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EP1797453A1 - Driver assisting method and device - Google Patents

Driver assisting method and device

Info

Publication number
EP1797453A1
EP1797453A1 EP05777866A EP05777866A EP1797453A1 EP 1797453 A1 EP1797453 A1 EP 1797453A1 EP 05777866 A EP05777866 A EP 05777866A EP 05777866 A EP05777866 A EP 05777866A EP 1797453 A1 EP1797453 A1 EP 1797453A1
Authority
EP
European Patent Office
Prior art keywords
warning
driver
lane
warning threshold
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP05777866A
Other languages
German (de)
French (fr)
Inventor
Carsten Schmitz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1797453A1 publication Critical patent/EP1797453A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S2013/9318—Controlling the steering
    • 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
    • G01S2013/93185—Controlling the brakes
    • 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
    • G01S2013/9319—Controlling the accelerator
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • 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

Definitions

  • the invention relates to a method and a device for driver assistance, in particular for warning or transverse guidance of the vehicle when leaving the traffic lane or threatened leaving the lane.
  • Warning systems which warn the driver when leaving the lane or when the lane is threatening to leave the lane are known in the prior art.
  • EP 1074430 A1 shows a procedure in which, based on an image sensor system, the lane on which a vehicle is moving is determined and the driver is warned when the vehicle is leaving or threatening to leave this lane. Indications of the exact boundary conditions under which such a warning occurs are not given. In particular, the respective driving situation is not taken into account, so that erroneous warnings that are unpleasant for the driver can occur.
  • the warning preferably a warning threshold or the warning time, depending on the driver's condition and / or the driving situation, it is possible to significantly reduce the false alarm rate, especially when leaving a lane. without losing security.
  • this improves the acceptance of the driver assistance system.
  • the warning threshold is extended when the driver is attentive, so that false warnings can be minimized while the warning threshold is narrowed in order to minimize the danger situation when the driver is paying attention.
  • Extension of the warning clamp means that a warning is closer to the edge marking or even after it is exceeded, narrowed means that the warning is at a significant distance from the mark.
  • the warning time or the warning threshold is adapted to the driving situation in an advantageous manner.
  • the warning time or the warning threshold is specified on a page-by-page basis in that, for example, in the case of a free parking lane to the right
  • Warning time is shifted so far that even after leaving the lane in the direction of the lane no warning. This also significantly reduces false alarms.
  • warnings are completely dispensed with on the right-hand side (switching off the warning function or extending the warning limit to unreachable areas), which also reduces the false alarm rate , This is because in this driving situation warnings about lane departure are not meaningful.
  • FIG. 1 shows a block diagram of a device for driver warning or for the reaction in the event of imminent departure from the lane by the vehicle.
  • FIG. 2 outlines a flow chart in which the driver state-dependent and / or driving situation-dependent adaptive setting of the warning is set forth in a preferred embodiment.
  • FIGS. 3 and 4 show typical driving situations to illustrate the mode of action of the adaptive setting of the warning.
  • Figure 1 shows a device which is used to warn the driver or to respond to future leaving the lane of the vehicle. Shown is a control or evaluation unit 10, which has an input circuit 12, a microcomputer 14 and an output circuit 16. These elements are interconnected with a bus system for mutual data exchange.
  • the input circuit 12 are
  • a first input line 20 connects the input circuit 12 to an image sensor system 22, which picks up the scene in front of the vehicle. Corresponding image data are transmitted via the input line 20. Further, input lines 24 to 28 are provided, which the input circuit
  • At least one warning device 38 is actuated via the output circuit 16 and the output line 36, for example a warning lamp and / or a loudspeaker for an acoustic warning or for a voice output and / or a display for the display of an image, with the latter Helping the driver to be warned or warned of the feared leaving the lane in accordance with the procedure outlined below.
  • a control system 42 which automatically zu ⁇ example by engaging in the steering of the vehicle, the vehicle back into the track zu ⁇ back and so Leaving the lane prevented.
  • the recognition of the lane markings with an image sensor system, preferably a camera system.
  • an image sensor system By analyzing the recorded images, in particular on the basis of the gray value distribution, edge markings are detected by an image evaluation unit whose course is determined as a mathematical function.
  • the image sensor system is also used in one embodiment to observe objects in the vicinity of the lane of the vehicle, thus also on neighboring lanes (left or right).
  • object recognition methods are used as above. On the basis of successive recordings and the vehicle's own speed, it is possible to determine on the basis of this information whether a detected object travels on a neighboring lane in the same direction of travel or in the opposite direction of travel.
  • the driving situation (type of marking and / or type of neighboring lane and / or traffic situation) can be detected.
  • other sensors for driving situation detection are used instead of the image sensor system, for example radar sensors, laser sensors, etc.
  • sensors are present which detect objects around the vehicle and determine the distances to these objects. In these cases, not only can the direction of travel be determined on a neighboring lane, but the actual presence of vehicles and their direction of movement on the adjacent lane can be detected.
  • an expected departure from the lane is calculated when cutting or impermissibly approaching these two functions certainly. If this is the case and if there is a driving situation in which an increased danger potential when leaving the lane is to be assumed, a warning is issued to the driver acoustically and / or visually and / or haptically, or by targeted intervention in the course the vehicle, for example by steering intervention, made a correction of the course.
  • the course of the roadside edge markings is determined from the image of at least one camera. Based on the course of the vehicle mathematically possibly existing intersections between the vehicle course and the course of the lane marking are determined on the two sides of the vehicle. Taking into account further operating variables, for example the vehicle speed, a warning point in time is determined. This is either in the form of a lateral distance from the Road marking before, for example, a warning occurs exactly when the distance is klei ⁇ ner than a certain value, eg 20cm, or by a time value, the so-called TTL value (Time to Line Crossing). In the latter case, the warning occurs precisely when this time value is less than, for example, 0.02 sec. This value indicates the time span which the vehicle needs under the current conditions to drive over the lane marking. This warning threshold (warning time) is adjusted as shown above depending on the driver's condition and the driving situation.
  • the camera is provided for driving situation recognition
  • further driving situation recognition sensors are provided, for example radar sensors.
  • This Fahr ⁇ situation detection provides information about the presence of Nachbarfahrspu ⁇ ren and in particular on the presence of foreign objects, eg. Vehicles, in these lanes.
  • the warning thresholds or the warning times are changed, in particular delayed, without losing security of the system. The false alarm rate is reduced.
  • FIG. 2 shows a flowchart which outlines such a computer program. The basic idea is that both for the driver's condition and for the driving situation or only for one of these two
  • Sizes a value vector is determined, which is evaluated for adaptive setting of the warning (warning threshold, warning time) of the lane departure warning.
