Method for warning a driver of a single-track motor vehicle of leaving the traffic lane

• US 10,220,777 B2
• Filed: 03/18/2013
• Issued: 03/05/2019
• Est. Priority Date: 05/14/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Wahl, Anja, Schaaf, Gunther
• Primary Examiner(s): An, Shawn S
• Application Number:
  US14/401,417
• Publication Number:
  US 20150130943A1
• Time in Patent Office: 2,178 Days
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2300/36 Cycles; Motorcycles; Scooters
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60Y 2200/12 Motorcycles, Trikes; Quads; Scooters
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

In a method for warning a driver of a single-track motor vehicle of leaving the traffic lane, at least one traffic lane boundary is ascertained by a video sensor system, the lateral distance of a reference point on the motor vehicle from the traffic lane boundary is ascertained, lean angle information of the motor vehicle describing the lean angle of the motor vehicle is ascertained, and it is ascertained, with the aid of at least the lateral distance and the lean angle information, whether part of the vehicle or of the rider projects beyond the traffic lane boundary.

Claims

1. A method for warning a rider of a single-track motor vehicle of leaving a traffic lane, comprising:

ascertaining, using a video sensor system, a traffic lane boundary of a traffic lane in which the single-track motor vehicle is traveling;

ascertaining the lateral distance of a reference point on the single-track motor vehicle from the traffic lane boundary;

ascertaining a lean angle information describing a lean angle of the single-track motor vehicle; and

ascertaining, based on at least the lateral distance and the lean angle information, whether part of the single-track motor vehicle or part of the rider projects beyond the traffic lane boundary.

2. The method as recited in claim 1, wherein the reference point pertains to the position of a video camera.

3. The method as recited in claim 1, wherein the traffic lane boundary pertains to the boundary to an adjacent traffic lane.

4. The method as recited in claim 3, wherein the roadway width is ascertained and the boundary to the adjacent traffic lane is taken as the center of the roadway.

5. The method as recited in claim 1, further comprising:

outputting a warning to the rider if it is ascertained that part of the single-track motor vehicle or part of the rider projects beyond the traffic lane boundary.

6. The method as recited in claim 5, wherein the traffic lane boundary pertains to the boundary to an adjacent traffic lane, and wherein the method further comprises:

ascertaining, using the video sensor system, whether one of oncoming traffic or another road user is present in the adjacent traffic lane;

wherein a warning to the rider takes place only if the presence of one of the oncoming traffic or another road user in the adjacent traffic lane is ascertained.

7. The method as recited in claim 1, wherein the lean angle information pertains to an angle between the traffic lane surface perpendicular to the driving direction and the vertical axis of the single-track motor vehicle.

8. A method for warning a rider of a single-track motor vehicle of leaving a traffic lane, comprising:

ascertaining, using a video sensor system, a traffic lane boundary of a traffic lane in which the single-track motor vehicle is traveling;

ascertaining the lateral distance of a reference point on the single-track motor vehicle from the traffic lane boundary;

ascertaining a lean angle information describing a lean angle of the single-track motor vehicle;

ascertaining, based on at least the lateral distance and the lean angle information, whether part of the single-track motor vehicle or part of the rider projects beyond the traffic lane boundary; and

wherein an estimated value for a vertical distance between an upper helmet limit and the reference point on the single-track motor vehicle is specified, and the ascertaining of whether part of the rider projects beyond the traffic lane boundary is performed based on at least the lateral distance, the lean angle information and the estimated value.

9. A system for warning a rider of a single-track motor vehicle of leaving a traffic lane, comprising:

a video sensor system ascertaining a traffic lane boundary of a traffic lane in which the single-track motor vehicle is traveling; and

a control unit including a processor configured to;

ascertain the lateral distance of a reference point on the single-track motor vehicle from the traffic lane boundary;

ascertain a lean angle information describing a lean angle of the single-track motor vehicle; and

ascertain, based on at least the lateral distance and the lean angle information, whether part of the single-track motor vehicle or part of the rider projects beyond the traffic lane boundary.