Method for Manoeuvring a Vehicle on a Multi-Lane Road With Determination of a Starting Point of a Deceleration Lane, and Driver Assistance System

Abstract

A method for maneuvering a vehicle on a multi-lane road includes receiving a navigation command for carrying out a lane change maneuver from a second traffic lane of the road via a first traffic lane of a road to a deceleration lane of the road; determining a distance between the vehicle and a starting point of the deceleration lane, wherein the distance is determined using sensor data from an environment sensor and/or using digital map data; preparing the lane change maneuver from the second traffic lane to the first traffic lane depending on the distance; detecting a road sign indicating a distance to the exit; determining a piece of distance information indicated by the road sign; and determining the distance between the vehicle and the starting point of the deceleration lane in addition depending on the distance information.

Claims

1-7. (canceled)

8. A method for maneuvering a vehicle on a multi-lane road comprising: receiving a navigation command to carry out a lane change maneuver from a second lane of the road, via a first lane of a road, to a deceleration lane of the road; determining a distance between the vehicle and a starting point of the deceleration lane, wherein the distance is determined on a basis of sensor data from an environmental sensor and/or on a basis of digital map data; preparing for the lane change maneuver from the second lane to the first lane on a basis of the distance; detecting a road sign that indicates a distance to an exit of the road; determining distance information indicated by the road sign; and determining a distance between the vehicle and the starting point of the deceleration lane on a basis of the distance information.

9. The method according to claim 8, comprising: determining a length of the deceleration lane on a basis of the map data and/or on a basis of a predetermined length; and determining the distance between the vehicle and the starting point on a basis of the length of the deceleration lane.

10. The method according to claim 8, comprising: weighting the sensor data from the environmental sensor, the digital map data, and/or the distance information in order to determine the distance between the vehicle and the starting point of the deceleration lane.

11. The method according to claim 8, comprising: outputting advice to a user of the vehicle in order to prepare for the lane change maneuver, wherein the advice is output before the starting point of the deceleration lane is identified on the basis of the sensor data from the environmental sensor.

12. The method according to claim 8, comprising: allowing the lane change maneuver from the second lane to the first lane after the starting point of the deceleration lane has been identified on the basis of the sensor data from the environmental sensor.

13. The method according to claim 8, comprising: adapting a longitudinal speed of the vehicle in order to prepare for the lane change maneuver.

14. A driver assistance system for a vehicle configured to: receive a navigation command to carry out a lane change maneuver from a second lane of a road, via a first lane of the road, to a deceleration lane of the road; determine a distance between the vehicle and a starting point of the deceleration lane on a basis of sensor data from an environmental sensor and/or on a basis of digital map data; prepare for the lane change maneuver from the second lane to the first lane on a basis of the distance; detect a road sign that indicates a distance to an exit of the road; determine distance information indicated by the road sign; and determine the distance between the vehicle and the starting point of the deceleration lane on a basis of the distance information.

15. The driver assistance system according to claim 14, wherein the driver assistance system is configured to: determine a length of the deceleration lane on a basis of the map data and/or on a basis of a predetermined length; and determine the distance between the vehicle and the starting point on a basis of the length of the deceleration lane.

16. The driver assistance system according to claim 14, wherein the driver assistance system is configured to: weight the sensor data from the environmental sensor, the digital map data, and/or the distance information in order to determine the distance between the vehicle and the starting point of the deceleration lane.

17. The driver assistance system according to claim 14, wherein the driver assistance system is configured to: output advice to a user of the vehicle in order to prepare for the lane change maneuver, wherein the advice is output before the starting point of the deceleration lane is identified on the basis of the sensor data from the environmental sensor.

18. The driver assistance system according to claim 14, wherein the driver assistance system is configured to: allow the lane change maneuver from the second lane to the first lane after the starting point of the deceleration lane has been identified on the basis of the sensor data from the environmental sensor.

19. The driver assistance system according to claim 14, wherein the driver assistance system is configured to: adapt a longitudinal speed of the vehicle in order to prepare for the lane change maneuver.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG. 1 shows a schematic illustration of a vehicle having a driver assistance system for assisting a user when maneuvering the vehicle on a multi-lane road; and

[0032] FIG. 2 shows the vehicle according to FIG. 1 which is on a multi-lane road, wherein a driving maneuver from a second lane, via a first lane, to a deceleration lane of the road is planned.

DETAILED DESCRIPTION OF THE DRAWINGS

[0033] In the figures, identical or functionally identical elements are provided with the same reference signs.

[0034] FIG. 1 shows a plan view of a vehicle 1 which is in the form of an automobile in the present case. The vehicle 1 comprises a driver assistance system 2 which can be used to assist a user or driver when maneuvering the vehicle 1 on a multi-lane road 11. The vehicle 1 or the driver assistance system 2 comprises a computing device 3 which can be formed by at least one electronic control unit, for example.

