METHOD AND DEVICE FOR SAFE PASSING OF A VEHICLE APPROACHING A BICYCLE

Abstract

A method for safe passing of a vehicle approaching a bicycle. In the method, a future path of the vehicle is altered in an automated manner if a safety distance with respect to a probable trajectory of the bicycle is undershot, the vehicle being guided on the altered path if it extends within an available traffic space.

Claims

1-13. (canceled)

14. A method for safe passing of a vehicle approaching a bicycle, the method comprising the following steps: altering a future path of the vehicle in an automated manner when a safety distance with respect to a probable trajectory of the bicycle is undershot; and guiding the vehicle on the altered path based on the altered path extending within an available traffic space.

15. The method as recited in claim 14, wherein the future path of the vehicle is altered in the automated manner based on pieces of sensor information of a sensor system of the vehicle, and the available traffic space is ascertained in an automated manner based on the pieces of sensor information.

16. The method as recited in claim 14, further comprising the following step: altering a speed of the vehicle based on the altered path extending beyond the available traffic space.

17. The method as recited in claim 16, wherein the future path of the vehicle is re-determined using the altered speed and the method is repeated.

18. The method as recited in claim 14, wherein the future path is predicted using an instantaneous driver input.

19. The method as recited in claim 18, wherein the driver input is opposed by a counterforce when the driver input deviates from the altered path and/or from the altered speed.

20. The method as recited in claim 18, wherein a warning is output when the driver input deviates from the altered path and/or from the altered speed.

21. The method as recited in claim 14, wherein the available traffic space is determined using a piece of traffic sign information representing an identified traffic sign and/or a piece of roadway marking information representing identified roadway markings.

22. The method as recited in claim 14, wherein the available traffic space is determined using a piece of on-coming traffic information representing an identified on-coming traffic path.

23. The method as recited in claim 14, further comprising the following step: activating a turn signal device of the vehicle before and during the passing.

24. A device for safe passing of a vehicle approaching a bicycle, the device configured to: alter a future path of the vehicle in an automated manner when a safety distance with respect to a probable trajectory of the bicycle is undershot; and guide the vehicle on the altered path based on the altered path extending within an available traffic space.

25. A non-transitory machine-readable memory medium on which is stored a computer program for safe passing of a vehicle approaching a bicycle, the computer program, when executed by a computer, causing the computer to perform the following steps: altering a future path of the vehicle in an automated manner when a safety distance with respect to a probable trajectory of the bicycle is undershot; and guiding the vehicle on the altered path based on the altered path extending within an available traffic space.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Specific embodiments of the present invention are described below with reference to the figures; neither the figures nor the description are to be interpreted as restricting the present invention.

[0025] FIGS. 1 through 3 show representations of possible scenarios during passing of bicycles.

[0026] The figures are merely schematic and not true to scale. Identical reference numerals in the figures refer to identical features or features having the same effect.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0027] Cyclists are passed on country roads every day. The lateral distance in such cases is often not maintained. This is unpleasant for the cyclist on the one hand, and may become very hazardous on the other hand.

[0028] This may be avoided with the approach presented herein using the present generation of driver assistance systems. The “safe cyclist passing” presented herein may be implemented, for example, as an extension of the ACC function (adaptive cruise control). In this case an automatic passing maneuver is initiated when driving with activated ACC and a cyclist is travelling ahead in his/her own lane.

[0029] FIGS. 1 through 3 show representations of possible scenarios during passing of bicycles 100. In each scenario, a bicycle 100 is traveling ahead of a vehicle 102 on a road 104 that includes one traffic lane 106 each per travel direction, i.e., a typical country road, for example. Vehicle 102 is travelling faster than bicycle 100. Bicycle 100 is travelling on the right margin of the traffic lane 106, on which vehicle 102 is approaching bicycle 100 from behind. To be able to pass bicycle 100 at required safety distance 108 of at least 1.5 meters, it is always necessary in the scenarios depicted here to swerve into the other traffic lane 106.

[0030] Vehicle 102 includes a device according to the approach presented herein, on which a method for safe passing according to one exemplary embodiment is carried out. The device processes pieces of sensor information of a sensor system of vehicle 102 in order to identify road 104, the travel lanes, the traffic signs and other road users, such as bicycle 100. A future path 110 of vehicle 102 is read in by the device, for example, from a navigation system of vehicle 102. Future path 110 may also be read in from a driver assistance system of vehicle 102. Alternatively, future path 110 may be extrapolated from instantaneous driver inputs, such as a steering wheel position, an accelerator pedal position and/or a brake pedal position.

[0031] From the pieces of sensor information, the device further determines a probable trajectory 112 of bicycle 100. The probable trajectory in this case is extrapolated using an instantaneous speed and direction of bicycle 100.

[0032] FIG. 1 depicts how future path 110 is automatically altered by the device if safety distance 108 with respect to probable trajectory 112 of bicycle 100 is undershot. An altered path 114 extends further to the left as viewed from vehicle 102. Vehicle 102 is guided by the device via control signals on altered path 114. On altered path 114, vehicle 102 maintains at least a 1.5 meter safety distance 108 with respect to bicycle 100. Vehicle 102 is guided at least partially on an arc across opposite travel lane 106, since in the absence of on-coming traffic and in the absence of a no-passing zone, an available traffic space 116 is sufficiently large for such purpose.

[0033] In one exemplary embodiment, a left blinker of vehicle 102 is automatically set before vehicle 102 initiates the passing on altered path 114.

[0034] FIG. 2 depicts how safety distance 108 would be undershot by future path 110, since vehicle 102 could pass bicycle 100 only at a maximum distance of one meter due to a solid center line 200. Altered path 114 which, at a sufficient safety distance 108, would lead past the bicycle, crosses center line 200 and is thus situated beyond available traffic space 116. Thus, bicycle 100 is classified as a preceding vehicle and a speed of vehicle 102 is adapted to a speed of bicycle 100 until the no-passing zone ends and, in addition, available traffic space 116 is not restricted by on-coming traffic.

[0035] FIG. 3 also depicts how safety distance 108 would be undershot by future path 110. Here, there is no no-passing zone, in contrast to the representation in FIG. 2. However, since an on-coming vehicle 300 is traveling on opposite traffic lane 106, available traffic space 116 is so small that here, too, vehicle 102 is unable to be guided on altered path 114. As a result, vehicle 102 is decelerated as in FIG. 2 and travels along behind bicycle 100 until opposite traffic lane 106 is free.

[0036] The function presented herein takes into account the fact that a lateral minimum distance with respect to the cyclist is not undershot, the speed is not exceeded, the center line is crossed only if this is permitted by the road rules and, as in FIG. 1, no on-coming traffic is present. If, as in FIG. 2, the space between center line 200 and cyclist is not sufficient, then no automatic passing maneuver may be initiated. The lines may be detected by an imaging sensor.

[0037] In one exemplary embodiment, the driver is asked via a user interface (HMI) whether a passing should still take place. In one exemplary embodiment, a warning occurs in the case of a deactivated adaptive cruise control (ACC) if the open space available for passing is not sufficient. If passing occurs manually, then the required distance in one exemplary embodiment is corrected by a slight steering intervention.

[0038] Finally, it is noted that terms such as “having”, “including”, etc. exclude no other elements or steps and terms such as “one” do not exclude a plurality.