GB2488402A - Driver assistance system in which irrelevant warning is suppressed if CVIP is moving away - Google Patents

Driver assistance system in which irrelevant warning is suppressed if CVIP is moving away Download PDF

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Publication number
GB2488402A
GB2488402A GB1202254.7A GB201202254A GB2488402A GB 2488402 A GB2488402 A GB 2488402A GB 201202254 A GB201202254 A GB 201202254A GB 2488402 A GB2488402 A GB 2488402A
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GB
United Kingdom
Prior art keywords
vehicle
output
assistance system
driver assistance
speed
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.)
Granted
Application number
GB1202254.7A
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GB2488402B (en
GB201202254D0 (en
Inventor
Markus Armbrust
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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Publication date
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Publication of GB201202254D0 publication Critical patent/GB201202254D0/en
Publication of GB2488402A publication Critical patent/GB2488402A/en
Application granted granted Critical
Publication of GB2488402B publication Critical patent/GB2488402B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0033—Detecting longitudinal speed or acceleration of target vehicle
    • 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
    • B60K2310/00—Arrangements, adaptations or methods for cruise controls
    • B60K2310/26—Distance setting methods, e.g. determining target distance to target vehicle
    • B60K2310/262—Distance setting methods, e.g. determining target distance to target vehicle setting initial distance to preceding vehicle, e.g. initial algorithms
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating 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
    • 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
    • B60W2050/146—Display 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9321—Velocity regulation, e.g. cruise control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

Driver assistance system (1, Fig.4) of a first vehicle (3, Fig.3) comprising determining whether a second vehicle (4, Fig.3) is travelling on the same traffic lane ahead 40; and, if so, determining a speed v of the second ve­hicle relative to the first 50. If v â ¤ v0 information con­cerning the second vehicle is output 80 and if v > v0 the output is omitted 90. â v0â is a threshold value which may be positive and may be set depending on the speed of the first vehicle or by its passenger. The relative speed â vâ may be averaged and/or may be determined repeatedly. The second vehicle may be the Closest Vehicle in Path (CVIP). The output may further be omitted if the following distance exceeds a threshold value 70. It may contain current relative distance or speed; or an optical, acoustic and/or tactile notification.

Description

A METHOD FOR OPERATING A DRiVER ASSiSTANCE SYSTEM
AND A DRIVER ASSISTANCE SYSTEM
Description
The application relates to a method for operating a driver assistance system of a vehicle, a driver assistance system for a vehicle, a computer program product and a computer-readable medium.
A method and an apparatus for displaying a traffic situation which is based on automatic distance control of a motor vehicle travelling on a target lane are known from DE 10 2008 047 499 Al. The system displays at least one target object disposed on the target lane, to which a distance of the motor vehicle is to be controlled, and at least one further object which is relevant for the distance control, wherein the display of the target object occurs in a display mode which is emphasized over the further relevant obiect.
It is the object of the application to provide a method for operating a driver assistance sys-tem of a vehicle, a driver assistance system for a vehicle, a computer program product and a computer-readable medium which especially support a driver of a vehicle in the recognition of traffic situations without encumbering the driver in this process.
This object is achieved by the subject matter of the independent claims. Further advanta-geous developments are provided in the dependent claims.
A method for operating a driver assistance system of a 1st vehicle travelling on a traffic lane, with the driver assistance system being arranged for the output of information con-cerning at least one further vehicle, has the following steps according to one aspect of the invention. This is followed by a determination of whether at least one second vehicle is travelling on the traffic lane in front of the first vehicle, if the system determines that at least one second vehicle is travelling in the traffic lane in front of the first vehicle, there will be a determination of a speed v of the second vehicle relative to the first vehicle. if v v0 there will be an output of information concerning the at least one second vehicle by means of the driver assistance system. If v > v0 the output of information concerning the at least one second vehicle by means of the driver assistance system will be omitted. v3 is a pre-determined threshold value.
