EP1682378A1 - Active lane assistant - Google Patents

Active lane assistant

Info

Publication number
EP1682378A1
EP1682378A1 EP04790840A EP04790840A EP1682378A1 EP 1682378 A1 EP1682378 A1 EP 1682378A1 EP 04790840 A EP04790840 A EP 04790840A EP 04790840 A EP04790840 A EP 04790840A EP 1682378 A1 EP1682378 A1 EP 1682378A1
Authority
EP
European Patent Office
Prior art keywords
lane
travel
driver
vehicle
determined
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Withdrawn
Application number
EP04790840A
Other languages
German (de)
French (fr)
Inventor
Matthias Gut
Jürgen Trost
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daimler AG
Original Assignee
DaimlerChrysler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by DaimlerChrysler AG filed Critical DaimlerChrysler AG
Publication of EP1682378A1 publication Critical patent/EP1682378A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
    • 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
    • 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
    • B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
    • 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
    • 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
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation
    • 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
    • B60W2050/143—Alarm means
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping

Definitions

  • the invention relates to a method for monitoring the condition of a vehicle driver, in which the lane position of a vehicle is detected and monitored, a direction of travel is determined, the actual lane position is compared with the determined direction of travel, and the driver is supported in maintaining the lane position.
  • a system for assisting a driver is known from EP 0 640 903 A1, in which a video camera or the like is arranged on a vehicle. This video camera will used to recognize the lane or lane markings on the road.
  • An associated signal processor estimates the lateral position of the vehicle in relation to the lane markings.
  • An electric motor connected to the steering system is used to introduce a torque into the vehicle steering system that either supports or counteracts the driver's steering torque.
  • the signal processor is designed in such a way that it supports the driver in keeping the position of the vehicle in the lane. This simulates a trough-shaped roadway in which the vehicle is held.
  • the driver can override the driving assistance provided by the vehicle by introducing a sufficiently large steering torque.
  • a warning signal is issued as a sign that the vehicle is moving away from a calculated direction of travel. This should startle the driver so that he returns to the correct position on the road.
  • the object of the present invention is to create a method with which it can be recognized when a driver is no longer actively steering.
  • This object is achieved according to the invention by a method of the type mentioned in the introduction, in which a warning signal to the driver is generated over a predetermined period of time if the calculated direction of travel corresponds exactly to the actual lane position.
  • the vehicle drives exactly in the calculated direction of travel for a longer period of time, which can be preset at the factory, then it can be assumed that the driver has released the steering wheel or that he is no longer actively steering. In this case, the driver is replaced by a Warning signal again causes the vehicle to be actively controlled.
  • the position of the lane markings of the roadway is optically recorded. From the position of these markings relative to the vehicle and the current vehicle data, such as speed, it is determined where the vehicle should be heading in order to stay in the lane. In the event of a deviation from this determined direction of travel, the driver is actively supported in taking the calculated direction of travel.
  • an optical and / or acoustic and / or haptic warning signal is generated.
  • vibration of the steering wheel can be triggered.
  • the vehicle slows down. This is particularly useful if the driver does not respond to the warning signal.
  • a test signal that is dependent on the driving situation is added to the calculated direction of travel and that the warning signal is output when the vehicle follows the test signal.
  • This measure makes it possible to determine whether the vehicle is steering independently or whether the driver is steering the vehicle.
  • a deviation from the calculated direction of travel is advantageously determined and the steering angle is determined, which would have to be steered to keep the lane or to steer into the lane. By determining this data, the driver can be optimally supported in keeping the direction of travel.
  • the zero position of the steering torque is shifted by the determined steering angle via a manual torque divider.
  • the determined steering angle is passed on to the manual torque adjuster as an offset. This shifts the zero position of the steering torque by the transferred angle.
  • a manual torque actuator is used in particular in so-called “steer by wire” systems in which there is no mechanical connection between the wheels and the steering wheel. In order to convey to the driver the conventional driving sensation that exists when the steering wheel and wheels are mechanically connected The steering wheel is subjected to a torque which simulates the turning of the wheels.
  • the set torque is zero when the wheels are straight ahead and the steering wheel is in a central position. It can be provided that the manual torque increases linearly or disproportionately with a rotation of the steering wheel The more the steering wheel is deflected, the automatic centering causes the driver to actuate the steering wheel in such a way that the vehicle is kept in the specified or calculated direction of travel.
  • the driver has the feeling that the vehicle locks into the lane .
  • the driver's support for keeping the lane increases dynamically with a deviation from the calculated direction of travel. This means that the centering is dynamically increased the further the vehicle approaches a lane marking.