  • the driver condition is essentially formed by the attentiveness features (i.e., the driver is focused on the driving task), fatigue and driving style. In this case, the state of the driver becomes 100 to 100 depending on various supplied operating variables 102 to
  • a fatigue value for the driver is determined as a function of accelerator pedal values, steering values, etc.
  • the driving style of the driver is determined, for example, by evaluating the throttle pedal operation, brake operation, acceleration of the vehicle and its changes, a defensive driving style with slight changes, an aggressive driving style for very strong changes, etc is adopted.
  • the attention of the driver can be determined in another exemplary embodiment by the operation of radio, mobile phone or navigation systems on the CAN bus of the vehicle are made available to Verf ⁇ supply (so-called hands-on detection).
  • a driving situation vector i. Values for a description of the driving situation, formed. This is also taking into account supplied operating variables with regard to the driving situation (from 110 to 114).
  • the information about the route eg highway or highway
  • the information as to whether the vehicle is on a country lane or on a motorway is preferably determined from a navigation system or by evaluating the image of the video camera, wherein the lane number and / or the radii of curvature of the lane on highway or highway are closed , Furthermore, information about the presence of adjacent lanes is part of the description of the driving situation.
  • a third component for describing the driving situation is information about the presence of foreign vehicles in existing neighboring lanes.
  • This information is preferably supplied by distance sensors, in particular radar sensors, which are used in a known manner in adaptive cruise control or blind spot detection. The radar sensors therefore use the reflections to determine whether objects are in front of, behind or next to the vehicle. By corresponding angular resolution, these objects are also assigned to neighboring lanes, so that information about vehicles in neighboring lanes is determined in this way.
  • the vectors ascertained in the manner outlined above with regard to driver state and driving situation are shown in FIG. 116 for the adaptive setting of the warning, preferably the warning time, in particular the "time to line crossing" and / or the lateral distance
  • an association between the value of the warning time and the magnitude of the individual vectors is stored
  • the lane departure warning is carried out in 118 the course of the vehicle and the determined Th road lane markings are compared taking into account the set warning time, and when the warning time, the driver is warned optically, akus ⁇ table or haptic or a steering intervention for holding the track is triggered.
  • a warning time point is predetermined for each possible combination in the exemplary embodiment shown by two vectors with three values each.
  • the setting of the warning time is calculated from the vector data. Furthermore, when using only one vector (driver state or driving situation vector), the corresponding options for implementation are given.
  • the setting of the warning thresholds or time points takes place essentially as follows. Concerning. the driver's condition, the warning threshold is extended, i. shifted towards smaller values (distance, time) in order to minimize false warnings of the system when the driver is alert and awake. However, if the driver is sleepy and / or the driver inattentive, the warning threshold is narrowed to minimize the danger situation.
  • the driving style is incorporated into the adaptive setting of the warning time such that, in the case of an aggressive, offensive or technological driving style, the warning time is extended with respect to the warning time in a defensive relaxed driving style, i. in
  • the driving situation is provided that on the right-hand side of the motorway and the free parking lane (no foreign objects) the warning time point on the right-hand side can be extended so that it lies clearly after leaving the traffic lane.
  • the driver can correct the vehicle before leaving the adjacent lane (in this case, the parking lane). Also in this way the number of false alarms is considerably reduced.
  • the warning threshold or warning time is added
  • the warning time is narrowed, while if there is a lane without foreign objects the warning time is extended. In this situation, the warning time can occur significantly after the actual lane departure.
  • the warning time is set both as a function of the driver's condition and of the driving situation, then in any case the driver's condition dominates. That in the case of a drowsy and / or inattentive driver, the warning threshold is narrowed even if there are signs of a lack of foreign objects.
  • FIG. 3 shows a lane 200 with adjacent lane 202.
  • the vehicle 204 moves on the lane 200.
  • the warning thresholds (here lateral distance to the roadside marking 206 or 208) are shown by the dotted lines 210, 212 on the left, 214 and 216 on the right side. It is shown in which limits the warning time can be set adaptively.
  • the dotted line to the left of the lane edge marking (212, 214) represents a narrowed warning time, while the boundaries further away from the vehicle (210, 216) represent extended warning thresholds.
  • FIG. 4 shows a driving situation described above.
  • a vehicle 204 travels on a lane 200 with a neighboring lane 202 on which there are no objects.
  • a warning threshold 218 is set which is very extended and lies after the actual lane departure.
  • the vehicle 204 now follows the course 220 shown in FIG. 4.
  • the lane is left at the time 222 without any warning being given. Rather, the driver is given the opportunity to correct. Only when the much later warning threshold 224 is exceeded is a warning triggered because only then is there an actual danger.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a driver assisting method and device, wherein said method consists in adaptively adjusting only a threshold warning about which a driver is informed, for example priot to leave a lane, according to the driver state and/or a driving situation.

Description

Verfahren und Vorrichtung zur FahrerunterstützungMethod and device for driver assistance
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Fahrerunterstützung, ins- besondere zur Warnung bzw. Querführung des Fahrzeugs bei Verlassen der Fahrspur bzw. bei drohendem Verlassen der Fahrspur.The invention relates to a method and a device for driver assistance, in particular for warning or transverse guidance of the vehicle when leaving the traffic lane or threatened leaving the lane.
Warnsysteme, welchen den Fahrer bei Verlassen der Fahrspur bzw. bei drohendem Ver¬ lassen der Fahrspur warnen, sind im Stand der Technik bekannt. Beispielsweise zeigt die EP 1074430 Al eine Vorgehensweise, bei welcher auf der Basis eines Bildsensorsystems die Fahrspur, auf der sich ein Fahrzeug bewegt, ermittelt wird und der Fahrer gewarnt wird, wenn das Fahrzeug diese Fahrspur verläset bzw. zu verlassen droht. Hinweise auf die genauen Randbedingungen, unter denen eine derartige Warnung erfolgt, werden nicht angegeben. Insbesondere wird nicht die jeweilige Fahrsituation berücksichtigt, so dass es zu für den Fahrer unangenehmen Fehlwarnungen kommen kann.Warning systems which warn the driver when leaving the lane or when the lane is threatening to leave the lane are known in the prior art. For example, EP 1074430 A1 shows a procedure in which, based on an image sensor system, the lane on which a vehicle is moving is determined and the driver is warned when the vehicle is leaving or threatening to leave this lane. Indications of the exact boundary conditions under which such a warning occurs are not given. In particular, the respective driving situation is not taken into account, so that erroneous warnings that are unpleasant for the driver can occur.