The method for operating the driver assistance system according to the application allows especially supporting a driver of the vehicle in the recognition of traffic situations. This occurs by the output of information concerning the at least one second vehicle if v S v0.
The driver of the vehicle is advantageously not encumbered by the driver assistance sys-tem1 in that an output of information with respect to the at least one second vehicle will be omitted if v> v0. The application is based on the consideration that the output of informa-tion is especially relevant if the relative speed of the second vehicle to the first vehicle is especially low, which means it falls below the predetermined threshold value v0, whereas in the other cases the output of information concerning the at least one second vehicle can be omitted. The driver of the vehicle is therefore advantageously not distracted by irrelevant information and is therefore able to concentrate in a more focused manner on the traffic situation.
v0> 0 is preferred. As a result, the output of information concerning the at least one second vehicle will be omitted if the speed v of the second vehicle relative to the first ve-hicle assumes a positive value which is larger than v0, which means if the second vehicle travels at a higher speed than the first vehicle. In these traffic situations, the second ve-hicle will move away from the first vehicle, which is why the output of information can be omitted. v0> 10 kph is especially preferable.
In a further embodiment, the speed v of the second vehicle relative to the first vehicle is an averaged speed. As a result, spot measurements made for determining whether the output of information should occur or be omitted will be excluded. This is especially ad-vantageous in the case of relative speeds which are close to v3, because a frequent change between occurring and avoided output of information can be prevented thereby.
The averaged speed can be determined in this process by averaging over a predeter-mined number of signal values or averaging over a predetermined period of time.
In a further preferred embodiment, if it is determined that at least two vehicles are travel-ling in front of the first vehicle on the traffic lane, the vehicle with the smallest distance from the first vehicle will be chosen as the second vehicle for the determination of the speed. As a result, the vehicle travelling directly in front of the first vehicle will therefore be chosen, which vehicle is also known as CVIP (Closest Vehicle in Path), and on the basis of the speed v of this vehicle it is determined relative to the first vehicle whether the output of information will occur or be omitted. The aforementioned embodiment is based on the consideration that the directly preceding vehicle is especiafly relevant in the respective traffic situation and thus for the support of the driver.
In a further embodiment of the invention, if an output of information has occurred concern-ing the at least one second vehicle by means of the driver assistance system, the speed v of the second vehicje has been determined repeatedly relative to the first vehicle and if v> v0 the output of information will be terminated. The output of information will therefore ad- vantageously be terminated if the second vehicle which was originally determined as be-ing relevant subsequently will no longer be rated as relevant because it is moving at a higher relative speed in the further progress of the situation. The output of information can further be terminated after a predetermined period of time. Both embodiments advanta-geously reduce the pressure on the driver.
If v> v0 it is further possible to determine a distance a of the second vehicle relative to the first vehicle. The output of information concerning the at least one second vehicle by means of the driver assistance system will be omitted in this embodiment if a »= a0, and an output of information concerning the at least one second vehicle by means of the driver assistance system will occur if a ca0. a0 is a predetermined threshold value. The afore- mentioned embodiment is based on the consideration that the output of information con-cerning the at least one second vehicle is relevant if the distance a of the second vehicle relative to the first vehicle falls beneath a minimum distance, even if the relative speed v of the second vehicle is higher than v0. As a result, the attention of the driver of the first vehicle can be drawn especially to traffic situations in which the second vehicle changes to the common traffic lane at a very low distance from the first vehicle. As a result of the output of the information, the driver of the first vehicle can recognize this situation in an improved manner and is able to achieve a sufficient distance between the first and the second vehicle by suitable driving interventions. A potential hazardous situation and op-tionally entailing sanctions can thereby be prevented.
The predetermined threshold value a0 is preferably a temporal sequence, e.g. one second. Furthermore, the predetermined threshold value a0 can be a spatial distance which can especially correspond to a temporal sequence.
Furthermore, the threshold value a0 can be adjustable by a passenger of the first vehicle, especially by the driver of the first vehicle. Moreover, a0 can be adjustable depending on a determined current speed of the first vehicle.