  • the steering assistance is preferably slowly withdrawn if the lane or lane marking is not recognized. If no more lane is recognized, the offset determined by the steering angle and the increased centering are slowly withdrawn. The fact that the steering assistance does not suddenly disappear does not frighten the driver and ensures safe driving of the vehicle.
  • a condition monitoring device comprising a lane detection device, means for determining a direction of travel, a monitoring device for monitoring deviations from the direction of travel and a warning device, wherein the warning device can be activated if there is a match in the monitoring device over a predetermined period of time certain driving direction and actual driving direction is detected.
  • the warning device can be activated if it is determined that the vehicle is kept in the lane only automatically, ie without the driver having to do anything. The driver is therefore warned before the vehicle moves off this ideal lane and comes close to a lane marking.
  • the condition monitoring device therefore increases safety in road traffic.
  • a "steer by wire” system is provided. It can be provided that the lane position of the vehicle is detected with the lane detection device. The deviation from a calculated direction of travel detected in the monitoring device can be passed on to the "Steer by Wire" system via the vehicle CAN bus. From the information, this can then determine the angle that would have to be steered in order to remain in the lane or to steer back into the lane. In a "steer by wire” system there is no mechanical connection between the wheels and the steering wheel.
  • the angle determined by "Steer by Wire” systems can be passed on to a manual torque adjuster as an offset. This shifts the zero position of the steering torque by the transferred angle. This is automatic centering. Automatic centering pulls the steering wheel in the direction of the angle needed to stay on track.
  • the "steer by wire” system can be integrated in the monitoring device or vice versa.
  • the manual torque adjuster generates an additive moment to the moment exerted by the chassis in the event that there is a mechanical connection between the steering wheel and the wheels, i.e. if no "Steer by Wire" system is used.
  • FIG. 1 shows schematically a condition monitoring device
  • a condition monitoring device 1 is shown in a highly schematic manner in FIG. 1.
  • a lane detection device 2 which can also be referred to as a series lane assistant
  • the position of the lane markings 3 is optically recorded, for example, by cameras. From the position of these lane markings 3 relative to the vehicle and the current vehicle data, a direction of travel is determined which the vehicle would have to take in order to remain between the lane markings 3. It can be provided that the vehicle should travel in the middle between the lane markings 3. Depending on the course of the roadway, however, a shift towards one of the lane markings 3 can also take place.
  • a monitoring device 5 determines whether the vehicle deviates from the calculated direction of travel.
  • the monitoring device 5 is part of a “steer by wire” system.
  • the determined angle is transmitted to a hand torque adjuster 6. This shifts the zero position of the steering torque by the transferred angle.
  • This automatic centering pulls the steering wheel 7 in the direction of the angle required to stay on track. To increase this effect, the centering is dynamically increased.
  • manual torque adjuster 6 is connected to chassis 8 in terms of data technology. From the position of the steering wheel 7 set by the driver, commands are determined in the "steer by wire” system in order to control a motor 9 which makes the actual setting of the wheels 10. If it is determined in the monitoring device 5 that the vehicle is traveling exactly in the calculated direction of travel over a longer period of time, then a warning device 11 is activated, since it must be assumed that the Driver has released the steering wheel 7 or that he is no longer actively steering.
  • the lane marking (3) of the lane in which the vehicle is moving is detected and a direction of travel is determined which the vehicle would have to follow in order to remain in the lane.
  • the vehicle driver is supported by an automatic centering of the steering wheel to stay on track. If the vehicle follows the determined direction of travel for a certain period of time, this is an indication that the driver is not actively steering and a warning signal is generated.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
  • Steering Controls (AREA)

Abstract

The invention relates to a method which is used to monitor the condition of a driver of a vehicle. Markings (3) of the lane along which a vehicle travels are detected, the direction of travel is determined, and the vehicle has to follow said lane in order to remain in lane. The vehicle driver is assisted by automatic centering of the steering wheel in order to remain in the lane. If the vehicle follows the determined direction of travel in a precise manner during a determined period of time, this means that the driver is not driving in an active manner and a warning signal is emitted.

Description

Aktiver Spurassistent Active lane assistant
Die Erfindung betrifft ein Verfahren zur Konditionsüberwachung eines Fahrzeugführers, bei dem die Spurlage eines Fahrzeugs erfasst und überwacht wird, eine Fahrtrichtung ermittelt wird, die tatsächliche Spurlage mit der ermittelten Fahrtrichtung verglichen wird, und der Fahrer beim Halten der Spurlage unterstützt wird.The invention relates to a method for monitoring the condition of a vehicle driver, in which the lane position of a vehicle is detected and monitored, a direction of travel is determined, the actual lane position is compared with the determined direction of travel, and the driver is supported in maintaining the lane position.
