METHOD FOR OPERATING A DRIVING ASSISTANT FOR AUTOMATIC LATERAL GUIDANCE

Abstract

A method for operating a driving assistant for the automated lateral guidance of a motor vehicle. The method includes: executing an automated lane guidance of the motor vehicle in a first traffic lane; ascertaining a hindrance situation of a further motor vehicle due to the motor vehicle; decision for the automated lane opening of the first traffic lane taking the hindrance situation into account; executing an automated lane change into a second traffic lane for opening the lane; executing an automated lane guidance in the second traffic lane after opening the lane. A device for carrying out the method is also described.

Claims

1. A method for operating a driving assistant for the lateral guidance of a motor vehicle, comprising the following steps: executing an automated lane guidance of the motor vehicle in a first traffic lane; ascertaining a hindrance situation of a following further motor vehicle due to the motor vehicle; deciding for an automated lane opening of the first traffic lane taking the hindrance situation into account; executing the decided lane opening using an automated lane change into a second traffic lane; and executing an automated lane guidance in the second traffic lane after opening the lane.

2. The method as recited in claim 1, wherein the hindrance situation is ascertained when at least one of the following conditions is met: a distance between the motor vehicle and the following further motor vehicle falls below a threshold value; a difference in speed between the motor vehicle and the following further motor vehicle exceeds a threshold value; a difference in acceleration between the motor vehicle and the following further motor vehicle exceeds a threshold value.

3. The method as recited in claim 1, further comprising: ascertaining a lane opening situation; wherein the decision for the automated lane opening takes the lane opening situation into account.

4. The method as recited in claim 3, wherein the lane opening situation is ascertained when at least one of the following conditions is met: a change of the motor vehicle into the second traffic lane is possible; a change of the following further motor vehicle into an alternative lane is not possible; a change of the motor vehicle into the second traffic lane prevents a hindrance of the following further motor vehicle in the first traffic lane for at least a defined driving distance.

5. The method as recited in claim 1, further comprising the following steps: ascertaining a lane opening option situation; wherein decision for the automated lane opening takes the lane opening option situation into account.

6. The method as recited in claim 5, wherein the lane opening option situation is taken into account as a prerequisite for the decision regarding the automated lane opening, the lane opening option situation being taken into account as a prerequisite for the ascertainment of the hindrance situation and/or as a prerequisite for the ascertainment of a lane opening situation.

7. The method as recited in claim 5, wherein the lane opening option situation is ascertained when at least one of the following conditions is met: a speed of the motor vehicle exceeds a defined first threshold value; a speed of the motor vehicle does not exceed a defined second threshold value; the second traffic lane is a lower-speed traffic lane; there is no prohibition present for a change from the first traffic lane into the second traffic lane; the motor vehicle is not situated on a traffic lane that is located second from the outside on a three-lane or multi-lane road outside of built-up areas.

8. The method as recited in claim 1, wherein a data signal is generated, using which a vehicle operator of the motor vehicle is informed regarding the decided lane opening using the automated lane change into the second traffic lane.

9. The method as recited in claim 1, wherein a data signal is generated using which surroundings of the motor vehicle are informed regarding the decided lane opening using the automated lane change into the second traffic lane.

10. The method as recited in claim 1, wherein an execution of the decided lane opening takes place using the automated lane change into the second traffic lane when no refusal of the decided lane opening by a vehicle operator of the motor vehicle is ascertained, when within a defined time span after a notification to a driver regarding the decided lane opening with using the automated lane change into the second traffic lane, no refusal of the decided lane opening by the vehicle operator of the motor vehicle is ascertained.

11. A device for operating a driving assistant for the lateral guidance of a motor vehicle, the device configured to: execute an automated lane guidance of the motor vehicle in a first traffic lane; ascertain a hindrance situation of a following further motor vehicle due to the motor vehicle; decide for an automated lane opening of the first traffic lane taking the hindrance situation into account; execute the decided lane opening using an automated lane change into a second traffic lane; and execute an automated lane guidance in the second traffic lane after opening the lane.