Aus der DE 196 37 053 Al ist bekannt, mittels eines winkelauflösenden Abstands- und Geschwindigkeitssensors, vorzugsweise eines Radar- oder Lasersensors, Objekte auf ei¬ ner Nebenfahrbahn zu erkennen und anhand der Relativgeschwindigkeit dieser Objekte deren Fahrrichtung zu ermitteln.From DE 196 37 053 A1 it is known to detect objects on a secondary track by means of an angle-resolving distance and speed sensor, preferably a radar or laser sensor, and to determine their direction of travel on the basis of the relative speed of these objects.
Vorteile der ErfindungAdvantages of the invention
Durch die Einstellung der Warnung, vorzugsweise einer Warnschwelle bzw. des Warn¬ zeitpunktes, in Abhängigkeit vom Fahrerzustand und/oder der Fahrsituation wird es er¬ möglicht, die Fehlalarmrate insbesondere bei einem Spurverlassen erheblich zu reduzie- ren, ohne dabei an Sicherheit zu verlieren. In vorteilhafter Weise wird dadurch die Ak¬ zeptanz des Fahrerunterstützungssystems verbessert.By setting the warning, preferably a warning threshold or the warning time, depending on the driver's condition and / or the driving situation, it is possible to significantly reduce the false alarm rate, especially when leaving a lane. without losing security. Advantageously, this improves the acceptance of the driver assistance system.
In vorteilhafter Weise entstehen durch die Erweiterung der Funktionalität keine Kosten, da bei Systemen, die allein auf der Basis der Objekterkennung mittels einer Videokamera arbeiten, keine zusätzliche Hardware notwendig ist. In vorteilhafter Weise lassen sich weitere, heute im Kraftfahrzeug eingesetzte Funktionen, bspw. Objekterkennungen mit¬ tels Radarsensoren, zur Erweiterung der Funktionalität einsetzen, sodass auch hier Zu¬ satzkosten durch weitere Hardware nicht entstehen.Advantageously, there are no costs due to the expansion of the functionality, since no additional hardware is necessary in systems which work solely on the basis of object recognition by means of a video camera. Advantageously, further functions used today in the motor vehicle, for example object recognition by means of radar sensors, can be used to expand the functionality, so that additional costs do not arise here, too, due to additional hardware.
In besonders vorteilhafter Weise wird die Warnschwelle ausgedehnt, wenn der Fahrer aufmerksam ist, sodass Fehlwarnungen minimiert werden können, während die Warn¬ schwelle eingeengt wird, um die Gefahrensituation zu minimieren, wenn der Fahrer un¬ aufmerksam ist. Ausdehnung der Warnschelle heißt dabei, dass eine Warnung näher an der Randmarkierung oder sogar nach deren Überschreiten erfolgt, eingeengt heißt, dass die Warnung in deutlich größerem Abstand zur Markierung erfolgt.In a particularly advantageous manner, the warning threshold is extended when the driver is attentive, so that false warnings can be minimized while the warning threshold is narrowed in order to minimize the danger situation when the driver is paying attention. Extension of the warning clamp means that a warning is closer to the edge marking or even after it is exceeded, narrowed means that the warning is at a significant distance from the mark.
Ferner wird in vorteilhafter Weise der Warnzeitpunkt bzw. die Warnschwelle an die Fahrsituation angepasst. Insbesondere wird dabei der Warnzeitpunkt bzw. die Warn- schwelle seitenindividuell vorgegeben, indem bspw. bei einer freien Standspur rechts derFurthermore, the warning time or the warning threshold is adapted to the driving situation in an advantageous manner. In particular, the warning time or the warning threshold is specified on a page-by-page basis in that, for example, in the case of a free parking lane to the right
Warnzeitpunkt soweit verschoben wird, dass auch noch nach dem Verlassen der Fahrspur in Richtung Standspur keine Warnung erfolgt. Auch dadurch werden erheblich Fehlalar¬ me reduziert. In einer anderen Situation, wenn auf einer Landstraße bspw. keine Spur rechts vorhanden ist, wird auf der rechten Seite auf Warnungen ganz verzichtet (Abschal- ten der Warnfunktion bzw. Ausdehnen der Warngrenze in nicht erreichbare Bereiche), wodurch auch hier die Fehlalarmrate reduziert wird. Dies deshalb, weil in dieser Fahrsi¬ tuation Warnungen wegen Spurverlassens nicht sinnvoll sind.Warning time is shifted so far that even after leaving the lane in the direction of the lane no warning. This also significantly reduces false alarms. In another situation, for example, if there is no lane to the right on a country road, warnings are completely dispensed with on the right-hand side (switching off the warning function or extending the warning limit to unreachable areas), which also reduces the false alarm rate , This is because in this driving situation warnings about lane departure are not meaningful.
Weitere Vorteile ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbei- spielen bzw. aus den abhängigen Patentansprüchen.Further advantages will become apparent from the following description of exemplary embodiments or from the dependent claims.
Zeichnung Die Erfindung wird nachstehend anhand der in der Zeichnung dargestellten Ausfuhrungs¬ formen näher erläutert. Figur 1 zeigt dabei ein Blockschaltbild einer Vorrichtung zur Fah¬ rerwarnung bzw. zur Reaktion bei drohendem Verlassen der Fahrspur durch das Fahr¬ zeug. In Figur 2 ist ein Flußdiagramm skizziert, in welchem die fahrerzustandsabhängige und/oder fahrsituationsabhängige adaptive Einstellung der Warnung im Rahmen einer bevorzugten Ausführungsform dargelegt ist. Die Figuren 3 und 4 zeigen typische Fahrsi¬ tuationen zur Verdeutlichung der Wirkungsweise der adaptiven Einstellung der Warnung.drawing The invention will be explained in more detail below with reference to the embodiments illustrated in the drawings. FIG. 1 shows a block diagram of a device for driver warning or for the reaction in the event of imminent departure from the lane by the vehicle. FIG. 2 outlines a flow chart in which the driver state-dependent and / or driving situation-dependent adaptive setting of the warning is set forth in a preferred embodiment. FIGS. 3 and 4 show typical driving situations to illustrate the mode of action of the adaptive setting of the warning.
