CN114620045A - Method, device and storage medium for assisting a driver during a lane change - Google Patents

Method, device and storage medium for assisting a driver during a lane change Download PDF

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Publication number
CN114620045A
CN114620045A CN202111421367.7A CN202111421367A CN114620045A CN 114620045 A CN114620045 A CN 114620045A CN 202111421367 A CN202111421367 A CN 202111421367A CN 114620045 A CN114620045 A CN 114620045A
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China
Prior art keywords
motor vehicle
lane
acceleration
vehicle
longitudinal guidance
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CN202111421367.7A
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Chinese (zh)
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F·奥特
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a method for assisting a driver of a motor vehicle during a lane change, wherein an automated adjustment of a longitudinal guidance of the motor vehicle is carried out, wherein an automated adjustment of a longitudinal guidance of the motor vehicle with reference to a current lane of the motor vehicle is carried out during a lane following. According to the invention, the method is characterized in that, when a lane change intention of the motor vehicle is detected, an automated adjustment of the longitudinal guidance of the motor vehicle with reference to the target lane of the motor vehicle takes place after the lane change process. Furthermore, a device for carrying out the method is provided.

Description

Method, device and storage medium for assisting a driver during a lane change
Technical Field
The invention relates to a method for assisting a driver of a motor vehicle during a lane change, wherein an automated adjustment of a longitudinal guidance of the motor vehicle is carried out, wherein the automated adjustment of the longitudinal guidance of the motor vehicle is carried out in relation to a current lane of the motor vehicle during a lane following. According to the invention, the method is characterized in that, when a lane change intention of the motor vehicle is detected, an automated adjustment of the longitudinal guidance of the motor vehicle is carried out with respect to the target lane of the motor vehicle following the lane change process. Furthermore, a device for carrying out the method is provided.
Background
Different automated driving functions are provided in the vehicle in order to reduce the burden on the driver, for example a highway assistance device or a parking assistance device. The lead function will also be considered in the future. Furthermore, the prior art is, for example, an automated longitudinal Control, also referred to as Adaptive Cruise Control (ACC). In the case of an ACC, for example, the speed of the motor vehicle is adapted to the maximum speed or to the traffic situation. The lateral adjustment is thereby taken over by the driver.
Patent application DE102005023185a1 is known from the prior art, for example. This document relates to a lane change assistance device for a motor vehicle, having a monitoring device for monitoring traffic conditions in a front zone and a rear space of the vehicle and a determination device for determining whether a hazard-free lane change is possible.
Furthermore, patent application DE102010041620a1 is known from the prior art, for example. This document relates to a method for assisting a driver during a passing. In this case, the distance between the motor vehicle and the preceding vehicle is automatically set to a first desired distance, and is reduced at a starting point in time after the detection of the driver's intention to cut into the vehicle. When the overtaking intention of the driver is detected and the safety function is within a predetermined range, an increased acceleration is used in order to reduce the distance.
Furthermore, patent application DE102004029369a1 is known from the prior art, for example. This document relates to a lane change assistance device for a motor vehicle, having a speed control system and environment sensing means for sensing a traffic environment including traffic conditions on adjacent lanes, having determination means for determining whether a lane change request by a driver should be accepted, and having command means for outputting an acceleration command to the speed control system in the case of a lane change request, characterized in that the recognition means are designed to recognize a window for risk-free cutting into an adjacent lane on the basis of the data of the environment sensing means, and the command means are designed to calculate an acceleration strategy adapted to the window, including the point in time at which acceleration is initiated. The target speed or passing speed to be achieved during acceleration is dependent not only on the speed of the vehicle to be passed ahead on the own lane, but also on the speed of one or more further vehicles which are located ahead of the own vehicle on the adjacent lane.