Ein derartiges Verfahren ist durch die EP 0 640 903 AI bekannt geworden.Such a method is known from EP 0 640 903 AI.
Durch Hilfsmittel wie Abstandsregelsysteme, Tempomat und Spurassistent werden einem Fahrer immer mehr Aufgaben abgenommen. Diese Systeme werden eingesetzt mit dem Ziel, den Straßenverkehr sicherer zu machen. Insbesondere sollen Unfälle in Folge von Unaufmerksamkeiten eines Fahrers vermieden werden. Eine Vielzahl solcher Systeme birgt jedoch die Gefahr des Missbrauchs. Da solche Systeme keine vollständige Sicherheit gewährleisten, muss darauf geachtet werden, dass der Fahrer trotz der Unterstützung durch cliese Systeme weiterhin die Verantwortung für die Fahrzeugführung wahrnimmt .With the help of tools such as cruise control, cruise control and lane assist, an increasing number of tasks are relieved of a driver. These systems are used with the aim of making road traffic safer. In particular, accidents due to driver inattentiveness should be avoided. However, a large number of such systems carry the risk of misuse. Since such systems do not guarantee complete safety, care must be taken to ensure that the driver continues to assume responsibility for vehicle control despite the support of these systems.
Aus der EP 0 640 903 AI ist ein System zur Unterstützung eines Fahrers bekannt, bei dem eine Videokamera oder dergleichen an einem Fahrzeug angeordnet ist . Diese Videokamera wird dazu benutzt, die Spur- bzw. Fahrbahnmarkierungen auf der Straße zu erkennen. Ein zugeordneter Signalprozessor schätzt die seitliche Position des Fahrzeugs in Bezug zu den Fahrbahnmarkierungen. Ein elektrischer Motor, der mit dem Lenksystem verbunden ist, wird benutzt, um ein Drehmoment in die Fahrzeuglenkung einzubringen, die entweder das Lenkmoment des Fahrers unterstützt oder diesem entgegenwirkt. Der Signalprozessor ist so ausgebildet, dass er den Fahrer dabei unterstützt, die Lage des Fahrzeugs in der Spur zu halten. Dadurch wird eine rinnenförmige Fahrbahn simuliert, in der das Fahrzeug gehalten wird. Dabei kann der Fahrer durch Einbringen eines genügend großen Lenkmoments die Fahrunterstützung durch das Fahrzeug außer Kraft setzen. Insbesondere ist vorgesehen, dass bei einem Annähern des Fahrzeuges an eine Fahrbahnmarkierung ein Warnsignal ausgegeben wird als Zeichen dafür, dass sich das Fahrzeug von einer berechneten Fahrtrichtung entfernt. Dieses soll den Fahrer aufschrecken, so dass er in die richtige Position auf der Fahrbahn zurückkehrt .A system for assisting a driver is known from EP 0 640 903 A1, in which a video camera or the like is arranged on a vehicle. This video camera will used to recognize the lane or lane markings on the road. An associated signal processor estimates the lateral position of the vehicle in relation to the lane markings. An electric motor connected to the steering system is used to introduce a torque into the vehicle steering system that either supports or counteracts the driver's steering torque. The signal processor is designed in such a way that it supports the driver in keeping the position of the vehicle in the lane. This simulates a trough-shaped roadway in which the vehicle is held. The driver can override the driving assistance provided by the vehicle by introducing a sufficiently large steering torque. In particular, it is provided that when the vehicle approaches a road marking, a warning signal is issued as a sign that the vehicle is moving away from a calculated direction of travel. This should startle the driver so that he returns to the correct position on the road.
Aufgabe der vorliegenden Erfindung ist es, ein Verfahren zu schaffen, mit dem erkannt werden kann, wenn ein Fahrer nicht mehr aktiv lenkt .The object of the present invention is to create a method with which it can be recognized when a driver is no longer actively steering.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren der eingangs genannten Art gelöst, bei dem bei einer genauen Übereinstimmung der errechneten Fahrtrichtung mit der tatsächlichen Spurlage über einen vorgegebenen Zeitraum ein Warnsignal an den Fahrer erzeugt wird.This object is achieved according to the invention by a method of the type mentioned in the introduction, in which a warning signal to the driver is generated over a predetermined period of time if the calculated direction of travel corresponds exactly to the actual lane position.