Beschreibung von AusführungsbeispielenDescription of exemplary embodiments
Figur 1 zeigt eine Vorrichtung, welche zur Warnung des Fahrers bzw. zur Reaktion bei zukünftigem Verlassen der Fahrspur des Fahrzeugs dient. Gezeigt ist eine Steuer- bzw. Auswerteeinheit 10, welche eine Eingangsschaltung 12, einen Mikrocomputer 14 sowie eine Ausgangsschaltung 16 aufweist. Diese Elemente sind mit einem Bussystem zum ge- genseitigen Datenaustausch miteinander verbunden. Der Eingangsschaltung 12 werdenFigure 1 shows a device which is used to warn the driver or to respond to future leaving the lane of the vehicle. Shown is a control or evaluation unit 10, which has an input circuit 12, a microcomputer 14 and an output circuit 16. These elements are interconnected with a bus system for mutual data exchange. The input circuit 12 are
Eingangsleitungen von verschiedenen Messeinrichtungen zugeführt, über die Messsignale bzw. Messinformationen übermittelt werden. Eine erste Eingangsleitung 20 verbindet die Eingangsschaltung 12 mit einem Bildsensorsystem 22, welches die Szene vor dem Fahr¬ zeug aufnimmt. Entsprechende Bilddaten werden über die Eingangsleitung 20 übermit- telt. Ferner sind Eingangsleitungen 24 bis 28 vorgesehen, welche die EingangsschaltungInput lines supplied by various measuring devices, are transmitted via the measurement signals or measurement information. A first input line 20 connects the input circuit 12 to an image sensor system 22, which picks up the scene in front of the vehicle. Corresponding image data are transmitted via the input line 20. Further, input lines 24 to 28 are provided, which the input circuit
12 mit Messeinrichtungen 30 bis 34 verbinden. Bei diesen Messeinrichtungen handelt es sich beispielsweise um Messeinrichtungen zur Messung der Fahrzeuggeschwindigkeit, zur Erfassung des Lenkwinkels oder der Gierrate sowie zur Erfassung weiterer Betriebs¬ größen des Fahrzeugs, welche im Zusammenhang mit der nachfolgend beschriebenen Vorgehensweise Bedeutung haben. Über die Ausgangsschaltung 16 und die Ausgangslei¬ tung 36 wird wenigstens eine Warneinrichtung 38 angesteuert, beispielsweise eine Warn¬ lampe und/oder ein Lautsprecher für eine akustische Warnung oder für eine Sprachaus¬ gabe und/oder ein Display für die Anzeige eines Bildes, mit deren Hilfe der Fahrer vor dem zu befürchtenden Verlassen der Fahrspur nach Maßgabe der nachfolgend dargestell- ten Vorgehensweise informiert bzw. gewarnt wird. Darüber hinaus oder alternativ dazu ist in einigen Ausführungsbeispielen vorgesehen, über die Ausgangsschaltung 16 und ei¬ ne Ausgangsleitung 40 ein Stellsystem 42 anzusteuern, welches automatisch beispiels¬ weise durch Eingriff in die Lenkung des Fahrzeugs das Fahrzeug wieder in die Spur zu¬ rückführt und so das Verlassen der Fahrspur verhindert. - A -12 connect with measuring devices 30 to 34. These measuring devices are, for example, measuring devices for measuring the vehicle speed, for detecting the steering angle or the yaw rate as well as for detecting further operating variables of the vehicle, which have significance in connection with the procedure described below. At least one warning device 38 is actuated via the output circuit 16 and the output line 36, for example a warning lamp and / or a loudspeaker for an acoustic warning or for a voice output and / or a display for the display of an image, with the latter Helping the driver to be warned or warned of the feared leaving the lane in accordance with the procedure outlined below. In addition or alternatively, it is provided in some embodiments to control via the output circuit 16 and ei¬ ne output line 40, a control system 42, which automatically zu¬ example by engaging in the steering of the vehicle, the vehicle back into the track zu¬ back and so Leaving the lane prevented. - A -
Im bevorzugten Ausfuhrungsbeispiel erfolgt die Erkennung der Fahrspurmarkierungen mit einem Bildsensorsystem, vorzugsweise einem Kamerasystem. Durch Analyse der aufgenommenen Bilder, insbesondere anhand der Grauwerteverteilung, wird durch eine Bildauswerteeinheit Randmarkierungen erkannt, deren Verlauf als mathematische Funk- tion ermittelt. Das Bildsensorsystem dient in einer Ausführung ferner auch dazu, Objekte in der Umgebung der Fahrspur des Fahrzeugs, somit auch auf Nachbarfahrspuren (links oder rechts) zu beobachten. Dabei werden wie oben übliche Objekterkennungsmethoden eingesetzt. Anhand aufeinanderfolgender Aufnahmen und der Eigengeschwindigkeit des Fahrzeugs lässt sich aufgrund dieser Informationen ermitteln, ob ein erkanntes Objekt auf einer Nachbarfahrspur in gleicher Fahrrichtung oder in entgegengesetzter Fahrrichtung fährt. Auf diese Weise lässt sich die Fahrsituation (Markierungsart und/oder Art der Nachbarfahrbahn und/oder Verkehrsituation) erfassen. Anstelle des Bildsensorsystems werden in anderen Ausführungen andere Sensoren zur Fahrsituationserfassung eingesetzt, beispielsweise Radarsensoren, Lasersensoren, etc. Ferner sind in anderen Ausführungen Sensoren vorhanden, die rund um das Fahrzeug herum Objekte erkennen und die Abstän¬ de zu diesen Objekten ermitteln. In diesen Fällen lässt sich nicht nur die Fahrtrichtung auf einer Nachbarfahrbahn ermitteln, sondern das tatsächliche Vorhandensein von Fahrzeu¬ gen und deren Bewegungsrichtung auf der Nachbarspur erkennen.In the preferred exemplary embodiment, the recognition of the lane markings with an image sensor system, preferably a camera system. By analyzing the recorded images, in particular on the basis of the gray value distribution, edge markings are detected by an image evaluation unit whose course is determined as a mathematical function. The image sensor system is also used in one embodiment to observe objects in the vicinity of the lane of the vehicle, thus also on neighboring lanes (left or right). As usual, object recognition methods are used as above. On the basis of successive recordings and the vehicle's own speed, it is possible to determine on the basis of this information whether a detected object travels on a neighboring lane in the same direction of travel or in the opposite direction of travel. In this way, the driving situation (type of marking and / or type of neighboring lane and / or traffic situation) can be detected. In other embodiments, other sensors for driving situation detection are used instead of the image sensor system, for example radar sensors, laser sensors, etc. Furthermore, in other embodiments, sensors are present which detect objects around the vehicle and determine the distances to these objects. In these cases, not only can the direction of travel be determined on a neighboring lane, but the actual presence of vehicles and their direction of movement on the adjacent lane can be detected.