Disclosure of Invention
In contrast, the method of the invention advantageously makes it possible to expand the functionality and to increase the assistance to the driver of the motor vehicle during a lane change. This is advantageously achieved by means of simple schemes and algorithms. This saves operating time and memory on the control unit, wherein safe driving is still ensured in any case. This is achieved according to the invention by the features explained in the preferred embodiments. Further embodiments of the invention are the subject of preferred embodiments.
A method for assisting a driver of a motor vehicle during a lane change is provided, wherein an automatic adjustment of a longitudinal guidance of the motor vehicle is carried out, wherein an automatic adjustment of the longitudinal guidance of the motor vehicle is carried out during a lane following operation with respect to a current lane of the motor vehicle. According to the invention, the method is characterized in that, when a lane change intention of the motor vehicle is detected, an automated adjustment of the longitudinal guidance of the motor vehicle is carried out with respect to the target lane of the motor vehicle following the lane change process.
This is understood to be: at least partially automated adjustment of the longitudinal guidance of the motor vehicle takes place. For example, as in the case of the "classic" ACC function, the speed and/or the distance to the preceding driving object are adapted during the lane following. Furthermore, personal preferences (e.g. differences in distance) as well as specific limitations (e.g. speed limitations) can be taken into account. According to the invention, the automatic adjustment of the longitudinal guidance is changed in the event of detection of an intentional lane change of the motor vehicle. From now on, the adjustment is no longer performed according to a preceding vehicle, for example, in the current lane, but advantageously only according to a vehicle in front of the own vehicle in the target lane. The position and/or the speed of the motor vehicle is thereby advantageously adapted in relation to the target lane, whereby lane changes can be carried out in a defined manner. In particular, the longitudinal guidance is set in relation to a vehicle in a target lane of the own vehicle, wherein the vehicle in the target lane is a preceding vehicle which is closest in space in the direction of travel in relation to the own vehicle. Here, the targets of the function may be: if the target object in the target lane is traveling faster or there is no vehicle in the target lane, the own vehicle is accelerated so that the driver can change lanes during acceleration.
In an advantageous manner, a very simple algorithm can thus be used, since here the current lane and the target lane need not be considered as control variables, but rather only one lane is also considered. Thus, basically the same analysis evaluation and adjustment algorithms as are used in classical ACC functions can also be used. This saves development resources and enables high efficiency to be achieved. In other words: no specific adjustment application is required, as "generic" ACC adjustments are applied to the target lane. ACC regulation does not have to be extended to any large number of traffic participants, since all relevant traffic participants can be calculated with a simple algorithm. This saves run time and memory on the controller. Nevertheless, safe driving is ensured at any time. Furthermore, if changing lanes, the advantage of smooth regulation is obtained.
A lane change to the left or to the right can be understood as a lane change. For example, the initiation and termination of a passing procedure, as well as the current lane change, for example to follow a navigation route, and the necessary driving manoeuvres due to changes in the road structure (reduced number of lanes, etc.) may be understood as lane change procedures. In this case, the adjustment of the longitudinal guidance is usually carried out with a change to a faster target lane by acceleration of the motor vehicle and with a change to a slower target lane by deceleration of the motor vehicle. The lane change process itself is usually carried out manually by the driver. Such a lane is understood in particular to be a target lane: the motor vehicle changes from the current position to the lane. For example, the target lane is typically the adjacent lane to the left of the current lane when the cut-in maneuver is initiated, and to the right of the current lane, for example, at the end of the cut-in maneuver. Alternatively, in the case where the lane change changes two lanes, the target lane is also the next lane. For example, lane change intentions can be detected based on the behavior or action of the driver, for example by the turning on of a flash. Alternatively, the automated driving function may be intended to make a lane change and this may be detected, for example, on the basis of the data signal.
In an advantageous embodiment, the method is characterized in that, when an intention to change lanes of the motor vehicle is detected, the automatic adjustment of the longitudinal guidance of the motor vehicle takes into account: whether a lane change to the target lane can be implemented.