12. A non-transitory computer-readable medium on which is stored a computer program for operating a driving assistant for the lateral guidance of a motor vehicle, the computer program, when executed by a processor, causing the processor to perform the following steps: executing an automated lane guidance of the motor vehicle in a first traffic lane; ascertaining a hindrance situation of a following further motor vehicle due to the motor vehicle; deciding for an automated lane opening of the first traffic lane taking the hindrance situation into account; executing the decided lane opening using an automated lane change into a second traffic lane; and executing an automated lane guidance in the second traffic lane after opening the lane.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIGS. 1A through 1C schematically show a representation of a sequence of one example embodiment of the method in a specific traffic situation, in accordance with an example embodiment of the present invention.

[0039] FIGS. 2A through 2B show a representation of the method steps of one specific embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0040] FIGS. 1A-1C schematically show a representation of a sequence of one embodiment of the method in a specific traffic situation, represented in three sequences.

[0041] FIG. 1A in this representation shows the starting situation. A motor vehicle 1 (also referred to as ego vehicle) is shown on a roadway 10. Roadway 10 in this case includes three traffic lanes: right traffic lane 11a, middle traffic lane 11b and left traffic lane 11c. Motor vehicle 1 includes a driver assistance system 2. The latter is designed as a driving assistant for automated lane guidance. A sensor system 3 for surroundings detection is also represented. The sensor system includes a sensor 3a for front surroundings detection (for example, a front camera), a sensor 3b for rear surroundings detection (for example, a rear camera), as well as multiple sensors 3c for side surroundings detection (for example, side cameras). In this case, radar, LIDAR or other suitable sensor types may, of course, alternatively or additionally also be used. Motor vehicle 1 further includes a processing unit 4 (also control unit) for evaluating the sensor data and/or for carrying out the method and/or for activating the actuators. Motor vehicle 1 further includes an actuator system 5. This system is made up, for example, of an actuator 5a for lateral control as well as an actuator 5b for longitudinal control. A device 6 is further configured for informing the driver. This device may, for example, communicate pieces of information to the driver in a visual and/or acoustic and/or haptic manner.

[0042] Motor vehicle 1 in the representation moves on driving trajectory s.sub.a at speed V.sub.a. In the traffic situation represented, further road users in addition to motor vehicle 1 are situated on roadway 10: a vehicle b at a higher driving speed V.sub.b is situated in the same middle traffic lane 11b behind ego vehicle 1. A vehicle c at approximately the same speed V.sub.c as speed V.sub.a of the ego vehicle a is situated on right traffic lane 11a in the driving direction ahead of ego vehicle 1. A further vehicle d is situated on left traffic lane 11c at approximately the height of vehicle b. Vehicle d is driving at speed V.sub.d, which is similar to V.sub.b and is increased as compared to V.sub.a.

[0043] FIG. 1B in this case shows the intermediate situation. Ego vehicle 1 has ascertained the hindrance situation caused by itself and has made a decision for automated lane opening. In the process, the traffic situation behind ego vehicle 1 (in particular, distance and acceleration difference between ego vehicle 1 and vehicle b) has been taken into account, and the traffic situation ahead of the ego vehicle (in particular, the distance and acceleration difference between ego vehicle 1 and vehicle c) has been analyzed. In the process, it has been ascertained that a lane change is situationally possible and correspondingly pre-set criteria appear to be suitable. Thus, an automated lane change to the right lane is initiated. Driving trajectory s.sub.a already shows the planned lane change of ego vehicle 1 from traffic lane 11b to traffic lane 11a.

[0044] FIG. 1C in this case shows the final situation. Ego vehicle 1 has executed the automated lane change into a second traffic lane 11a and now continues to execute the automated lane guidance in second traffic lane 11a after the executed lane change. Accordingly, driving trajectory s.sub.a is directed straight ahead. In the meantime, vehicles b and d have passed ego vehicle 1 due to the higher speed and the advanced time.