Wenn das Fahrzeug über einen längeren Zeitraum hinweg, der werkseitig vorgegeben sein kann, genau in die errechnete Fahrtrichtung fährt, dann kann davon ausgegangen werden, dass der Fahrer das Lenkrad losgelassen hat, bzw. dass er nicht mehr aktiv lenkt . In diesem Fall wird der Fahrer durch ein Warnsignal wieder dazu veranlasst, das Fahrzeug aktiv zu steuern. Bei dem erfindungsgemäßen Verfahren kann vorgesehen sein, dass die Lage der Spurmarkierungen der Fahrbahn optisch erfasst wird. Aus der Lage dieser Markierungen relativ zum Fahrzeug und den aktuellen Fahrzeugdaten, wie z.B. Geschwindigkeit, wird ermittelt, wohin das Fahrzeug lenken müsste, um in der Spur zu bleiben. Bei einer Abweichung von dieser ermittelten Fahrtrichtung wird der Fahrer aktiv dabei unterstützt, die berechnete Fahrtrichtung einzunehmen. Dies bedeutet jedoch auch, dass in dem Fall, in dem der Fahrer die Hände vom Lenkrad nimmt bzw. nicht mehr aktiv lenkt, die Position des Fahrzeugs automatisch in der vorgegebenen Fahrtrichtung, beispielsweise in der Spurmitte, gehalten wird. Dies ist auch durchaus beabsichtigt, wenn der Fahrer kurzzeitig einschläft oder ansonsten nicht aufmerksam ist . Über einen längeren Zeitraum ist ein solcher Zustand jedoch gefährlich. Deshalb muss der Fahrer wieder zum aktiven Lenken des Fahrzeugs aufgefordert werden.If the vehicle drives exactly in the calculated direction of travel for a longer period of time, which can be preset at the factory, then it can be assumed that the driver has released the steering wheel or that he is no longer actively steering. In this case, the driver is replaced by a Warning signal again causes the vehicle to be actively controlled. In the method according to the invention it can be provided that the position of the lane markings of the roadway is optically recorded. From the position of these markings relative to the vehicle and the current vehicle data, such as speed, it is determined where the vehicle should be heading in order to stay in the lane. In the event of a deviation from this determined direction of travel, the driver is actively supported in taking the calculated direction of travel. However, this also means that in the event that the driver takes his hands off the steering wheel or no longer actively steers, the position of the vehicle is automatically held in the predetermined direction of travel, for example in the middle of the lane. This is also intended if the driver falls asleep for a short time or is otherwise not attentive. However, such a condition is dangerous over a long period of time. Therefore, the driver must be asked to actively steer the vehicle again.
In einer Ausgestaltung des Verfahrens kann vorgesehen sein, dass ein optisches und/oder akustisches und/oder haptisches Warnsignal erzeugt wird. Insbesondere kann ein Vibrieren des Lenkrads ausgelöst werden. Weiterhin kann vorgesehen sein, dass das Fahrzeug sich verlangsamt. Dies ist insbesondere dann sinnvoll, wenn der Fahrer auf das Warnsignal nicht reagiert .In one embodiment of the method it can be provided that an optical and / or acoustic and / or haptic warning signal is generated. In particular, vibration of the steering wheel can be triggered. It can further be provided that the vehicle slows down. This is particularly useful if the driver does not respond to the warning signal.
Bei einer besonders bevorzugten Verfahrensvariante kann vorgesehen sein, dass der errechneten Fahrtrichtung ein von der Fahrsituation abhängiges Testsignal hinzugefügt wird und das Warnsignal ausgegeben wird, wenn das Fahrzeug dem Testsignal folgt. Durch diese Maßnahme kann festgestellt werden, ob das Fahrzeug selbständig lenkt oder ob der Fahrer das Fahrzeug lenkt . Vorteilhafterweise wird eine Abweichung von der errechneten Fahrtrichtung ermittelt und wird der Lenkwinkel bestimmt, der zum Halten der Spur oder zum Einlenken in die Spur gelenkt werden müsste. Durch die Ermittlung dieser Daten kann der Fahrer optimal dabei unterstützt werden, die Fahrtrichtung zu halten.In a particularly preferred method variant, it can be provided that a test signal that is dependent on the driving situation is added to the calculated direction of travel and that the warning signal is output when the vehicle follows the test signal. This measure makes it possible to determine whether the vehicle is steering independently or whether the driver is steering the vehicle. A deviation from the calculated direction of travel is advantageously determined and the steering angle is determined, which would have to be steered to keep the lane or to steer into the lane. By determining this data, the driver can be optimally supported in keeping the direction of travel.