This is understood to be: in the case of an automated adjustment of the longitudinal guidance with respect to the target lane of the motor vehicle, not only possible vehicles in front of the motor vehicle in the direction of travel on the target lane are taken into account, but also possible vehicles behind and/or beside the motor vehicle on the target lane. For example, it can be estimated that: whether a lane change can be made without danger. In this case, for example, objects on the target lane can be determined by means of an environment sensing system and the position or position changes of these objects, in particular the speed and/or acceleration of these objects, can be taken into account. In this case, these variables can be used not only in absolute terms, but also in terms of the vehicle itself, for example the relative position of the vehicle (i.e. the distance) and the acceleration difference between the vehicle itself and the vehicle on the target lane. Of course, it is also possible to take into account possible acceleration curves of the motor vehicle and to analyze them on the basis of these: whether it is possible to comply with a desired distance or a required safety distance in combination with the acceleration induced by the automatic adjustment of the longitudinal guidance when a lane change is possible.
In one possible embodiment, the method is characterized in that, when a lane change intention of the motor vehicle is detected, an automated adjustment of the longitudinal guidance of the motor vehicle sets a defined distance between the motor vehicle and the detected vehicle when a vehicle in the target lane of the motor vehicle is detected.
This is understood to be: the longitudinal guidance is set in relation to a target lane of the motor vehicle in such a way that a defined distance between the motor vehicle and a vehicle, which may be located on the target lane, is set. The setting of the distance may be used to maintain a safe distance and/or a desired distance. The setting of the distance can also be used to provide sufficient distance for acceleration and lane change processes that may be required. In addition to setting the relevant distance, the relevant distance is also advantageously determined here.
In a preferred embodiment, the method is characterized in that, upon detection of an intention of the motor vehicle to change lanes, an automatic adjustment of the longitudinal guidance of the motor vehicle sets an acceleration profile of the motor vehicle.
This is understood to be: the longitudinal guidance is set with respect to the target lane of the motor vehicle in such a way that the acceleration of the motor vehicle is set. The setting of the distance may be used to assist the lane change process. Here, for example, a limit value for an appropriate vehicle acceleration can be determined and set. Furthermore, during the course of the lane change process, an adaptive adaptation of the acceleration values is also possible. In an advantageous manner, a specific acceleration profile can also be defined at the time of preparation (until implementation) of the lane change process and can be set by means of an automated adjustment of the longitudinal guidance.
In an alternative embodiment, the method is characterized in that, when an intention to change the lane of the motor vehicle is detected, the automated adjustment of the longitudinal guidance of the motor vehicle requires an acceleration value to be set, wherein, when the acceleration value to be set is determined, at least one of the following two variables is also taken into account in addition to the acceleration value for adjusting the speed of the motor vehicle:
-an acceleration value for adjusting to a desired distance;
-an acceleration value for adjusting to a safe distance.
This is understood to be: when determining the acceleration value to be set by the motor vehicle (i.e., the own motor vehicle), a plurality of parameters are taken into account. The parameter to be taken into account is, of course, dependent on the target lane of the motor vehicle.
For example, acceleration values are considered in this case, which are associated with the adjustment of the speed of the motor vehicle. This value describes the acceleration value: the vehicle speed is set to the desired target speed by means of the acceleration value.
Furthermore, for example, acceleration values are taken into account which are associated with an adjustment to a desired distance defined by the driver. This value describes the acceleration value: the relative position of the motor vehicle is set by means of the acceleration value with respect to the desired target distance for the preceding vehicle. Alternatively (or also additionally), for example, acceleration values associated with the adjustment to a defined safety distance are taken into account. This value describes the acceleration value: the relative position of the motor vehicle is set by means of the acceleration value with respect to the minimum distance in respect of the preceding vehicle.
In one possible embodiment, the method is characterized in that, when an intention to change lane of the motor vehicle is detected, the automatic adjustment of the longitudinal guidance of the motor vehicle determines an acceleration value to be set, wherein the acceleration value is determined as the minimum value of a set of acceleration values comprising at least one of the following acceleration values:
-an acceleration value for adjusting the speed of the motor vehicle;
-an acceleration value for adjusting to a desired distance;
-an acceleration value for adjusting to a safe distance.