[0045] FIGS. 2A-2B show a representation of the method steps of one specific embodiment of the present invention. FIG. 2A shows an overview representation, whereas FIG. 2B shows step B3 in detail and more finely subdivided.

[0046] In FIG. 2A, the start of the method takes place in a first step S1. The execution of the automated lane guidance in the first traffic lane takes place in a step S2. For example, the automated lane guidance is activated by the driver of the motor vehicle. In a following condition B1, it is checked whether a driving option situation corresponds to a defined characteristic. For this purpose, surroundings data are ascertained and analyzed, for example, as to whether the instantaneous driving situation corresponds to a particular condition. In this case, it is checked, in particular, whether in the instantaneous driving situation the optional possibility of executing a specific driving maneuver, in particular, a lane change, even exists. For example, it is checked whether a further traffic lane is even present to the right of the present traffic lane. It may also be checked whether the speed of the ego vehicle is not too high. A lane change at excessively high speeds is associated with a higher risk. It may therefore be provided that no automated lane opening takes place above an adjustable speed threshold.

[0047] If the driving option situation corresponds to a defined characteristic (Y-branch), i.e., a lane opening is possible in principle, it is checked in a second condition B2 whether a hindrance situation is present or whether a hindrance situation corresponds to a defined characteristic.

[0048] In this case, for example, the traffic situation to the rear is monitored. The traffic situation directly behind the ego vehicle is, in particular, taken into account. In this case, it is checked, for example, whether a vehicle is driving in the same lane behind ego vehicle. In one first embodiment, a need-based lane opening may take place when a further vehicle is recognized at a defined distance behind the ego vehicle. Alternatively or in addition, the speed or the difference in speed between the two vehicles may also be taken into account. Furthermore, the acceleration and/or differences in acceleration between this vehicle and the ego vehicle may be ascertained. In this way, it may be ascertained whether the ego vehicle would represent a hindrance in an extrapolated continuation of travel of the catching-up vehicle. It is further possible that the driver has an adjustment option in order, for example, to change the sensitivity of the lane opening. Thus, it is possible that with the aid of adjusting, the driver is able to influence the trigger thresholds, in particular, the distance between the ego vehicle and the following vehicle and/or their relative speeds, in order to configure an execution of the function, in particular, to configure a temporary opening of the present lane with the aid of a lane change, for his/her needs.

[0049] For the method, the surroundings of the vehicle are monitored with the aid of a sensor system. In this case, a front camera and/or a rear sensor (for example, rear radar, rear camera or rear LIDAR) and/or surround sensor (for example, a 360° video system, corner radar), in particular, may be used. The ascertainment of the data with the aid of the sensor system may take place as a separate step within the framework of the method. With the aid of a control unit, it is subsequently evaluated whether a lane opening is required and possible. In this case, for example, the control unit may be a central processor control unit or a control unit of the sensor system, of an actuator, or the functionalities additionally implemented on such an actuator.

[0050] If the hindrance situation corresponds to a defined characteristic (Y-branch), i.e., a defined hindrance is actually present, it is checked in a further condition B3 whether a lane opening situation is present. In one embodiment, the system may monitor the general traffic situation and execute a situationally-adaptive lane opening. This means that a lane opening recommendation is ascertained and implemented in an automated manner only in defined traffic situations. An ascertainment of a lane opening decision takes place, in particular, if another road user were to be hindered as a result of maintaining the present traffic lane and a lane opening by the ego vehicle is able to be executed without significantly forfeiting driving comfort and driving safety and without significant influence on the efficiency. Possible embodiments are described in detail in FIG. 2B.

[0051] Here, too, it is possible that a driver setting with respect to the severity of the determination criteria may be carried out. In the case of a correspondingly changed setting, lane opening recommendations would be correspondingly more frequently or less frequently output.