Aufgrund der Informationen über wenigstens eine Fahrbahnrandmarkierung, deren Ver¬ lauf als mathematische Funktion dargestellt wird, sowie der beispielsweise aufgrund von Lenkwinkel, etc. ermittelten zukünftigen Trajektorie des Eigenfahrzeugs wird bei Schneiden oder unzulässigem Annähern dieser beiden Funktionen berechnet ein zu er¬ wartendes Verlassen der Fahrspur bestimmt. Ist dies der Fall und liegt eine Fahrsituation vor, bei von einem erhöhten Gefahrenpotential bei Verlassen der Fahrspur auszugehen ist, wird eine Warnung an den Fahrer, akustisch und/oder optisch und/oder haptisch aus¬ gegeben, bzw. durch gezielten Eingriff in den Kurs des Fahrzeugs, beispielsweise durch Lenkeingriff, eine Korrektur des Kurses vorgenommen.On the basis of the information about at least one lane marking whose course is represented as a mathematical function, and the future trajectory of the own vehicle determined, for example, on the basis of steering angles, etc., an expected departure from the lane is calculated when cutting or impermissibly approaching these two functions certainly. If this is the case and if there is a driving situation in which an increased danger potential when leaving the lane is to be assumed, a warning is issued to the driver acoustically and / or visually and / or haptically, or by targeted intervention in the course the vehicle, for example by steering intervention, made a correction of the course.
Wie oben beschrieben wird aus dem Bild wenigstens einer Kamera der Verlauf der Fahr¬ bahnrandmarkierungen ermittelt. Ausgehend vom Kurs des Fahrzeugs werden auf den beiden Fahrzeugseiten mathematisch gegebenenfalls vorhandene Schnittpunkte zwischen dem Fahrzeugkurs und dem Verlauf der Fahrbahnmarkierung ermittelt. Unter Berück¬ sichtigung weiterer Betriebsgrößen, bspw. der Fahrzeuggeschwindigkeit, wird ein Warn- Zeitpunkt ermittelt. Dieser liegt entweder in Form eines lateralen Abstandes von der Fahrbahnmarkierung vor, z.B. erfolgt eine Warnung genau dann, wenn der Abstand klei¬ ner als ein bestimmter Wert, z.B. 20cm, wird, oder aber durch einen Zeitwert, den soge¬ nannten TTL- Wert (Time to Line Crossing). Bei letzterem erfolgt die Warnung genau dann, wenn dieser Zeitwert kleiner als bspw. 0,02 sec. Dieser Wert zeigt die Zeitspanne an, die das Fahrzeug unter den aktuellen Bedingungen benötigt, die Fahrbahnmarkierung zu überfahren. Diese Warnschwelle (Warnzeitpunkt) wird wie oben dargestellt abhängig vom Fahrerzustand und der Fahrsituation angepasst.As described above, the course of the roadside edge markings is determined from the image of at least one camera. Based on the course of the vehicle mathematically possibly existing intersections between the vehicle course and the course of the lane marking are determined on the two sides of the vehicle. Taking into account further operating variables, for example the vehicle speed, a warning point in time is determined. This is either in the form of a lateral distance from the Road marking before, for example, a warning occurs exactly when the distance is klei¬ ner than a certain value, eg 20cm, or by a time value, the so-called TTL value (Time to Line Crossing). In the latter case, the warning occurs precisely when this time value is less than, for example, 0.02 sec. This value indicates the time span which the vehicle needs under the current conditions to drive over the lane marking. This warning threshold (warning time) is adjusted as shown above depending on the driver's condition and the driving situation.
Zur Fahrsituationserkennung ist zum einen die Kamera, zum anderen in einer Ausführung weitere Fahrsituationserkennungssensoren vorgesehen, bspw. Radarsensoren. Diese Fahr¬ situationserkennung liefert Informationen über das Vorhandensein von Nachbarfahrspu¬ ren und insbesondere über das Vorhandensein von Fremdobjekten, bspw. Fahrzeugen, in diesen Fahrspuren. Abhängig von dieser Information werden die Warnschwellen bzw. die Warnzeitpunkte verändert, insbesondere verzögert, ohne dabei an Sicherheit des Systems zu verlieren. Die Fehlalarmrate wird reduziert.On the one hand, the camera is provided for driving situation recognition, on the other hand, in an embodiment, further driving situation recognition sensors are provided, for example radar sensors. This Fahr¬ situation detection provides information about the presence of Nachbarfahrspu¬ ren and in particular on the presence of foreign objects, eg. Vehicles, in these lanes. Depending on this information, the warning thresholds or the warning times are changed, in particular delayed, without losing security of the system. The false alarm rate is reduced.
In der bevorzugten Ausführungsform ist die oben skizzierte Vorgehensweise als Rech¬ nerprogramm des Rechners 14 der Steuereinheit 10 realisiert. Figur 2 zeigt ein Ablauf¬ diagramm, welches ein solches Rechnerprogramm skizziert. Grundgedanken ist, dass so- wohl für den Fahrerzustand als auch für die Fahrsituation oder nur für eine dieser beidenIn the preferred embodiment, the procedure outlined above is implemented as a computer program of the computer 14 of the control unit 10. FIG. 2 shows a flowchart which outlines such a computer program. The basic idea is that both for the driver's condition and for the driving situation or only for one of these two
Größen ein Wertevektor ermittelt wird, welcher zur adaptiven Einstellung der Warnung (Warnschwelle, Warnzeitpunkt) des Spurverlassenswarners ausgewertet wird. Der Fah¬ rerzustand wird dabei im Wesentlichen durch die Merkmale Aufmerksamkeit (d.h. ist der Fahrer auf die Fahraufgabe gerichtete), Müdigkeit und Fahrstil gebildet. Der Fahrerzu- stand wird dabei in 100 abhängig von verschiedenen zugeführten Betriebsgrößen 102 bisSizes a value vector is determined, which is evaluated for adaptive setting of the warning (warning threshold, warning time) of the lane departure warning. The driver condition is essentially formed by the attentiveness features (i.e., the driver is focused on the driving task), fatigue and driving style. In this case, the state of the driver becomes 100 to 100 depending on various supplied operating variables 102 to
106 ermittelt. Bspw. wird auf der Basis einer Beobachtung der Position des Körpers des Fahrers oder durch Abtastung von Bedienelementen und deren Betätigung festgestellt, ob der Fahrer seine Aufmerksamkeit auf die Fahraufgabe gerichtet hat oder ob er bspw. ein Radio bedient. Ferner wird in Abhängigkeit von Gaspedalwerten, Lenkwerten, etc ein Müdigkeitswert für den Fahrer ermittelt. Ein Bsp. Für die Realisierung der Ermittlung ei¬ nes solchen Wertes ist der PERCLOS-Algorithmus, der vergleichsweise präzise die Mü¬ digkeit des Fahrer angibt. Der Fahrstil des Fahrers wird bspw. durch Auswerten der Gas¬ pedalbetätigung, Bremsbetätigung, Beschleunigung des Fahrzeugs und ihrer Änderungen ermittelt, wobei ein defensiver Fahrstil bei geringen Änderungen, ein aggressiver Fahrstil bei sehr starken Änderungen, etc angenommen wird. Die Aufmerksamkeit des Fahrers kann in einem anderen Ausfuhrungsbeispiel ermittelt werden, indem die Bedienung von Radio-, Handy- oder Navigationssystemen auf dem CAN-Bus des Fahrzeugs zur Verfü¬ gung gestellt werden (sogenannte Hands-On-Detektion).106 determined. For example. is determined on the basis of an observation of the position of the body of the driver or by scanning controls and their operation, whether the driver has paid attention to the driving task or whether he operates, for example, a radio. Furthermore, a fatigue value for the driver is determined as a function of accelerator pedal values, steering values, etc. For example, to realize the determination of such a value is the PERCLOS algorithm, which comparatively precisely indicates the driver's fatigue. The driving style of the driver is determined, for example, by evaluating the throttle pedal operation, brake operation, acceleration of the vehicle and its changes, a defensive driving style with slight changes, an aggressive driving style for very strong changes, etc is adopted. The attention of the driver can be determined in another exemplary embodiment by the operation of radio, mobile phone or navigation systems on the CAN bus of the vehicle are made available to Verf¬ supply (so-called hands-on detection).