In a further embodiment, a speed of the first vehicle will be determined and v0 will be set depending on the determined speed of the first vehicle. As a result, the threshold value can be adjusted advantageously to the respective current speed of the first vehicle.
Furthermore, v0 can be adjustable by a passenger of the first vehicle, especially by the driver of the first vehicle. As a result? the threshold value can be set on a personal basis and thereby be adjusted to the wishes of the respective driver of the first vehicle.
The output of information concerning the at least one second vehicle can contain the out- put of an optical and/or acoustic and/or tactile notification, Furthermore, the output of in-formation concerning the at least one second vehicle can contain the output of a current distance and/or speed v of the second vehicle relative to the first vehicle. As a result, the passengers of the first vehicle, especially the driver of the first vehicle, can be supported to a high level in the determination of the respective traffic situation.
The application further relates to a driver assistance system for a motor vehicle. The driv-er assistance system comprises an output apparatus which is arranged for the output of information with respect to at least one further vehicle. Moreover, the driver assistance system comprises a first determination apparatus which is arranged for determining whether at least one second vehicle is travelling on a common traffic lane in front of the vehicle. Furthermore, the driver assistance system comprises a second determination apparatus which is arranged for determining a speed v of the second vehicle relative to the vehicle if it is determined that at least one second vehicle is travelling on the traffic lane in front of the vehicle. Furthermore, the driver assistance system comprises a deci-sion-making apparatus which is arranged for deciding whether the output of information by means of the output apparatus concerning the at least one second vehicle will occur or be omitted. The output of information concerning the at least one second vehicle will occur if v «= v0, and an output of information concerning the at least one second vehicle will be omitted if v> v0, with v0 being a predetermined threshold value.
The driver assistance system according to the application shows the advantages already mentioned in connection with a method according to the application, which advantages will not be repeated again at this point for the purpose of avoiding repetitions.
The driver assistance system is preferably a component of a distance control system of the vehicle. The driver assistance system can be arranged for the output of information during control operation of the distance control system, which is also known as ACC (Adaptive Cruise Control). Furthermore, the driver assistance system can additionally or alternatively be arranged for the output of information outside of the control operation of the distance control system.
In a further embodiment, the output apparatus is arranged as the trip meter display of the vehicle. The output of information occurs in this embodiment in the trip meter display, so that the number of required components for the driver assistance system can advanta- geously be reduced. Furthermore, the output apparatus can be a component of an infor-mation and entertainment system of the vehicle.
The application further relates to a vehicle which comprises a driver assistance system according to one of the aforementioned embodiments. The vehicle is preferably a motor vehicle, especially a passenger car or a truck.
The application further relates to a computer program product which, when it is executed on a computer unit of a driver assistance system of a first vehicle travelling on a traffic lane, instructs the computer unit to perform the following steps. The computer unit will be instructed to determine whether at least one second vehicle is travelling on the traffic lane in front of the first vehicle. If it is determined that at least one second vehicle is travelling on the traffic lane in front of the first vehicle, the computer unit will be instructed to deter-mine a speed v of the second vehicle relative to the first vehicle. lf v S v0 the computer unit will be instructed to output information concerning the at least one second vehicle by means of the driver assistance system. If v> v0 the output of information concerning the at least one second vehicle by means of the driver assistance system will be omitted. v0 is a predetermined threshold value in this case.
The application further relates to a computer-readable medium on which a computer pro-gram product according to the aforementioned embodiment is stored.
The vehicle, the computer program product and the computer-readable medium according to the application show the advantages as mentioned above in connection with the me-thod according to the application which advantages will not be repeated at this point again for the purpose of avoiding repetitions.
Embodiments of the application will now be explained in closer detail by reference to the enclosed drawings, wherein: Fig. 1 shows a flowchart of a method for operating a driver assistance system of a first vehicle travelling on a traffic lane according to a first embodiment of the application: Fig. 2 shows a flowchart of a method for operating a driver assistance system of a first vehicle travelling on a traffic lane according to a second embodiment of the application: Fig. 3 shows an example of a traffic situation in which the method according to the application can be used: Fig. 4 shows a driver assistance system of the first vehicle as shown in Fig. 3 ac-cording to an embodiment of the application.