In an advantageous manner, the acceleration value to be set is the minimum of one of the following three acceleration values: an acceleration value for adjusting a speed of the motor vehicle; an acceleration value for adjusting to a desired distance; for adjusting the acceleration value to a safe distance.
In a preferred embodiment, the method is characterized in that, when an intention to change lanes of the motor vehicle is detected, the automatic control of the longitudinal guidance of the motor vehicle takes into account parameters relating to the current lane of the motor vehicle as boundary conditions.
As already explained, only the variables relating to the target lane are used as control variables. However, aspects of the current lane can still be taken into account in an advantageous manner. Thus, for example, further relevant traffic participants (vehicles in the lane in which the own vehicle is currently located) can be taken into account as boundary conditions for the "general" ACC adjustment. Here, the targets of the function may be: if the target object in the target lane is traveling faster or there is no vehicle in the target lane, the own vehicle is accelerated so that the driver can change lanes during acceleration. However, if there is no lane change, it should not be below the minimum distance relative to the vehicle in the current lane
In an alternative embodiment, the method is characterized in that, when an intention to change lanes of the motor vehicle is detected, at least one of the following steps is carried out:
if a lane change is detected as possible, an automated regulation of the longitudinal guidance of the motor vehicle is carried out, which is configured in such a way that the implementation of a lane change process is assisted, in particular a specific acceleration profile is set, in order to enable a safe and comfortable lane change for the vehicle occupants;
if a lane change is detected as not being possible, an automatic adjustment of the longitudinal guidance of the motor vehicle is carried out, which is configured in such a way that an auxiliary lane following process is continued, in particular a defined acceleration curve is set, in order to be able to carry out a safe and comfortable lane following process for the vehicle occupants;
if a lane change is detected as not currently possible, an automated adjustment of the longitudinal guidance of the motor vehicle is carried out, which is configured in such a way that a future lane change process is prepared, in particular a defined distance from the preceding vehicle on the current lane is set, in order to enable a specific acceleration profile to be set when the future lane change process is carried out.
In an advantageous embodiment, the method is characterized in that a lane change process of the motor vehicle corresponding to the detected lane change intention is carried out by means of an automated adjustment of the lateral guidance of the motor vehicle.
This is understood to be: the lane change process of the motor vehicle is carried out by means of at least partially automated adjustment of the lateral guidance of the motor vehicle. The detected lane change intention is therefore implemented by means of automated regulation both in the longitudinal guidance and in the transverse guidance.
Such a method can be implemented, for example, in the form of software or hardware or in the form of a mixture of software and hardware, for example, in a controller.
The solution proposed here also makes available a device which is designed to carry out, manipulate or implement the steps of a variant of the method proposed here in a corresponding apparatus. The object on which the invention is based can also be solved quickly and efficiently by this embodiment variant of the invention in the form of a device.
An "appliance" can be understood to be an electrical appliance which processes a sensor signal and outputs a control and/or data signal as a function of the sensor signal. The device can have an interface, which can be configured in hardware and/or in software. In the case of a hardware configuration, the interface can be, for example, a part of a so-called system ASIC which contains the various functions of the device. However, it is also possible for the interface to be an integrated circuit of its own or to be composed at least partially of discrete components. In the case of a software design, the interface can be a software module that is present on the microcontroller together with other software modules. Thus what is considered a device may be: an assistance system for assisting a lane change of a motor vehicle, an assistance system for the automated adjustment of a longitudinal guide, an environment sensing device, in particular a camera, a lidar and/or a radar, a central controller or a decentralized controller for operating one of the aforementioned devices.
A computer program product or a computer program having a program code which can be stored on a machine-readable carrier or storage medium, such as a semiconductor memory, a hard disk memory or an optical memory, and which is used, in particular, when the program product or the program is executed on a computer or a device, to carry out, implement and/or manipulate the steps of the method according to one of the preceding embodiments is also advantageous.
