Search

CN-115210775-B - Driver assistance system

CN115210775BCN 115210775 BCN115210775 BCN 115210775BCN-115210775-B

Abstract

One aspect of the invention relates to a driver assistance system for a motor vehicle, wherein the driver assistance system is designed to receive or determine a maximum hypothesis regarding the lane trend, to determine a maximum left lane edge and a maximum right lane edge of a lane in which the motor vehicle is located based on the maximum hypothesis, to identify at least one object located between the maximum left lane edge and the maximum right lane edge, and to consider the at least one object in driver assistance.

Inventors

  • M. WALLIN

Assignees

  • 宝马汽车股份有限公司
  • 宝马汽车股份有限公司

Dates

Publication Date
20260421
Application Date
20210126
Priority Date
20200303

Claims (12)

  1. 1. A driver assistance system for a motor vehicle (EGO), wherein the driver assistance system is designed for: Receiving or determining a maximum hypothesis about a lane trend in front of the motor vehicle, the maximum hypothesis comprising a hypothesis about a maximum curvature of a lane, a maximum curvature of a lane dependent on a maximum speed allowed on the lane, a maximum change of a lane curvature, and a maximum change of a lane curvature dependent on the maximum speed allowed on the lane; Determining a maximum left lane edge (RLmax) and a maximum right lane edge (RRmax) of the lane in which the motor vehicle (EGO) is located, based on the maximum assumption and independently of the actual lane trend; Identifying at least one object (O) located between the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax), and The at least one object (O) is considered in the driver assistance.
  2. 2. The driver assistance system of claim 1, wherein the driver assistance system is designed for: Determining a verified horizon (H) in front of the motor vehicle (EGO) in the direction of travel, and -Determining the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax) such that they are connected to the verified horizon (H) after the horizon in the driving direction.
  3. 3. Driver assistance system according to claim 2, wherein the verified horizon (H) is a front edge of the motor vehicle (EGO).
  4. 4. The driver assistance system of claim 2, wherein the driver assistance system is designed for: For a section of road (S) in front of the motor vehicle (EGO) in the direction of travel, the lane in which the motor vehicle (EGO) is located is detected by means of a sensor, and -Determining the verified horizon (H) in front of the motor vehicle (EGO) in the driving direction, -connecting the verified horizon (H) with the road segment (S) in front of the motor vehicle (EGO).
  5. 5. Driver assistance system according to claim 4, characterized in that the driver assistance system is designed for recording first sensor information by means of a first camera and/or a laser scanner mounted in the direction of travel.
  6. 6. The driver assistance system of claim 5, wherein the driver assistance system is designed for: Receiving a map of the surroundings of said motor vehicle (EGO), and By a plausibility check of the surroundings map and the first sensor information, the lane in which the motor vehicle (EGO) is located is identified for a road section (S) in front of the motor vehicle (EGO) in the direction of travel.
  7. 7. The driver assistance system of claim 5, wherein the driver assistance system is designed for: recording second sensor information by means of a second camera and/or a laser scanner mounted perpendicularly to the direction of travel, and By a plausibility check of the first sensor information and the second sensor information, the lane in which the motor vehicle (EGO) is located is identified for a road section (S) in front of the motor vehicle (EGO) in the direction of travel.
  8. 8. The driver assistance system of claim 5, wherein the driver assistance system is designed for: Recording third sensor information by means of a third camera and/or a laser scanner mounted opposite the direction of travel, and By a plausibility check of the first sensor information and the third sensor information, the lane in which the motor vehicle (EGO) is located is identified for a road section (S) in front of the motor vehicle (EGO) in the direction of travel.
  9. 9. Driver assistance system according to any one of claims 1-8, wherein the driver assistance system is designed for taking into account the at least one object (O) in the driver assistance by: notifying the driver of the motor vehicle (EGO) of the at least one object (O), and/or -Adjusting the speed of the motor vehicle (EGO) according to the at least one object (O).
  10. 10. The driver assistance system according to any one of claims 1 to 8, wherein the driver assistance system is designed for: determining the direction of the motor vehicle (EGO) on the lane in which the motor vehicle (EGO) is located, and -Determining the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax) additionally depending on the direction of the motor vehicle (EGO) on the lane in which the motor vehicle (EGO) is located.
  11. 11. The driver assistance system according to any one of claims 1 to 8, wherein the driver assistance system is designed for: receiving a map of the surroundings of the motor vehicle (EGO); determining whether the at least one object (O) is on the same lane as the motor vehicle (EGO) according to the surrounding map, and The at least one object (O) is taken into account in the driver assistance according to whether it is on the same lane as the motor vehicle (EGO).
  12. 12. A method for assisting a driver of a motor vehicle (EGO), wherein the method comprises the steps of: Determining a maximum hypothesis about a lane trend in front of the motor vehicle, the maximum hypothesis including a hypothesis about a maximum curvature of a lane, a maximum curvature of a lane depending on a maximum speed allowed on the lane, a maximum change of a lane curvature, and a maximum change of a lane curvature depending on the maximum speed allowed on the lane; Determining a maximum left lane edge (RLmax) and a maximum right lane edge (RRmax) of the lane in which the motor vehicle (EGO) is located, based on the maximum assumption and independently of the actual lane trend; Identifying at least one object (O) located between the maximum left lane edge (RLmax) and the maximum right lane edge (RRmax), and The at least one object (O) is considered in the driver assistance.