In 108 wird ein Fahrsituationsvektor, d.h. Werte für eine Beschreibung der Fahrsituation, gebildet. Auch dies erfolgt unter Berücksichtigung von zugeführten Betriebsgrößen be¬ züglich der Fahrsituation (aus 110 bis 114). In der Fahrsituation sind vor allem die Infor¬ mationen über die Strecke (bspw. Landstraße oder Autobahn) von Interesse. Die Informa- tion, ob sich das Fahrzeug auf einer Landstraße oder einer Autobahn befindet, wird vor¬ zugsweise aus einem Navigationssystem ermittelt oder unter Auswertung des Bildes der Videokamera, wobei anhand der Fahrspuranzahl und/oder der Krümmungsradien der Fahrbahn auf Landstraße oder Autobahn geschlossen wird. Ferner sind Informationen ü- ber das Vorhandensein von Nachbarspuren Teil der Beschreibung der Fahrsituation. Das Vorhandensein von Nachbarspuren wird je nach Ausführung durch die Bildverarbei¬ tungseinheit, die beim Spurverlassenswarner für die Spurerkennung eingesetzt wird, rea¬ lisiert (siehe oben). Eine andere Möglichkeit ist das Heranziehen von Navigationsdaten. Eine dritte Komponente zur Beschreibung der Fahrsituation ist eine Information über das Vorhandensein von Fremdfahrzeugen in vorhandenen Nachbarspuren. Diese Information wird bevorzugt durch Abstandssensoren, insbesondere Radarsensoren geliefert, die in be¬ kannter Weise die beim adaptiven Fahrgeschwindigkeitsregler oder beim Blind Spot De- tection eingesetzt werden. Die Radarsensoren ermitteln daher anhand der Reflektionen, ob sich Objekte vor bzw. hinter oder neben dem Fahrzeug befinden. Durch entsprechende Winkelauflösung werden diese Objekte auch Nachbarspuren zugeordnet, sodass auf diese Weise Informationen über Fahrzeuge in Nachbarspuren ermittelt werden.In 108, a driving situation vector, i. Values for a description of the driving situation, formed. This is also taking into account supplied operating variables with regard to the driving situation (from 110 to 114). In the driving situation, above all, the information about the route (eg highway or highway) is of interest. The information as to whether the vehicle is on a country lane or on a motorway is preferably determined from a navigation system or by evaluating the image of the video camera, wherein the lane number and / or the radii of curvature of the lane on highway or highway are closed , Furthermore, information about the presence of adjacent lanes is part of the description of the driving situation. Depending on the design, the presence of adjacent tracks is realized by the image processing unit which is used for lane recognition in the lane departure warning system (see above). Another possibility is the use of navigation data. A third component for describing the driving situation is information about the presence of foreign vehicles in existing neighboring lanes. This information is preferably supplied by distance sensors, in particular radar sensors, which are used in a known manner in adaptive cruise control or blind spot detection. The radar sensors therefore use the reflections to determine whether objects are in front of, behind or next to the vehicle. By corresponding angular resolution, these objects are also assigned to neighboring lanes, so that information about vehicles in neighboring lanes is determined in this way.
Die auf die oben skizzierte Weise ermittelten Vektoren bzgl. Fahrerzustand und Fahrsitu¬ ation werden in 116 zur adaptiven Einstellung der Warnung, vorzugsweise des Warnzeit¬ punktes, insbesondere der „Time to Line Crossing" und/oder des lateralen Abstandes (im folgenden zusammengefasst unter dem Begriff Warnzeitpunkt), bei dessen Unterschreiten eine Warnung erfolgt, ausgewertet. Im bevorzugten Ausführungsbeispiel ist dabei eine Zuordnung zwischen dem Wert des Warnzeitpunktes und der Größe der einzelnen Vekto¬ ren abgelegt. Nach der adaptiven Einstellung des Warnzeitpunktes in 116 wird in 118 die Spurverlassenswarnung durchgeführt, indem der Kurs des Fahrzeugs sowie die ermittel- ten Fahrbahnrandmarkierungen unter Berücksichtigung des einstellten Warnzeitpunktes verglichen werden, und bei Unterschreiten des Warnzeitpunktes der Fahrer optisch, akus¬ tisch oder haptisch gewarnt wird bzw. ein Lenkeingriff zum Halten der Spur ausgelöst wird.The vectors ascertained in the manner outlined above with regard to driver state and driving situation are shown in FIG. 116 for the adaptive setting of the warning, preferably the warning time, in particular the "time to line crossing" and / or the lateral distance In the preferred exemplary embodiment, an association between the value of the warning time and the magnitude of the individual vectors is stored After the adaptive setting of the warning time in 116, the lane departure warning is carried out in 118 the course of the vehicle and the determined Th road lane markings are compared taking into account the set warning time, and when the warning time, the driver is warned optically, akus¬ table or haptic or a steering intervention for holding the track is triggered.