[0052] If the lane opening situation corresponds to a defined characteristic (Y-branch), i.e., a lane opening in the present situation should be executed taking the ascertained criteria into account, a decision for automatic lane opening is made in a next step S3.

[0053] The piece of information regarding the decided, i.e. imminent, automated lane opening is subsequently communicated to the driver in a step S4. This means, the imminent interruption of the lane guidance function and/or the planned driving maneuver is communicated to the driver with the aid of a communication device. In this case, an acoustic and/or haptic and/or visual output or physical contact (such as vibration) at the driver, for example, may take place. An automated setting of the turn signal in the planned lane change direction may also be used in this case.

[0054] The driver may also be provided the opportunity to prevent the planned driving maneuver and instead to continue to execute the instantaneous automated lane guidance function. After the notification to the driver, it is checked in a condition B4 whether a refusal of the planned automated lane change by the driver is recognized. For example, an acoustic objection of the driver may be ascertained. A deactivation of the set turn signal may also be considered to be a refusal. Condition B4 may, for example, be associated with a temporal threshold, so that, for example, a defined time period is awaited as to whether a negative response of the driver is ascertained. A defined time period may be defined, for example, as 2 to 5 seconds. If no response, or at least no negative response, of the driver is ascertained, it may be assumed that no refusal of the driver regarding the planned automated lane change is present.

[0055] If no refusal of the planned automated lane change is ascertained, the planned lane change is executed in an automated manner in step S5 and the motor vehicle changes from the first traffic lane into the second traffic lane. An execution of the automated lane guidance in the second traffic lane subsequently takes place in a step S6. In a subsequent condition B5, it is checked whether a termination of the method is present. If this is the case (Y-branch), then the method is terminated in step S7. If this is not the case (N-branch), an analysis of the instantaneous driving option situation again takes place.

[0056] One embodiment of the analysis of lane opening situation B3 is represented in detail in FIG. 2B.

[0057] In this case, the right adjacent lane (or left adjacent lane in left-hand traffic) may be taken into account with the aid of B3a. With the aid of B3a1, the traffic lane section in the driving direction ahead of the ego vehicle may be taken into account and/or with the aid of B3a2, the traffic lane section to the side of the ego vehicle may be taken into account. In this case, it may, for example, be checked whether the ego vehicle is able to execute a lane change to the right (or to the left in left-hand traffic). In addition to the pure technical feasibility, the feasibility may be assessed, in particular, taking into account aspects such as driving comfort (for example, avoiding the need to brake with high deceleration, “severe braking”), driving safety (for example, providing sufficient distance) and also resource efficiency (for example, change of fuel consumption or CO2 output as a result of brake application and subsequent acceleration). The right adjacent lane in the driving direction to the rear of the ego vehicle may, of course, also be taken into account with the aid of B3a3. In this case, it may be checked whether a lane change to the right is possible, or whether a vehicle in the right traffic lane is approaching from behind and thus making a safe lane change impossible.

[0058] Furthermore, the left adjacent lane (or right adjacent lane in right-hand traffic) may be taken into account with the aid of B3b. In this case, the traffic lane section in the driving direction behind the ego vehicle may be taken into account with the aid of B3b1 and/or to the side of the ego vehicle with the aid of B3b2. It may be checked in this case, for example, whether the catching-up vehicle itself is able to execute a lane change to the left (or to the right in right-hand traffic), or whether this lane is blocked by a further road user. If the catching-up vehicle itself is able to execute a lane change without difficulty, then there is no need or less need for a lane opening by the ego vehicle and there is a correspondingly reduced ascertainment of a lane opening recommendation.

[0059] The traffic lane of the ego vehicle may also be further taken into account in detail with the aid of B3c. In this case, the traffic lane section in the driving direction ahead of the ego vehicle may be taken into account with the aid of B3c1. If this lane is occupied by one or multiple vehicles at approximately the same speed as the ego vehicle, then there is no need or only less need for a lane opening by the ego vehicle, since the faster following vehicle would likely be promptly blocked on this lane.