Drawings
It should be noted that the features listed individually in the description can be combined with one another in any technically meaningful way and illustrate further configurations of the invention. Further features and rationality of the invention result from the description of the embodiments with reference to the figures.
The figures show:
fig. 1 shows a schematic representation of a driving situation with a plurality of objects, which driving situation has the intention of changing lanes of a motor vehicle; and
fig. 2 shows an acceleration curve in the case of an adjustment according to an object in a target lane of a motor vehicle; and
fig. 3 shows an acceleration curve for an adjustment according to an object in a target lane of a motor vehicle, the adjustment having a plurality of variables to be taken into account.
Detailed Description
Fig. 1 shows a schematic representation of a driving situation with a plurality of objects, the own vehicle having a lane change intention. Here, the road 5 has two lanes, namely a right-hand lane 5a (also referred to as the current lane) and a left-hand lane 5b (also referred to as the target lane). On the right lane 5a there is a first object 1 (also called a motor vehicle or simply a motor vehicle). There is also a second object 2 (also called a preceding vehicle in the current lane). On the left lane 5b, there is a third object 3 (also referred to as a preceding vehicle on the target lane). There is also a fourth object 4 (also called: following vehicle on the target lane).
The method according to the invention is implemented in a motor vehicle 1. The motor vehicle 1 has a device 11 for this purpose. Here, what can be regarded as the apparatus is, for example: an assistance system for assisting a lane change of a motor vehicle and/or an assistance system for the automated adjustment of a longitudinal guide and/or an environment sensing device, in particular a camera, a lidar and/or a radar, and/or a central or decentralized controller for operating one of the aforementioned devices. The motor vehicle 1 has already carried out a lane following process (classic ACC function) by means of a longitudinally guided automated control until a lane change intention is detected. The lane change intention can be recognized, for example, by monitoring the driver and/or ascertaining the driver's wishes, for example, by operating a flashing light. In the illustrated situation, there is a recognized lane change intention of the motor vehicle 1, wherein the driver intends to change to the left lane. Accordingly, the automated adjustment of the longitudinal guidance has changed. The automated longitudinal adjustment is therefore now no longer directed to the current lane, but to the desired target lane. Thus, for example, from now on a distance adjustment is made as a function of possible objects in the target lane. Here, object 3 is identified and a virtual object bor _3 (also known as a bounding box (Border)) is created, which represents the real object 3 for this adjustment. Furthermore, a safety distance x _ sec _3 to be set between the motor vehicle 1 and the object 3 or the virtual object bor _3 is shown. Furthermore, a desired distance x _ req is shown, which corresponds to the desired distance set by the driver from the preceding vehicle.
Of course, additional boundary conditions can also be taken into account when adjusting the longitudinal guidance of the motor vehicle 1 with respect to the target lane 5 b. One of the boundary conditions currently considered is a variable relating to the current lane 5 a. Thus, for example, the safety distance x _ sec _2 with respect to the object 2 or the virtual object bor _2 of this object can also be considered as a boundary condition in the case of automated vertical guidance.
For example, when adjusting the longitudinal guidance of the motor vehicle 1 with respect to the target lane 5b, such objects can also be considered as boundary conditions: the object is located behind or beside the motor vehicle 1 on the target lane 5b, as shown for example by the object 4. In this case, the distance between the motor vehicle 1 and the object 4, or also the change in this distance over time (alternatively: a speed difference and/or an acceleration difference), can be taken into account in order to determine: whether the lane change process to the target lane is fully feasible. This information can also be taken into account for setting the acceleration curve in order to enable a lane change to be carried out thereby.