Bei einer Weiterbildung des Verfahrens ist vorgesehen, dass über einen Handmomentensteiler die Nulllage des Lenkmoments um den ermittelten Lenkwinkel verschoben wird. Der ermittelte Lenkwinkel wird als Offset an den Handmomentensteller weitergegeben. Dieser verschiebt die Nulllage des Lenkmoments um den übergebenen Winkel. Auf diese Weise wird das Lenkrad automatisch zentriert, wobei das Lenkrad in die Richtung des Winkels gezogen wird, der benötigt wird, um auf der berechneten Spur bzw. Fahrtrichtung zu bleiben. Ein Handmomentensteller wird insbesondere bei so genannten „Steer by Wire" Systemen verwendet, bei denen keine mechanische Verbindung zwischen den Rädern und dem Lenkrad besteht . Um dem Fahrer das herkömmliche Fahrgefühl zu vermitteln, das bei einer mechanischen Verbindung von Lenkrad und Rädern besteht, wird das Lenkrad mit einem Drehmoment beaufschlagt, das das Einschlagen der Räder simuliert. Dabei ist das eingestellte Moment Null, wenn die Räder geradeaus stehen und das Lenkrad eine Mittelstellung aufweist. Dabei kann vorgesehen sein, dass das Handmoment linear mit einer Drehung des Lenkrads zunimmt oder überproportional zunimmt, je weiter das Lenkrad ausgelenkt wird. Durch die automatische Zentrierung wird der Fahrer dazu veranlasst, das Lenkrad so zu betätigen, dass das Fahrzeug auf der vorgegebenen bzw. berechneten Fahrtrichtung gehalten wird. Der Fahrer hat das Gefühl, dass das Fahrzeug auf die Spur einrastet . Bei einer bevorzugten Verfahrensvariante nimmt die Unterstützung des Fahrers zum Halten der Spur (Lenkunterstützung) mit einer Abweichung von der errechneten Fahrtrichtung dynamisch zu. Dies bedeutet, dass die Zentrierung dynamisch vergrößert wird, je weiter sich das Fahrzeug einer Fahrbahnmarkierung nähert .In a further development of the method, it is provided that the zero position of the steering torque is shifted by the determined steering angle via a manual torque divider. The determined steering angle is passed on to the manual torque adjuster as an offset. This shifts the zero position of the steering torque by the transferred angle. In this way, the steering wheel is automatically centered, the steering wheel being pulled in the direction of the angle required to remain in the calculated lane or direction of travel. A manual torque actuator is used in particular in so-called “steer by wire” systems in which there is no mechanical connection between the wheels and the steering wheel. In order to convey to the driver the conventional driving sensation that exists when the steering wheel and wheels are mechanically connected The steering wheel is subjected to a torque which simulates the turning of the wheels. The set torque is zero when the wheels are straight ahead and the steering wheel is in a central position. It can be provided that the manual torque increases linearly or disproportionately with a rotation of the steering wheel The more the steering wheel is deflected, the automatic centering causes the driver to actuate the steering wheel in such a way that the vehicle is kept in the specified or calculated direction of travel. The driver has the feeling that the vehicle locks into the lane , In a preferred method variant, the driver's support for keeping the lane (steering assistance) increases dynamically with a deviation from the calculated direction of travel. This means that the centering is dynamically increased the further the vehicle approaches a lane marking.
Vorzugsweise wird die Lenkunterstützung bei nicht erkannter Spur bzw. Spurmarkierung langsam zurückgenommen. Wenn keine Spur mehr erkannt wird, dann wird der durch den Lenkwinkel bestimmte Offset und die vergrößerte Zentrierung langsam wieder zurückgenommen. Dadurch, dass die Lenkunterstützung nicht schlagartig wegfällt, erschrickt der Fahrer nicht und wird ein sicheres Führen des Fahrzeugs sichergestellt.The steering assistance is preferably slowly withdrawn if the lane or lane marking is not recognized. If no more lane is recognized, the offset determined by the steering angle and the increased centering are slowly withdrawn. The fact that the steering assistance does not suddenly disappear does not frighten the driver and ensures safe driving of the vehicle.