Fig. I shows a flowchart of a method for operating a driver assistance system of a first vehicle travelling on a traffic lane according to a first embodiment of the application. The driver assistance system is arranged for the output of information concerning at least one further vehicle and the first vehicle is a motor vehicle for example, especially a passenger carortruck.
The determination of a current traffic lane on which the first vehicle is travelling occurs in a step 30. The traffic lane or traffic path of the first vehicle will preferably be determined by means of data of at least one sensor of the first vehicle, chosen from the group consisting of a radar sensor a lidar sensor and an optical camera, and/or by means of map data stored in a storage apparatus.
lt is determined in a step 40 whether at least one second vehicle is travelling on the traffic lane in front of the first vehicle. The determination preferably occurs again by means of data of the at least one sensor, which means by means of data of the radar sensor, the lidar sensor and/or the optical camera. Long-range object detection is enabled thereby.
Furthermore, the determination can occur by means of data of at least one acoustic sen-sor of the first vehicle, especially an ultrasonic sensor, and/or by means of data received from a vehicle-to-vehicle communication apparatus.
If it is determined in step 40 that no second vehicle is travelling on the traffic lane in front of the first vehicle, the steps 30 and 40 will be performed repeatedly.
If it is determined however that at least one second vehicle is travelling on the traffic lane in front of the first vehicle a determination of a speed v of the second vehicle relative to the first vehicle occurs in a step 50, e.g. by means of the data of the radar sensor or the lidar sensor. If it is determined in this process that at least two vehicles are travelling in front of the first vehicle on the traffic lane, the vehicle with the smallest distance from the first vehicle will be chosen as the second vehicle for the determination of the speed. The speed v of the second vehicle relative to the first vehicle will preferably be determined as an averaged speed, e.g. as a mean value of a predetermined number of signal values or as a temporal mean value.
It is determined in a step 60 whether the relative speed v exceeds a predetermined thre-shold value v0, e.g. 10 kph. The threshold value v0 can be adjustable by a passenger of the first vehicle, especially by the driver of the first vehicle. Moreover, v0 can be adjustable depending on a determined current speed of the first vehicle.
If v «= v0 there will be an output of information concerning the at least one second vehicle by means of the driver assistance system in a step 80. The output of information can con-tain the output of an optical and/or acoustic and/or tactile notification. Furthermore, the output of the information can contain an output of a current distance and/or the speed v of the second vehicle relative to the first vehicle. Moreover, the second vehicle can be dis-played in a display apparatus of the first vehicle, e.g. by means of a symbol.
The output of information can be terminated after a predetermined period of time. Fur-thermore, the speed v of the second vehicle relative to the first vehicle can be determined repeatedly and the output of information can be terminated if v > v0.
If v> v0 the output of information concerning the at least one second vehicle by means of the driver assistance system will be omitted, as is shown in a step 90.
Fig. 2 shows a flowchart of a method for operating a driver assistance system of a first vehicle travelling on a traffic lane according to a second embodiment of the application.
The driver assistance system is arranged again for the output of information concerning at least one further vehicle and the first vehicle is a motor vehicle for example, especially a passenger car or truck.
In the illustrated embodiment, the determination of a current traffic lane on which the first vehicle is travelling occurs in a step 30, and in a step 40 it will be determined whether at least one second vehicle is travelling on the traffic lane in front of the first vehicle, accord- ing to the steps 30 and 40 of the first embodiment shown in Fig. 1. Furthermore, a deter-S mination of a speed v of the second vehicle relative to the first vehicle occurs in a step 50 and a determination of whether the relative speed v exceeds a predetermined threshold value v0 occurs in a step 60, which is also according to the embodiment as shown in Fig. 1.