Fig. 2 shows an acceleration curve during adjustment according to an object in a target lane of a motor vehicle. Here, the vertical axis represents the acceleration axAnd the horizontal axis represents time t. Such acceleration curves may occur in driving situations in which: in this driving situation the driver intends to start driving in conjunction with the speed increaseAnd changing the front lane to the target lane. When a lane change intention is detected, the adjustment of the longitudinal guidance is changed as a function of the target lane and accordingly as a function of the vehicle 3 possibly located in front of the own vehicle 1 on the target lane 5 b. Now, the defined target distance (e.g. safe distance or desired distance) should be adjusted for the vehicle 3 on the target lane 5 b. If the preceding vehicle 3 is faster than the motor vehicle 1 on the target lane 5b, a curve of the indicated desired target acceleration is obtained, for example. In this case, too, due to the lack of further boundary conditions, the resulting (i.e. to be set or set) acceleration a _ fin approaches substantially the acceleration a _ v used to regulate the speed of the motor vehicle. If the driver performs a lane change, the acceleration profile is set accordingly by the automated longitudinal guidance.
Fig. 3 shows the acceleration curve during the adjustment according to the object (vehicle 3) in the target lane 5b of the motor vehicle 1, the adjustment having a plurality of variables to be taken into account. If the driver carries out a lane change, the acceleration profile shown in fig. 2 as shown above can be set by means of automated longitudinal guidance. However, if the driver does not change lanes, the motor vehicle 1 must limit its acceleration, as shown for example in fig. 3. For example, the limitation is carried out on the basis of a further traffic participant-induced limit, for example a minimum distance from the preceding vehicle 2 in the current lane 5 a. A plurality of different road users can also be considered for this limitation. Furthermore, different potential limits can also be made for the same traffic participant, for example, a safe distance and a defined desired distance, or an acceleration a _ sec for adjusting the safe distance x _ sec and an acceleration a _ req for adjusting the defined desired distance x _ req. Thus, for example, in the embodiment shown, first, the resulting acceleration a _ fin approaches the acceleration for adjustment in accordance with the vehicle 3 in the target lane 5 b. However, the driver does not implement the lane change process, for example, because of the small distance to the rear following vehicle 4 in the target lane 5 b. Thus, the acceleration of the motor vehicle 1 is limited by the vehicle 2 in the current lane 5a of the motor vehicle 1. First, the acceleration a _ fin is limited here on the basis of the acceleration a _ req for setting the desired distance (with respect to the object 2). Here, however, the maximum deceleration is not particularly strong. Next, however, when the motor vehicle 1 approaches further to the vehicle 2 in the current lane 5b, the acceleration a _ fin is further limited based on the acceleration a _ sec for adjusting the required safety distance (with respect to the object 2). Thus, the acceleration value a _ fin derived from the adjustment according to the target lane object is reduced by two additional maximum accelerations a _ sec and a _ req, and the minimum value is selected from all values to define the resultant acceleration a _ fin. Accordingly, if no lane change is made, such an acceleration curve is set and implemented.

Claims (12)

1. Method for assisting a driver of a motor vehicle (1) during a lane change, wherein an automated adjustment of a longitudinal guidance of the motor vehicle is carried out, wherein an automated adjustment of a longitudinal guidance of the motor vehicle (1) is carried out in respect of a current lane (5a) of the motor vehicle (1) during a lane following,
upon detection of an intention to change lane of the motor vehicle (1), an automated adjustment of the longitudinal guidance of the motor vehicle (1) is carried out in relation to a target lane (5b) of the motor vehicle (1) following the lane change process.
2. The method of claim 1,
upon detection of an intention to change lanes of the motor vehicle (1), an automated adjustment of the longitudinal guidance of the motor vehicle (1) takes into account: whether a lane change to the target lane (5b) can be carried out.
3. The method according to any of the preceding claims,
when an intention to change lane of the motor vehicle (1) is detected, an automated adjustment of the longitudinal guidance of the motor vehicle (1) sets a defined distance between the motor vehicle (1) and the determined vehicle (3) in the case of a determination of the vehicle (3) on the target lane (5b) of the motor vehicle (1).