Die Aufgabe wird erfindungsgemäß außerdem gelöst durch eine Konditionsüberwachungseinrichtung, umfassend eine Spurerkennungseinrichtung, Mittel zum Bestimmen einer Fahrtrichtung, eine Überwachungseinrichtung zur Überwachung von Abweichungen von der Fahrtrichtung und eine Warneinrichtung, wobei die Warneinrichtung aktivierbar ist, wenn in der Überwachungseinrichtung über einen vorgegebenen Zeitraum eine Übereinstimmung von bestimmter Fahrtrichtung und tatsächlicher Fahrtrichtung detektiert ist. Im Gegensatz zum Stand der Technik ist die Warneinrichtung aktivierbar, wenn festgestellt wird, dass das Fahrzeug ausschließlich automatisch, d.h. ohne Zutun des Fahrers, in der Spur gehalten wird. Eine Warnung des Fahrers erfolgt daher ehe das Fahrzeug sich von dieser idealen Spur bewegt und in die Nähe einer Fahrbahnmarkierung gelangt . Wird der Fahrer erst gewarnt, wenn sich das Fahrzeug in der Nähe der Fahrbahnmarkierung befindet, so kann dies eine falsche Reaktion des Fahrers auslösen und ein Zusammenstoß mit einem auf einer Nebenspur fahrenden Fahrzeug erst recht aus- gelöst werden. Daher erhöht die erfindungsgemäße Konditions- überwachungseinrichtung die Sicherheit im Straßenverkehr.The object is also achieved according to the invention by a condition monitoring device comprising a lane detection device, means for determining a direction of travel, a monitoring device for monitoring deviations from the direction of travel and a warning device, wherein the warning device can be activated if there is a match in the monitoring device over a predetermined period of time certain driving direction and actual driving direction is detected. In contrast to the prior art, the warning device can be activated if it is determined that the vehicle is kept in the lane only automatically, ie without the driver having to do anything. The driver is therefore warned before the vehicle moves off this ideal lane and comes close to a lane marking. If the driver is only warned when the vehicle is close to the lane marking, this can trigger a wrong reaction by the driver and a collision with a vehicle traveling in a lane is even more likely. be solved. The condition monitoring device according to the invention therefore increases safety in road traffic.
Bei einer bevorzugten Ausführungsform der Konditionsüberwa- chungseinrichtung ist ein "Steer by Wire" System vorgesehen. Dabei kann vorgesehen sein, dass die Spurlage des Fahrzeugs mit der Spurerkennungseinrichtung erfasst wird. Die in der Überwachungseinrichtung erkannte Abweichung von einer berechneten Fahrtrichtung kann über den Fahrzeug CAN-Bus an das "Steer by Wire" System weitergegeben werden. Dieses kann nun aus den Informationen den Winkel bestimmten, der gelenkt werden müsste, um in der Spur zu bleiben bzw. wieder in die Spur einzulenken. Bei einem "Steer by Wire" System besteht keine mechanische Verbindung zwischen den Rädern und dem Lenkrad.In a preferred embodiment of the condition monitoring device, a "steer by wire" system is provided. It can be provided that the lane position of the vehicle is detected with the lane detection device. The deviation from a calculated direction of travel detected in the monitoring device can be passed on to the "Steer by Wire" system via the vehicle CAN bus. From the information, this can then determine the angle that would have to be steered in order to remain in the lane or to steer back into the lane. In a "steer by wire" system there is no mechanical connection between the wheels and the steering wheel.
Der von "Steer by Wire" Systemen ermittelte Winkel kann als Offset an einen Handmomentensteller weitergegeben werden. Dieser verschiebt die Nulllage des Lenkmoments um den übergebenen Winkel . Dies stellt eine automatische Zentrierung dar. Durch die automatische Zentrierung wird das Lenkrad in Richtung des Winkels gezogen, der benötigt wird, um auf der Spur zu bleiben. Das "Steer by Wire" System kann in die Überwachungseinrichtung integriert sein bzw. umgekehrt.The angle determined by "Steer by Wire" systems can be passed on to a manual torque adjuster as an offset. This shifts the zero position of the steering torque by the transferred angle. This is automatic centering. Automatic centering pulls the steering wheel in the direction of the angle needed to stay on track. The "steer by wire" system can be integrated in the monitoring device or vice versa.
Alternativ kann vorgesehen sein, dass der Handmomentensteller ein additives Moment zum vom Fahrwerk ausgeübten Moment erzeugt für den Fall, dass eine mechanische Verbindung zwischen Lenkrad und Rädern besteht, d.h. wenn kein "Steer by Wire" System verwendet wird.Alternatively, it can be provided that the manual torque adjuster generates an additive moment to the moment exerted by the chassis in the event that there is a mechanical connection between the steering wheel and the wheels, i.e. if no "Steer by Wire" system is used.