If v S v0 there will be an output of information concerning the at least one second vehicle by means of the driver assistance system in a step 80.
If v > v0 there will be a determination of a distant a of the second vehicle relative to the first vehicle in the illustrated embodiment in a step 65. The distance a can be determined as a temporal sequence or as a distance between the first vehicle and the second vehicle.
It is determined in a step 70 whether the distance a falls beneath a predetermined thre-shold value a0. The predetermined threshold value a0 can again be a temporal value or a value of a distance, which in the former case is one second for example.
If a <a0 there will be an output of information concerning the at least one second vehicle by means of the driver assistance system, as shown in step 80. lf a > a0 the output of in-formation concerning the at least one second vehicle will be omitted, as is shown in a step go.
In the illustrated embodiment, an output of information concerning the at least one second vehicle will be omitted, e.g. a display of the distance to this vehicle which is also known as FDI (Forward Distance Indication) if a positive adjustable mean relative speed is ex-ceeded, e.g. 10 kph of relative speed between the first vehicle which is also known as Host Vehicle (HV) and the second vehicle which is also known as CVIP (Closest Vehicle In Path).
Such traffic situations represent a scenario where the second vehicle moves away from the first vehicle. The FDI suppression depends in the illustrated embodiment additionally on the distance between the first vehicle (HV) and the second vehicle. FDI information will be displayed during cutting-in processes of the second vehicle at a low distance from the first vehicle up to an adjustable threshold value, e.g. one second or an equivalent dis-tance, even if the CVIP vehicle moves away. This supports the driver of the first vehicle in achieving a sufficient distance between the first vehicle and the second vehicle by suitabie measures in order to prevent potential sanctions such as fines thereby. As a result of the omission of the output of information, the stress on the driver of the first vehicle is reduced during specific driving scenarios, e.g. during overtaking processes by the second vehicle.
Potential complaints can be reduced or avoided thereby and the acceptance of an FDI system can be increased. Furthermore, the driver of the first vehicle can concentrate in a more focused manner on the traffic situation.
Fig. 3 shows an example of a traffic situation in which the methods according to the em-bodiment of the application, especially the methods according to Figs. I and 2, can be used.
In the illustrated traffic situation, a first motor vehicle 3, which is a passenger car in the illustrated embodiment, is travelling on a first traffic lane 2 of a road 14 in a travelling di- rection represented schematically by means of an arrow A. The road 14 comprises a fur-ther traffic lane 13 in addition to the first traffic lane 2. A second vehicle 4 is travelling on the first traffic lane 2 in the travelling direction of the first vehicle 3 in front of the same, which second vehicle 4 is also a passenger car in the illustrated embodiment.
The second vehicle 4 is disposed at least partly within a schematically illustrated detection area 16 of a sensor 15 of the first vehicle 3. The sensor 15 is an electromagnetic sensor in the illustrated embodiment, e.g. a radar sensor, a lidar sensor or an optical camera. A speed v of the second vehicle 4 relative to the first vehicle 3 and a distance of the second vehicle 4 relative to the first vehicle 3 can be determined by means of the measured data determined by means of the sensor 15. As will be explained in connection with the follow-ing drawing in closer detail, the output of the determined data can occur or be omitted.
For this purpose, Fig. 4 shows a driver assistance system I of the first vehicle as shown in Fig. 3 in accordance with an embodiment of the application. Components with the same functions as in Fig. 3 wilJ be provided with the same reference numerals and will not be explained again below.
ln the illustrated embodiment, the driver assistance system 1 is a component of the dis-tance control system of the first vehicle. :io
The driver assistance system 1 comprises an output apparatus 5 which is arranged for the output of information concerning the at least one further vehicle. The output apparatus 5 is arranged in the illustrated embodiment as a trip meter display 9 of a combined instrument of the first vehicle. In addition to the trip meter display 9, the combined instrument 10 S comprises further display elements 17 and 18, e.g. in the form of an odometer or rev counter.
