Control system and method for assisting motor vehicles in safely pulling in after overtaking

• US 10,235,887 B2
• Filed: 04/01/2016
• Issued: 03/19/2019
• Est. Priority Date: 04/07/2015
• Status: Active Grant

• Current Assignee: Lucas Automotive GmbH (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: Lucas Automotive GmbH (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Stahl, Andreas
• Primary Examiner(s): Ghulamali, Qutbuddin
• Application Number:
  US15/564,793
• Publication Number:
  US 20180114446A1
• Time in Patent Office: 1,082 Days
• Field of Search: 340935
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: H04L 67/125 involving control of end-device applications over a network
• CPC Class Codes: H04Q 9/00 Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom

Abstract

The invention relates to a control system which is equipped and designed for use in a motor vehicle, to determine, on the basis of environment data obtained by one or several environment sensors present on the motor vehicle, a point in time as of which a safe lane change from a fast lane to an adjoining slower lane is possible. The environment sensors are designed to provide environment data representing the area laterally ahead of, laterally next to and/or laterally behind the vehicle to an electronic control unit of the control system. The control system is at least equipped and designed to determine, during a predefined interval or continuously, in the electronic control unit driving data representing the driving situation of one'"'"'s own motor vehicle from sensors present in one'"'"'s own motor vehicle. One or several other vehicles using the road laterally ahead of, laterally next to and/or laterally behind one'"'"'s own motor vehicle are detected by means of the environment sensors during the predefined interval or continuously in order to determine characteristic variables relating to the driving situation(s) of the one or several other vehicles. On the basis of the driving data representing the driving situation of one'"'"'s own vehicle and on the basis of the characteristic variables relating to the driving situation(s) of the one or several other vehicles, it is determined whether a safety-critical area laterally next to and/or laterally behind one'"'"'s own motor vehicle is free of said other vehicle(s) and the finding is output optically, haptically and/or acoustically to the driver of one'"'"'s own vehicle. The control system is equipped and designed to determine, on the basis of the driving data representing the driving situation of one'"'"'s own vehicle and on the basis of the characteristic variables relating to the driving situation(s) of the one or several other vehicles. In the electronic control unit the point in time as of which a safe lane change is possible. This point in time is considered to be reached when the electronic control unit determines that a rear edge of one'"'"'s own motor vehicle has gone past a front edge of the other vehicle and past a safety distance adapted to legal and/or physical conditions.

Claims

1. A control system which is adapted and intended for the application in an own motor vehicle, comprising an environment sensor (Re) located laterally at the front in the corner region of the own motor vehicle and having a monitoring area (Ua), and an environment sensor (Rv) located at the front in the middle region of the own motor vehicle and having a monitoring area (Ub), wherein the environment sensors (Rv, Re) are adapted to monitor the area laterally in front of and laterally adjacent to and laterally behind the own motor vehicle (ego) during a predetermined time period in order to determine a speed, a location as a function of time, and a direction of travel of another vehicle (alter) participating in traffic, wherein the control system is adapted to determine a time from which a safe lane-changing manoeuvre from a fast lane into an adjacent slower lane is possible on the basis of the environmental data acquired by the environment sensors (Rv, Re), wherein the environment sensors (Rv, Re) are adapted to provide an electronic control unit (ECU) of the control system with environmental data representing the area laterally in front of and laterally adjacent to and laterally behind the own motor vehicle during a predetermined time period, and wherein the control system is at least adapted and intended to

determine driving data in the electronic control unit (ECU) representing a driving situation of the own motor vehicle (ego) from transducers which are located in the own motor vehicle (ego) during a predetermined time period or continuously;

detect the other vehicle (alter) participating in traffic laterally in front of, laterally adjacent to and/or laterally behind the own motor vehicle (ego) by means of the environment sensors during the predetermined time period in order to determine characteristics of the driving situation of the other vehicle (alter); and

determine, on the basis of the driving data representing the driving situation of the own motor vehicle (ego) and on the characteristics of the driving situation of the other vehicle (alter), whether a safety critical area laterally adjacent to and/or laterally behind the own motor vehicle (ego) is free from the other vehicle (alter) and to output this optically, haptically and/or acoustically for the driver of the own motor vehicle (ego), wherein

the control system is adapted and intended to determine in the electronic control unit (ECU) the time from which the safe lane changing is possible on the basis of the driving data representing the driving situation of the own motor vehicle (ego) and on the characteristics of the driving situation of the other vehicle (alter), and wherein this time is deemed to have occurred when the electronic control unit (ECU) determines that a rear edge of the own motor vehicle (ego) has passed a front edge of the other vehicle (alter) and a safety distance which is adapted to legal and/or physical conditions.

2. The control system as claimed in claim 1, which is adapted and intended to acquire further environmental data in a further monitoring area in front of the own motor vehicle (ego) by means of one or several environment sensor/s located at the own motor vehicle, in order to detect the other vehicle (alter) to be overtaken in good time and monitor the driving situation of the own motor vehicle (ego) and of the other vehicle (alter) continuously over time and evaluate it in terms of its safe outcome, with the aim of determining the time from which the safe lane-changing manoeuvre is possible.

3. The control system as claimed in claim 1, which is adapted and intended additionally to evaluate the environmental data from the area laterally adjacent to and/or laterally behind the own motor vehicle (ego) by means of one or several environment sensor/s located at the own motor vehicle, with the aim of determining the time from which the safe lane-changing manoeuvre is possible.