Ausführungsbeispiele der Erfindung werden anhand einer Zeichnung näher erläutert. Dabei zeigen:Embodiments of the invention are explained in more detail with reference to a drawing. Show:
Fig. 1 schematisch eine Konditionsüberwachungseinrichtung In der Fig. 1 ist stark schematisiert eine Konditionsüberwa- chungseinrichtung 1 dargestellt. Mit einer Spurerkennungseinrichtung 2, die auch als Serienspurassistent bezeichnet werden kann, wird beispielsweise über Kameras die Lage der Spurmarkierungen 3 optisch erfasst. Aus der Lage dieser Spurmarkierungen 3 relativ zum Fahrzeug und den aktuellen Fahrzeugdaten wird eine Fahrtrichtung ermittelt, die das Fahrzeug einnehmen müsste, um zwischen den Spurmarkierungen 3 zu bleiben. Dabei kann vorgesehen sein, dass das Fahrzeug in der Mitte zwischen den Spurmarkierungen 3 fahren soll. Je nach Verlauf der Fahrbahn kann jedoch auch eine Verschiebung hin zu einer der Spurmarkierungen 3 erfolgen. In einer Überwachungseinrichtung 5 wird ermittelt, ob das Fahrzeug von der berechneten Fahrtrichtung abweicht. Außerdem wird ermittelt, welcher Winkel gelenkt werden müsste, um in der Spur bzw. auf der berechneten Fahrtrichtung zu bleiben. Im Ausführungsbei- spiel ist die Überwachungseinrichtung 5 Teil eines "Steer by Wire" Systems. Der ermittelte Winkel wird an einen Handmomen- tensteller 6 übermittelt. Dieser verschiebt die Nulllage des Lenkmoments um den übergebenen Winkel. Durch diese automatische Zentrierung wird das Lenkrad 7 in die Richtung des Winkels gezogen, der benötigt wird, um auf der Spur zu bleiben. Um diesen Effekt zu verstärken, wird die Zentrierung dynamisch vergrößert. Im Ausführungsbeispiel ist der Handmomen- tensteller 6 datentechnisch mit dem Fahrwerk 8 verbunden. Aus der vom Fahrer eingestellten Stellung des Lenkrads 7 werden im "Steer by Wire" System Befehle bestimmt, um einen Motor 9 anzusteuern, der die tatsächliche Einstellung der Räder 10 vornimmt. Wird in der Überwachungseinrichtung 5 festgestellt, dass über einen längeren Zeitraum das Fahrzeug exakt in die errechnete Fahrtrichtung fährt, dann wird eine Warneinrichtung 11 aktiviert, da davon ausgegangen werden muss, dass der Fahrer das Lenkrad 7 losgelassen hat bzw. dass er nicht mehr aktiv lenkt .Fig. 1 shows schematically a condition monitoring device A condition monitoring device 1 is shown in a highly schematic manner in FIG. 1. With a lane detection device 2, which can also be referred to as a series lane assistant, the position of the lane markings 3 is optically recorded, for example, by cameras. From the position of these lane markings 3 relative to the vehicle and the current vehicle data, a direction of travel is determined which the vehicle would have to take in order to remain between the lane markings 3. It can be provided that the vehicle should travel in the middle between the lane markings 3. Depending on the course of the roadway, however, a shift towards one of the lane markings 3 can also take place. A monitoring device 5 determines whether the vehicle deviates from the calculated direction of travel. It also determines which angle would have to be steered in order to stay in the lane or in the calculated direction of travel. In the exemplary embodiment, the monitoring device 5 is part of a “steer by wire” system. The determined angle is transmitted to a hand torque adjuster 6. This shifts the zero position of the steering torque by the transferred angle. This automatic centering pulls the steering wheel 7 in the direction of the angle required to stay on track. To increase this effect, the centering is dynamically increased. In the exemplary embodiment, manual torque adjuster 6 is connected to chassis 8 in terms of data technology. From the position of the steering wheel 7 set by the driver, commands are determined in the "steer by wire" system in order to control a motor 9 which makes the actual setting of the wheels 10. If it is determined in the monitoring device 5 that the vehicle is traveling exactly in the calculated direction of travel over a longer period of time, then a warning device 11 is activated, since it must be assumed that the Driver has released the steering wheel 7 or that he is no longer actively steering.
Bei einem Verfahren zur Konditionsüberwachung eines Fahrzeugführers wird die Spurmarkierung (3) der Spur, in der sich das Fahrzeug bewegt, erfasst und eine Fahrtrichtung ermittelt, der das Fahrzeug folgen müsste, um in der Spur zu bleiben. Der Fahrzeugfuhrer wird durch eine automatische Zentrierung des Lenkrads dabei unterstützt in der Spur zu bleiben. Folgt das Fahrzeug über einen gewissen Zeitraum exakt der ermittelten Fahrtrichtung, ist dies ein Indiz dafür, dass der Fahrzeugfuhrer nicht aktiv lenkt und es wird ein Warnsignal erzeugt . In a method for monitoring the condition of a vehicle driver, the lane marking (3) of the lane in which the vehicle is moving is detected and a direction of travel is determined which the vehicle would have to follow in order to remain in the lane. The vehicle driver is supported by an automatic centering of the steering wheel to stay on track. If the vehicle follows the determined direction of travel for a certain period of time, this is an indication that the driver is not actively steering and a warning signal is generated.