The driver assistance system I further comprises a first determination apparatus 6 which is arranged for determining whether at least one second vehicle is travelling on a common traffic lane in front of the first vehicle. The first determination apparatus 6 is connected for this purpose via a signal line 19 with the sensor 15.
The driver assistance system I further comprises a 2nd determination apparatus 7 which is arranged for determining a speed v of the second vehicle relative to the first vehicle by means of measured data of the sensor 15 if it is determined that at least one second ve- hicle is travelling on the traffic lane in front of the first vehicle. Moreover, the second de-termination apparatus 7 is arranged for determining a distance a of the second vehicle relative to the first vehicle by means of the measured data of sensor 15.
The second determination apparatus 7 is connected via a signal line 21 with the sensor 15 and via a signal line 20 with the first determination apparatus 6.
Furthermore, the driver assistance system 1 comprises a decision-making apparatus 8 which is arranged for deciding whether an output of information concerning the at least one second vehicle by means of the output apparatus 5 will occur or be omitted. The de-cision-making apparatus 8 is connected for this purpose by a signal line 22 with the second determination apparatus 7 and via a control and signal line 23 with the output ap-paratus 5.
An output of information concerning the at least one second vehicle will occur if v with v0 being a predetermined threshold value. If v > v0 there will be an output of inform a-tion concerning the at least one second vehicle in the illustrated embodiment, and if the distance a of the second vehicle relative to the first vehicle falls beneath a predetermined threshold value a0, which means if a < a0. An output of information concerning the at least one second vehicle will be omitted if v v0 and a »= a0.
Furthermore, the driver assistance system 1 comprises a computer unit 11 and a corn put-er-readable medium 12 in the illustrated embodiment, with a computer program product being stored on the computer-readable medium 12 which, when executed on the comput-er unit 11, instructs the computer unit 11 to perform the steps mentioned in connection with the embodiments of the method in accordance with the application, especially the steps of the method according to Figs. 1 and 2 by means of the elements mentioned the-reby. For this purpose, the computer unit Ills directly or indirectly connected with the respective elements in a manner not disclosed here in closer detail.
Although at least one exemplary embodiment was illustrated in the description above, various changes and modifications can be made. The illustrated embodiments are merely examples and are not intended to limit the scope of validity, the applicability or the confi- guration in any way whatsoever. The aforementioned description rather provides the per-son skUled in the art with a plan for implementing at least one exemplary embodiment, wherein numerous changes in the function and the arrangement of elements described in an exemplary embodiment can be made without departing from the scope of protection of the appended claims and their legal equivalents.
List of reference numerals I Driver assistance system 2 Traffic lane 3 Vehicle 4 Vehicle Output apparatus 6 Determination apparatus 7 Determination apparatus 8 Decision-making apparatus 9 Trip meter display Combined instrument 11 Computer unit 12 Medium 13 Traffic lane 14 Road Sensor 16 Detection area 17 Display element 18 Display element 19 Signal line Signal line 21 Signal line 22 Signal line 23 Control and signal line Step Step Step Step 65 Step Step Step Step A Arrow

Claims (15)

  1. Claims: 1. A method for operating a driver assistance system (1) of a first vehicle (3) travel-ling on a traffic lane (2), with the driver assistance system (1) being arranged for the output of information with respect to at least one further vehicJe and with the method having the following steps: -Determining whether at least one second vehicle (4)is travelling on the traffic lane (2) in front of the first vehicle (3); -if it is determined that at least one second vehicle (4) is travelling on the traffic lane (2) in front of the first vehicle (3), determination of a speed v of the second vehicle (4) relative to the first vehicle (3); -with an output of information concerning the at least one second vehicle (4) by means of the driver assistance system occurring if v «= v0 and with an output of information concerning the at least one second vehicle (4) by means of the driver assistance system(1) being omitted if v> v0, with v0 being a predeter-mined threshold value.
  2. 2. A method according to claim 1, wherein v0 > 0.