In einer bevorzugten Realisierung der adaptiven Einstellung des Warnzeitpunktes ist in dem gezeigten Ausführungsbeispiel durch zwei Vektoren mit je drei Werten für jede mögliche Kombination ein Warnzeitpunkt vorgegeben. In anderen Ausführungsbeispielen wird die Einstellung des Warnzeitpunktes aus den Vektordaten berechnet. Ferner ist bei der Verwendung nur eines Vektors (Fahrerzustand oder Fahrsituationsvektor) die ent¬ sprechenden Optionen zur Realisierung gegeben.In a preferred realization of the adaptive setting of the warning time, a warning time point is predetermined for each possible combination in the exemplary embodiment shown by two vectors with three values each. In other embodiments, the setting of the warning time is calculated from the vector data. Furthermore, when using only one vector (driver state or driving situation vector), the corresponding options for implementation are given.
Die Einstellung der Warnschwellen bzw. -Zeitpunkte erfolgt dabei im Wesentlichen wie folgt. Bzgl. des Fahrerzustandes wird die Warnschwelle ausgedehnt, d.h. in Richtung kleinere Werte (Abstand, Zeit) verschoben, um Fehlwarnungen des Systems zu minimie¬ ren, wenn der Fahrer aufmerksam und wach ist. Ist der Fahrer jedoch schläfrig und/oder der Fahrer unaufmerksam, wird die Warnschwelle eingeengt um die Gefahrensituation zu minimieren. Der Fahrstil geht in die adaptive Einstellung des Warnzeitpunktes derart ein, dass bei aggressivem, offensiven oder sportlichem Fahrstil der Warnzeitpunkt gegenüber dem Warnzeitpunkt bei einem defensiven entspanntem Fahrstil ausgedehnt wird, d.h. inThe setting of the warning thresholds or time points takes place essentially as follows. Concerning. the driver's condition, the warning threshold is extended, i. shifted towards smaller values (distance, time) in order to minimize false warnings of the system when the driver is alert and awake. However, if the driver is sleepy and / or the driver inattentive, the warning threshold is narrowed to minimize the danger situation. The driving style is incorporated into the adaptive setting of the warning time such that, in the case of an aggressive, offensive or sportive driving style, the warning time is extended with respect to the warning time in a defensive relaxed driving style, i. in
Richtung kleinere Werte (Abstand, Zeit) verschoben wird, um dem sportlichen Fahrer nicht unnötig Fehlwarnungen zuzumuten.Moving smaller values (distance, time) is shifted in order not to unnecessarily expect the sporting driver false warnings.
Bzgl. der Fahrsituation ist im bevorzugten Ausführungsbeispiel vorgesehen, dass bei er- kannter Autobahnfahrt und freier Standspur rechts (keine Fremdobjekte) der Warnzeit¬ punkt auf der rechten Seite soweit ausgedehnt werden kann, dass er deutlich nach Verlas¬ sen der Fahrspur liegt. Der Fahrer kann in dieser Situation das Fahrzeug noch vor dem Verlassen der Nachbarspur (in diesem Fall die Standspur) korrigierend zurücklenken. Auch auf diese Weise wird die Anzahl der Fehlalarme erheblich reduziert. In entspre- chender Weise wird in einer Ausführung die Warnschwelle (bzw. Warnzeitpunkt) beiConcerning. In the preferred embodiment, the driving situation is provided that on the right-hand side of the motorway and the free parking lane (no foreign objects) the warning time point on the right-hand side can be extended so that it lies clearly after leaving the traffic lane. In this situation, the driver can correct the vehicle before leaving the adjacent lane (in this case, the parking lane). Also in this way the number of false alarms is considerably reduced. Correspondingly, in one embodiment, the warning threshold (or warning time) is added
Verlassen der linken Spur deutlich nach dem eigentlichen Spurverlassen gelegt, wenn si¬ chergestellt ist, dass es links eine weitere Spur gibt und dass sich in der entsprechenden Spur keine Fahrzeuge befinden. Anders ist die Situation auf einer Landstraße, bei welcher keine Spur auf der rechten Seite ist (Graben, Allee o.a.). In einer solchen Situation ist da- von auszugehen, dass eine Warnung beim Spurverlassen rechts in einer Unaufmerksam- keitssituation nicht rechtzeitig erfolgen kann. Daher macht es keinen Sinn, Warnungen auszugeben. Mit anderen Worten wird in diesem Fall auf der rechten Seite die Warnfunk¬ tion ausgeschaltet bzw. der Warnzeitpunkt soweit ausgedehnt, dass ein Erreichen nicht möglich ist. Auf diese Weise wird hier die Fehlalarmrate auf 0 reduziert.Leave the left lane clearly after the actual lane departure set when si¬ chergestellt that there is another left lane and that there are no vehicles in the corresponding lane. The situation is different on a country road where there is no track on the right side (ditch, avenue, etc.). In such a situation, assume that a warning when leaving a lane on the right in an inattentive situation can not be timely. Therefore, it makes no sense to issue warnings. In other words, in this case the warning function is switched off on the right-hand side, or the warning time point is extended so far that reaching it is not possible. In this way, the false alarm rate is reduced to 0 here.
Bei Verlassen der Fahrspur auf der linken Seite wird in einer Ausführung entsprechend der Autobahnsituation vorgegangen. Gibt es eine Fahrspur und befinden sich in der Spur Fremdobjekte, wird der Warnzeitpunkt eingeengt, während bei vorhandener Fahrspur oh- ne Fremdobjekte der Warnzeitpunkt ausgedehnt wird. In dieser Situation kann der Warn¬ zeitpunkt deutlich nach dem eigentlichen Spurverlassen erfolgen.When leaving the lane on the left side is proceeded in a version according to the highway situation. If there is a lane and there are foreign objects in the lane, the warning time is narrowed, while if there is a lane without foreign objects the warning time is extended. In this situation, the warning time can occur significantly after the actual lane departure.
Wird der Warnzeitpunkt sowohl abhängig vom Fahrerzustand als auch von der Fahrsitua¬ tion eingestellt, so dominiert auf jeden Fall der Fahrerzustand. D.h. bei schläfrigem und/oder unaufmerksamem Fahrer wird die Warnschwelle eingeengt, auch wenn Nach¬ barspuren vorhanden sind, auf denen sich keine Fremdobjekte befinden.If the warning time is set both as a function of the driver's condition and of the driving situation, then in any case the driver's condition dominates. That in the case of a drowsy and / or inattentive driver, the warning threshold is narrowed even if there are signs of a lack of foreign objects.