Claims

Patentansprüche claims
1. Verfahren zur Konditionsüberwachung eines Fahrzeugführers, bei dem die Spurlage eines Fahrzeugs erfasst und überwacht wird, eine Fahrtrichtung ermittelt wird, die tatsächliche Spurlage mit der ermittelten Fahrtrichtung verglichen wird, und der Fahrer beim Halten der Spurlage unterstützt wird, dadurch gekennzeichnet, dass bei einer genauen Übereinstimmung der errechneten Fahrtrichtung mit der tatsächlichen Spurlage über einen vorgegebenen Zeitraum ein Warnsignal an den Fahrer erzeugt wird.1. A method for monitoring the condition of a vehicle driver, in which the lane position of a vehicle is detected and monitored, a direction of travel is determined, the actual lane position is compared with the determined direction of travel, and the driver is supported in maintaining the lane position, characterized in that at a a precise warning signal to the driver is generated for a predetermined period of time between the calculated direction of travel and the actual lane position.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass ein optisches und/oder akustisches und/oder hapti- sc es Warnsignal erzeugt wird.2. The method according to claim 1, characterized in that an optical and / or acoustic and / or haptic warning signal is generated.
3. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der errechneten Fahrtrichtung ein von der Fahrsituation abhängiges Testsignal hinzugefügt wird und das Warnsignal ausgegeben wird, wenn das Fahrzeug dem Testsignal folgt. 3. The method according to any one of the preceding claims, characterized in that a test signal dependent on the driving situation is added to the calculated direction of travel and the warning signal is output when the vehicle follows the test signal.
4. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass eine Abweichung von der errechneten Fahrtrichtung ermittelt wird und der Lenkwinkel bestimmt wird, der zum Halten der Spur oder zum Einlenken in die Spur gelenkt werden müsste .4. The method according to any one of the preceding claims, characterized in that a deviation from the calculated direction of travel is determined and the steering angle is determined, which would have to be steered to keep the lane or to steer into the lane.
5. Verfahren nach Anspruch 4 , dadurch gekennzeichnet, dass über einen Handmomentensteller (6) die Nulllage des Lenkmoments um den ermittelten Lenkwinkel verschoben wird.5. The method according to claim 4, characterized in that the zero position of the steering torque is shifted by the determined steering angle via a manual torque adjuster (6).
6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Unterstützung des Fahrers zum Halten der Spur mit einer Abweichung von der errechneten Fahrtrichtung dynamisch zunimmt .6. The method according to any one of the preceding claims, characterized in that the driver's support for keeping the lane increases dynamically with a deviation from the calculated direction of travel.
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass bei nicht erkannter Spur die Unterstützung des Fahrers zum Halten der Spur langsam zurück genommen wird.7. The method according to any one of the preceding claims, characterized in that when the lane is not recognized, the driver's support for keeping the lane is slowly withdrawn.
8. Konditionsüberwachungseinrichtung (1) umfassend eine Spurerkennungseinrichtung (2) , Mittel (4) zum Bestimmen einer Fahrtrichtung, eine Überwachungseinrichtung (5) zur Überwachung von Abweichungen von der Fahrtrichtung und eine Warneinrichtung (11) , dadurch gekennzeichnet, dass die Warneinrichtung aktivierbar ist, wenn in der Ü- berwachungseinrichtung über einen vorgegebenen Zeitraum eine Übereinstimmung von bestimmter Fahrtrichtung und tatsächlicher Fahrtrichtung detektiert ist. 8. condition monitoring device (1) comprising a lane detection device (2), means (4) for determining a direction of travel, a monitoring device (5) for monitoring deviations from the direction of travel and a warning device (11), characterized in that the warning device can be activated, if a correspondence between the specific direction of travel and the actual direction of travel is detected in the monitoring device over a predetermined period of time.
9. Konditionsüberwachungseinrichtung nach Anspruch 8 dadurch gekennzeichnet, dass ein "Steer by Wire" System vorgesehen ist.9. Condition monitoring device according to claim 8, characterized in that a "steer by wire" system is provided.
10. Konditionsüberwachungseinrichtung nach einem der Ansprüche 8 oder 9 , dadurch gekennzeichnet, dass ein Handmomentensteller (6) vorgesehen ist. 10. Condition monitoring device according to one of claims 8 or 9, characterized in that a manual torque actuator (6) is provided.
EP04790840A 2003-11-05 2004-10-26 Active lane assistant Withdrawn EP1682378A1 (en)

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