 (en) | Device for reducing a speed of a motor vehicle | |
DE102012104069B3 (en) | Method for operating assistance system of vehicle i.e. motor car, involves outputting track recommendation to driver of vehicle depending on actual speed of vehicle and tentative velocity recommendation specified for multiple lanes | |
EP1853454A1 (en) | Method for recognising an imminent overtake | |
WO2016055183A1 (en) | Method and device for assisting a driver of a vehicle when driving onto a carriageway via an approach road | |
DE102017219813A1 (en) | A method and apparatus for assisting a driver of an own vehicle | |
EP1724175A2 (en) | Method and device for driver assistance | |
DE112016002947T5 (en) | Method and system for controlling the driving of a vehicle along a road | |
WO2012103970A1 (en) | Method for fixing a search corridor in a monitoring system in a vehicle | |
DE102016201190A1 (en) | turning wizard | |
DE102013003219A1 (en) | Method for assisting driver of motor car on fast lane of two-lane road, involves driving preceding vehicle longer than preset time on fast lane, without having recognizable overhauling intent or avoidance intent | |
EP1422586B1 (en) | Method and device to monitor a car driver by using lane recognition |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |
Effective date: 20130801 |