4. The control system as claimed in claim 1, wherein the monitoring area (Ua) of the environment sensor (Re) includes a blind spot of the own vehicle.

5. The control system as claimed in claim 1, wherein the environmental sensors simultaneously monitor the area laterally in front of and laterally adjacent to and laterally behind the own motor vehicle.

6. A control method which is based on environmental data acquired by an environment sensor (Re) located laterally at the front in the corner region of an own motor vehicle and having a monitoring area (Ua) and a second environment sensor (Rv) located in the middle region of the own motor vehicle and having a monitoring area (Ub), wherein the environment sensors (Rv, Re) monitor the area laterally in front of and laterally adjacent to and laterally behind the own motor vehicle (ego) during a predetermined time period in order to determine the speed, the location as a function of time and the direction of travel of another vehicle and wherein the control system determines a time from which a safe lane-changing manoeuvre from a fast lane into an adjacent slower lane is possible on the basis of the environmental data acquired by the environment sensors (Rv, Re), comprising the steps:

providing an electronic control unit (ECU) in the own motor vehicle (ego) with environmental data representing the area laterally in front of and laterally adjacent to and laterally behind the own motor vehicle by means of the environment sensors (Rv, Re),

determining driving data representing the driving situation of the own motor vehicle (ego) from transducers which are located in the own motor vehicle (ego) during a predetermined time period or continuously, and providing the electronic control unit (ECU) with that driving data;

detecting the other vehicle (alter) participating in traffic laterally in front of, laterally adjacent to and/or laterally behind the own motor vehicle (ego) by means of the environment sensors during the predetermined time period in order to determine characteristics of the driving situation of the other vehicle (alter), and provide the electronic control unit (ECU) with those characteristics; and

determining by means of the electronic control unit (ECU), on the basis of the driving data representing the driving situation of the own motor vehicle (ego) and on the characteristics of the driving situation of the other vehicle (alter), whether a safety critical area laterally adjacent to and/or laterally behind the own motor vehicle (ego) is free from the other vehicle (alter) and outputting this optically, haptically and/or acoustically for the driver of the own motor vehicle (ego),

determining by means of the electronic control unit (ECU) the time from which the safe lane changing is possible on the basis of the driving data representing the driving situation of the own motor vehicle and on the characteristics of the driving situation of the other vehicle (alter), and wherein this time is deemed to have occurred when the electronic control unit (ECU) determines that a rear edge of the own motor vehicle (ego) has passed a front edge of the other vehicle (alter) and a safety distance which is adapted to legal and/or physical conditions.

7. The control method as claimed in claim 6, comprising the step of acquiring further environmental data in a further monitoring area in front of the own motor vehicle (ego) by means of one or several environment sensor/s located at the own motor vehicle, in order to detect the other vehicle (alter) to be overtaken in good time and monitor the driving situation of the own motor vehicle (ego) and of the other vehicle (alter) continuously over time and evaluate it in terms of its safe outcome, with the aim of determining the time from which the safe lane-changing manoeuvre is possible.

8. The control method as claimed in claim 6, comprising the step of additionally evaluating the environmental data from the area laterally adjacent to and/or laterally behind the own motor vehicle (ego) by means of one or several environment sensor/s located at the own motor vehicle, with the aim of determining the time from which the safe lane-changing manoeuvre is possible.

9. The control method as claimed in claim 6, further comprising detecting the other vehicle in a blind spot of the own vehicle within the monitoring area (Ua) of the environment sensor (Re).

10. The control method as claimed in claim 6, wherein the environmental sensors simultaneously monitor the area laterally in front of and laterally adjacent to and laterally behind the own motor vehicle.

11. A control method for an own motor vehicle for determining a time from which a safe lane-changing manoeuvre from a fast lane into an adjacent slow lane is possible, comprising the steps of:

monitoring an area around the own vehicle with a first environmental sensor located laterally at the front in the corner region of the own vehicle and a second environmental sensor located at the front in the middle region of the own vehicle, the first environmental sensor monitoring the area laterally adjacent to and laterally behind the own motor vehicle such that the first environmental sensor monitors a blind spot around the own vehicle, the second environmental sensor monitoring the area laterally in front of the own motor vehicle;

acquiring environmental data with the first and second environmental sensors during a predetermined time period in order to determine a speed, a location as a function of time, and a direction of travel of another vehicle participating in traffic in the area around the own vehicle to determine characteristics of the driving situation of the other vehicle;

providing the environmental data and the characteristics of the driving situation to an electronic control unit in the own vehicle;

determining driving data representing the driving situation of the own vehicle from transducers located in the own vehicle during the predetermined time period and providing the determined driving data to the electronic control unit;

determining with the electronic control unit based on the driving data of the own vehicle and the characteristics of the driving situation of the other vehicle whether a safety critical area laterally adjacent to and/or laterally behind the own vehicle is free from the other vehicle by calculating that a rear edge of the own motor vehicle is at least a predetermined distance from a front edge of the other vehicle indicating that the safe lane-changing manoeuvre is possible; and

notifying the driver of the own vehicle that the safety critical area is free from the other vehicle.

12. The control method as claimed in claim 11, wherein the environmental sensors simultaneously monitor the area laterally in front of and laterally adjacent to and laterally behind the own motor vehicle.