4. The method according to any of the preceding claims,
upon detection of an intention to change lanes of the motor vehicle (1), an automated adjustment of the longitudinal guidance of the motor vehicle (1) sets an acceleration curve of the motor vehicle (1).
5. The method according to any of the preceding claims,
when an intention to change lanes of the motor vehicle (1) is detected, the automatically controlled longitudinal guidance of the motor vehicle (1) determines an acceleration value to be set, wherein, in addition to the acceleration value (a _ v) for adjusting the speed of the motor vehicle, at least one of the following two variables is taken into account when determining the acceleration value (a _ fin) to be set:
-an acceleration value (a _ req) for adjusting to a desired distance (x _ req);
-an acceleration value (a sec) for adjusting to a safe distance (x sec).
6. The method according to any of the preceding claims,
upon detection of an intention to change lane of the motor vehicle (1), the automatically controlled longitudinal guidance of the motor vehicle (1) determines an acceleration value (a _ fin) to be set, wherein the acceleration value (a _ fin) is determined as the minimum value of a set of acceleration values comprising at least one of the following acceleration values:
-an acceleration value (a _ v) for adjusting the speed of the motor vehicle;
-an acceleration value (a _ req) for adjusting to a desired distance (x _ req);
-an acceleration value (a sec) for adjusting to a safe distance (x sec).
7. The method according to any of the preceding claims,
when an intention to change lanes of the motor vehicle (1) is detected, the automated control of the longitudinal guidance of the motor vehicle (1) takes into account parameters relating to the current lane (5a) of the motor vehicle (1) as boundary conditions.
8. The method according to any of the preceding claims,
upon detection of an intention to change lanes of the motor vehicle (1), at least one of the following steps is carried out:
-if a lane change is detected as possible, carrying out an automated adjustment of the longitudinal guidance of the motor vehicle (1), which is configured in such a way that the implementation of the lane change process is assisted, in particular a specific acceleration profile is set, in order to enable a safe and comfortable lane change for the vehicle occupants;
-if a lane change is identified as not being possible, automatically adjusting the longitudinal guidance of the motor vehicle (1), the automatic adjustment being configured in such a way that the lane following process is assisted in continuation, in particular a defined acceleration curve is set, in order to be able to carry out a safe and comfortable lane following process for the vehicle occupants;
-if a lane change is identified as currently not possible, making an automated adjustment of the longitudinal guidance of the motor vehicle (1), which is configured in such a way that a future lane change process is prepared, in particular a defined distance with respect to a preceding vehicle (2) on the current lane (5a) is set, in order to enable a specific acceleration profile to be set when implementing the future lane change process.
9. The method according to any of the preceding claims,
the lane change process of the motor vehicle (1) corresponding to the detected lane change intention is carried out by means of an automated adjustment of the transverse guidance of the motor vehicle (1).
10. Apparatus arranged to implement a method according to any one of claims 1 to 9.
11. Computer program arranged for, when executed by an apparatus according to claim 10, implementing a method according to any one of claims 1 to 9.
12. A machine-readable storage medium on which the computer program according to claim 11 is stored.
CN202111421367.7A 2020-11-26 2021-11-26 Method, device and storage medium for assisting a driver during a lane change Pending CN114620045A (en)

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DE102023201673A1 (en) 2023-02-23 2024-08-29 Robert Bosch Gesellschaft mit beschränkter Haftung Method and device for operating an assistance function for a motor vehicle and driver assistance system for a motor vehicle
DE102023113984B3 (en) 2023-05-26 2024-09-12 Cariad Se Performing an automated lane change maneuver for a motor vehicle

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DE102004029369B4 (en) 2004-06-17 2016-09-15 Robert Bosch Gmbh Lane change assistant for motor vehicles
DE102005023185A1 (en) 2005-05-19 2006-11-23 Robert Bosch Gmbh Lane change assistant for motor vehicles
DE102010041620A1 (en) 2010-09-29 2012-03-29 Ford Global Technologies, Llc Method and device for assisting a driver in an overtaking process

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