  3. 3. A method according to claim I or claim 2, wherein the speed v of the second ve-hicle (4) relative to the first vehicle (3) is an averaged speed.
  4. 4. A method according to one of the preceding claims, wherein the vehicle with the smallest distance from the first vehicle (3) will be chosen as the second vehicle (4) for the determination of the speed if it is determined that at least two vehicles are travelling on the traffic lane (2) in front of the first vehicle (3).
  5. 5. A method according to one of the preceding claims, wherein if an output of infor-mation has occurred with respect to the at least one second vehicle (4) by means of the driver assistance system (1)the speed v of the second vehicle (4) relative to the first vehicle (3) will be determined repeatedly, and wherein the output of the in-formation will be terminated if v > v0.
  6. 6. A method according to one of the preceding claims, wherein if v > v0 a distance a of the second vehicle (4) relative to the first vehicle (3) will further be determined and an output of information with respect to the at least one second vehicle (4) by means of the driver assistance system (I) will be omitted if a »= a0, and an output of information with respect to the at least one second vehicle (4) by means of the driver assistance system (1) will occur if a c a0, with a0 being a predetermined threshold value.
  7. 7. A method according to one of the preceding claims, wherein a speed of the first vehicle (3) will further be determined, and wherein v0 is set depending on the de-termined speed of the first vehicle (3).
  8. 6. A method according to one of the claims 1 to 6, wherein v0 is adjustable by a pas-senger of the first vehicle (3).
  9. 9. A method according to one of the preceding claims, wherein the output of informa-tion with respect to the at least one second vehicle (4) contains an output of an optical and/or acoustic and/or tactile notification.
  10. 10. A method according to one of the preceding claims, wherein the output of informa-tion concerning the at least one second vehicle (4) contains an output of a current distance and/or speed v of the second vehicle relative to the first vehicle (3).
  11. 11. A driver assistance system for a vehicle (3), comprising -an output apparatus (5) for the output of information concerning at least one further vehicle; -a first determination apparatus (6) arranged for determining whether at least one second vehicle (4) is travelling on a common traffic lane (2) in front of the vehicle (3); -a second determination apparatus (7) arranged for determining a speed v of the second vehicle (4) relative to the vehicle (3) if it is determined that at least one second vehicle (4) is travelling on the traffic lane (2) in front of the vehicle (3); -a decision-making apparatus (8) arranged for deciding whether an output of information concerning the at least one second vehicle (4) by means of the output apparatus (5) will occur or be omitted; wherein an output of information with respect to the at least one second vehicle (4) will occur if v «= v0, and wherein an output of information with respect to the at least one second vehicle (4) will be omitted if v > v0, with v0 being a predetermined thre-shold value.
  12. 12. A driver assistance system according to claim 11, wherein the driver assistance system (1) is a component of a distance control system (3) of the vehicle.
  13. 13. A driver assistance system according to claim 11 or claim 12, wherein the output apparatus (5) is arranged as a trip meter display (9) of the vehicle (3).
  14. 14. A computer program product which, when executed on a computer unit (11) of a driver assistance system (1) of a first vehicle (3) travelling on a traffic lane (2), in-structs the computer unit (11) to perform the following steps: -determining whether at least one second vehicle (4) is travelling on the traffic lane (2) in front of the first vehicle (3); -determining a speed v of the second vehicle (4) relative to the first vehicle (3) if it is determined that at least one second vehicle (4) is travelling on the traffic lane (2) in front of the first vehicle (3); -wherein an output of information with respect to the at least one second ve-hicle (4) by means of the driver assistance system (1) occurs if v «= v0, and wherein an output of information with respect to the at least one second ve-hicle (4) by means of the driver assistance system (1) is omitted if v > v0, with v0 being a predetermined threshold value.
  15. 15. A computer-readable medium, on which a computer program product according to claim 14 is stored.
GB1202254.7A 2011-02-26 2012-02-09 A method for operating a driver assistance system and a driver assistance system Expired - Fee Related GB2488402B (en)

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Effective date: 20180209