[0035] In addition, the driver assistance system 2 comprises first environmental sensors 4 which may be in the form of distance sensors and, in particular, radar sensors. In the present example, the driver assistance system 2 comprises four first environmental sensors 4, two of which are arranged in a front region and two of which are arranged in a rear region of the vehicle 1. In this case, the first environmental sensors 4 are arranged in the respective corners of the vehicle 1. The first environmental sensors 4 can be used to carry out appropriate measurements in order to be able to detect objects and, in particular, further road users 7 in an environment 5 of the vehicle 1. In addition, the driver assistance system 2 comprises a second environmental sensor 6 which is in the form of a camera. Corresponding image data which describe the environment 5 of the vehicle 1 can be provided as sensor data using the second environmental sensor 6 or the camera.

[0036] The computing device 3 can be used to control a drive motor and/or a braking system of the vehicle 1 in order to influence longitudinal guidance of the vehicle 1. This makes it possible to prepare for lane change maneuvers by reducing the speed of the vehicle 1. Provision is also made for the computing device 3 to be configured to control a steering system 9 of the vehicle 1, which is only schematically illustrated in the present case. As a result of the control of the steering system, it is possible to take over the lateral guidance of the vehicle 1 during an automated lane change maneuver. As a result of the control of the steering system 9, it is possible to steer the steerable wheels 10 of the vehicle 1 and to therefore take over the lateral guidance during the lane change maneuver. In addition, the driver assistance system 2 comprises an output device 8 which can be used to output advice to the user or driver of the vehicle 1.

[0037] FIG. 2 shows a schematic illustration of a traffic situation in which the vehicle 1 according to FIG. 1 is on a multi-lane road 11. In the present example, the road 11 is in the form of a freeway. In this case, the road 11 comprises a first lane 12 or a right-hand lane, a second lane 13 or a middle lane and a third lane 14 or a left-hand lane. In the example shown, the vehicle 1 is in the third lane 14 or the left-hand lane of the freeway. In this case, the vehicle 1 is intended to be first maneuvered from the third lane 14 to the second lane 13, then to the first lane 12 and then, via a deceleration lane 15, to an exit 16 of the road 11. The vehicle 1 can therefore follow a predefined navigation route, for example.

[0038] Provision is also made for automated lane change maneuvers from the third lane 14 to the second lane 13, from the second lane 13 to the first lane 12 and from the first lane 12 to the deceleration lane 15 to be prepared for and then carried out by the driver assistance system 2. In this case, the respective lane change maneuvers can be carried out on the basis of the current speed of the vehicle, the traffic density on the road 11 and/or a predetermined strategy. Provision is also made for the respective lane change maneuvers to be carried out on the basis of a distance of the vehicle 1 to a starting point 17 of the deceleration lane 15. In particular, the respective lane change maneuvers are intended to be carried out in such a manner that it is made possible for the user to carry out a lane change from the first lane 12 to the deceleration lane 15 before or as soon as the vehicle 1 has passed the starting point 17 of the deceleration lane 15.

[0039] Digital map data can be used in order to be able to determine the distance between the vehicle 1 and the starting point 17 of the deceleration lane 15. These digital map data can be accordingly either received or stored in a memory of the computing device 3 or the driver assistance system 2. The position of the vehicle 1 relative to the digital map can be determined using a receiver of a satellite-based positioning system, which receiver is not illustrated here. The starting point 17 can also be determined on the basis of the sensor data or image data from the camera 6. In the present case, provision is also made for the distance between the vehicle 1 and the starting point 17 to be determined on the basis of road signs 18a, 18b, 18c. These road signs 18a, 18b, 18c contain distance information describing the distance to the exit 16. In the present case, three distance beacons are detected as road signs 18a, 18b, 18c by the camera 6. In this case, the distance beacon 18c is 300 meters away from the exit 16, the distance beacon 18b is 200 meters away from the exit 16 and the distance beacon 18a is 100 meters away from the exit 16.

[0040] The position of the starting point 17 can be determined on the basis of the distance information from the road signs 18a, 18b, 18c or the distance beacons taking into account a length 19 of the deceleration lane 15. The length 19 of the deceleration lane 15 can be determined on the basis of the digital map data or on the basis of a predetermined overall length. The map-based data and the sign-based value can be weighted depending on the quality, for example the accuracy of the satellite-based positioning system, the accuracy of the camera and/or the region. The user can therefore receive the indication of the lane change before the camera 6 actually identifies the starting point. Alternatively or additionally, the vehicle 1 or the driver assistance system 2 can give a right-hand road marking of the first lane 12 a higher weighting when carrying out an automated lane change maneuver. This road marking can therefore be directly followed to the deceleration lane 15 or the exit 16 before it is identified as an additional lane. The lane change maneuver can be suspended if necessary until the starting point 17 is actually identified by the camera 6.