In Figur 3 ist eine Fahrspur 200 mit Nachbarfahrspur 202 dargestellt. Das Fahrzeug 204 bewegt sich auf der Fahrspur 200. Die Warnschwellen (hier lateraler Abstand zur Fahr- bahnrandmarkierung 206 bzw. 208) sind durch die gepunkteten Linien 210, 212 auf der linken, 214 und 216 auf der rechten Seite dargestellt. Es ist gezeigt, in welchen Grenzen sich der Warnzeitpunkt adaptiv einstellen lässt. Die gepunktete Linie jeweils links der Fahrbahnrandmarkierung (212, 214) repräsentiert einen eingeengten Warnzeitpunkt, wäh¬ rend die weiter weg vom Fahrzeug liegenden Grenzen (210, 216) ausgedehnte Warn- schwellen repräsentieren.FIG. 3 shows a lane 200 with adjacent lane 202. The vehicle 204 moves on the lane 200. The warning thresholds (here lateral distance to the roadside marking 206 or 208) are shown by the dotted lines 210, 212 on the left, 214 and 216 on the right side. It is shown in which limits the warning time can be set adaptively. The dotted line to the left of the lane edge marking (212, 214) represents a narrowed warning time, while the boundaries further away from the vehicle (210, 216) represent extended warning thresholds.
In Figur 4 ist eine oben beschriebene Fahrsituation dargestellt. Auch hier fährt ein Fahr¬ zeug 204 auf einer Fahrspur 200 mit einer Nachbarfahrspur 202, auf der sich keine Ob¬ jekte befinden. Somit wird wie oben beschrieben eine Warnschwelle 218 einstellt, die sehr ausgedehnt ist und nach dem eigentlichen Spurverlassen liegt. Das Fahrzeug 204 folgt nun dem in Figur 4 dargestellten Kurs 220. Die Fahrspur wird zum Zeitpunkt 222 verlassen, ohne dass eine Warnung erfolgt. Vielmehr wird dem Fahrer die Möglichkeit zur Korrektur gegeben. Erst bei Überschreiten der sehr viel später liegenden Warnschwel¬ le 224 wird eine Warnung ausgelöst, da erst dann eine tatsächliche Gefahr besteht. FIG. 4 shows a driving situation described above. Here, too, a vehicle 204 travels on a lane 200 with a neighboring lane 202 on which there are no objects. Thus, as described above, a warning threshold 218 is set which is very extended and lies after the actual lane departure. The vehicle 204 now follows the course 220 shown in FIG. 4. The lane is left at the time 222 without any warning being given. Rather, the driver is given the opportunity to correct. Only when the much later warning threshold 224 is exceeded is a warning triggered because only then is there an actual danger.

Claims

Ansprüche claims
1. Verfahren zur Fahrerunterstützung, wobei eine Warnung und/oder ein Querführungs¬ eingriff erfolgt, wenn eine vorgegebene Warnschwelle durch das Fahrzeug über¬ schritten wird, dadurch gekennzeichnet, dass der Fahrerzustand ermittelt wird und/oder die Fahrsituation ermittelt wird und die Warnschwelle zur Warnung des1. A method for driver assistance, wherein a warning and / or a Querführungs¬ intervention takes place when a predetermined warning threshold is exceeded by the vehicle, characterized in that the driver state is determined and / or the driving situation is determined and the warning threshold for warning of
Fahrers in Abhängigkeit von Fahrerzustand und/oder Fahrsituation adaptiv eingestellt wird.Driver is adjusted adaptively depending on the driver state and / or driving situation.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass bei aufmerksamen, wa- chem Fahrer und/oder bei einer freien Nachbarspur die Warnschwelle ausgedehnt wird, wobei eine Ausdehnung der Warnschwelle bedeutet, dass die Warnung später erfolgt als bei einer eingeengten Warnschwelle.2. The method according to claim 1, characterized in that in the case of an attentive, dry driver and / or in a free adjacent lane, the warning threshold is extended, wherein an extension of the warning threshold means that the warning occurs later than in the case of a narrowed warning threshold.
3. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Warnschwelle eingeengt wird, wenn der Fahrer schläfrig und/oder unauf¬ merksam ist und/oder sich Objekte auf der Nachbarfahrspur befinden.3. The method according to any one of the preceding claims, characterized in that the warning threshold is narrowed when the driver is drowsy and / or unauf¬ attention and / or objects are on the neighboring lane.
4. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass auf den beiden Fahrzeugseiten die Warnschwellen unterschiedlich, insbesondere unabhängig voneinander, angepasst werden.4. The method according to any one of the preceding claims, characterized in that on the two sides of the vehicle, the warning thresholds are different, in particular independently, adjusted.
5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Warnung abgeschaltet wird bzw. die Warnschwelle auf nicht erreichbare Werte versetzt wird, wenn keine Nachbarfahrspur vorhanden ist.5. The method according to any one of the preceding claims, characterized in that the warning is switched off or the warning threshold is set to unreachable values when no adjacent lane is present.
6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Warnschwelle einen Abstandswert zur Fahrbahnrandmarkierung repräsen¬ tiert oder einen Zeitwert bis zum Kreuzen einer Randlinie repräsentiert. 6. The method according to any one of the preceding claims, characterized in that the warning threshold repräsen¬ a distance value to the lane boundary marking or represents a time value until the crossing of an edge line.
7. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ferner der Fahrstil des Fahrers berücksichtigt wird, wobei eine Ausdehnung der Warnschwelle erfolgt, wenn ein offensiv fahrender, sportlicher Fahrstil vorliegt.7. The method according to any one of the preceding claims, characterized in that further the driving style of the driver is taken into account, wherein an extension of the warning threshold takes place when an offensive driving, sporty driving style is present.
8. Vorrichtung zur Fahrerunterstützung, mit einer Verarbeitungseinheit, welche den8. Device for driver assistance, with a processing unit which the
Fahrer warnt und/oder einen Querführungseingriff veranlasst, wenn Warnschwellen überschritten werden, dadurch gekennzeichnet, dass die Verarbeitungseinheit ferner derart ausgebildet ist, dass sie Fahrerzustand und/oder Fahrsituation ermittelt und ab¬ hängig von dem Fahrerzustand und/oder der Fahrsituation die Warnschwelle adaptiv einstellt. Driver warns and / or causes a Querführungseingriff when warning thresholds are exceeded, characterized in that the processing unit is further configured such that it determines driver state and / or driving situation and adaptively adjusts the warning threshold depending on the driver state and / or the driving situation.
EP05777866A 2004-10-01 2005-08-17 Driver assisting method and device Withdrawn EP1797453A1 (en)

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DE102004048013A DE102004048013A1 (en) 2004-10-01 2004-10-01 Method and device for driver assistance
PCT/EP2005/054049 WO2006037687A1 (en) 2004-10-01 2005-08-17 Driver assisting method and device

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CN (1) CN101036066B (en)
DE (1) DE102004048013A1 (en)
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DE102004048013A1 (en) 2006-04-06
CN101036066A (en) 2007-09-12
CN101036066B (en) 2012-01-11

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