Description

Driver assistance system Technical Field The invention relates to a driver assistance system and method. Background In the present context, the term "autopilot" is to be understood as driving with automatic longitudinal or transverse guidance or autopilot with automatic longitudinal and transverse guidance. The term "autopilot" includes autopilot with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation are specified by the federal highway institute (BASt) (see BASt publication "Forschung kompakt",2012, 11). In assisting the driving, the driver is constantly guided longitudinally or transversely, while the system is connected to other functions within a certain range. In semiautomatic driving (TAF), the system takes over longitudinal and lateral guidance over a period of time and/or in certain situations, wherein the driver has to constantly monitor the system, just like assisted driving. In Highly Automated Driving (HAD), the system is managed longitudinally and laterally over a period of time, without the driver having to constantly monitor the system, but the driver must be able to manage vehicle maneuvers over a period of time. In fully automated driving (VAF), the system can automatically handle driving in all situations for specific applications for which the driver is no longer needed. The four degree of automation mentioned above correspond to SAE classes 1to 4 of the SAE J3016 standard (SAE-society of automotive Engineers) according to the definition of BASt. For example, according to BASt, highly automated driving (HAF) corresponds to level 3 of SAE J3016 standard. In addition, SAE J3016 specifies SAE grade 5 as the highest degree of automation, which is not included in the specification of BASt. SAE grade 5 corresponds to unmanned where the system can automatically handle all situations throughout the journey like a human driver, and typically no longer requires a driver. The driver assistance system depends on whether the recognition object is in the same lane as the motor vehicle in the driving direction. In this case, the driver assistance system will react to the object, for example warning the motor vehicle driver or automatically reducing the risk created by the object. A known problem here is that objects are erroneously assigned to a lane. For example, if an object is erroneously assigned to a lane different from the motor vehicle, a dangerous situation may occur. Disclosure of Invention The object of the invention is to prevent hazards caused by wrongly distributed objects. A first aspect of the invention relates to a driver assistance system for a motor vehicle. The driver assistance system is arranged to receive or determine a maximum assumption about the lane trend. Lanes, in particular traffic lanes, are areas in which the vehicle is traveling in one direction. Or the lane is a one-way lane having multiple lanes of travel. Or a lane is a lane comprising a plurality of traffic lanes or directional traffic lanes. Alternatively, in particular in the case of a lane change operation, the lane is the lane in which the motor vehicle is located and the lane in which the motor vehicle is to be changed. The maximum assumptions include, inter alia, assumptions about the maximum curvature of the lane, the maximum curvature of the lane that depends on the maximum speed allowed on the lane, the maximum change in the curvature of the lane, and/or the maximum change in the curvature of the lane that depends on the maximum speed allowed on the lane. Furthermore, the driver assistance system is designed to determine the maximum left-hand lane edge and the maximum right-hand lane edge of the lane in which the motor vehicle is located on the basis of the maximum assumption. The invention is based on the recognition that roads and/or lanes are designed with consideration of certain maximum assumptions in order to be able to carry out safe road traffic thereon. Thus, taking these maximum assumptions into account, a "worst case" trend of the road or lane to the left and right may be determined. The maximum left-hand lane edge and the maximum right-hand lane edge can thus be determined independently of the actual road or lane travel. This is particularly advantageous because the road or lane trend, which is determined, for example, by sensors or environmental maps, may have been determined incorrectly, for example, due to faulty sensors (e.g., cameras blocked by the sun) or outdated environmental maps. Furthermore, the driver assistance system is arranged to identify at least one object located between the maximum left lane edge and the maximum right lane edge and to consider the at least one object in the driver assistance. In particular, the driver assistance system is arranged to identify at least one other object which is not located between the maximum left lane edge and the maximum right la