Method for providing guiding assistance for a vehicle in changing lane

• US 5,521,579 A
• Filed: 04/26/1994
• Issued: 05/28/1996
• Est. Priority Date: 04/26/1993
• Status: Expired due to Fees

• Current Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Original Assignee: Mercedes-Benz AG (Mercedes-Benz Group AG)
• Inventors: Bernhard, Werner
• Primary Examiner(s): Crosland, Donnie L.
• Application Number:
  US08/233,761
• Time in Patent Office: 763 Days
• Field of Search: 340/438, 340/436, 340/901-905, 340/435, 180/167-169, 180/271, 348/143, 348/148, 348/149, 348/169, 364/461, 364/460, 364/424.01, 364/424.02
• US Class Current: 340/438
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60Q 1/52 for indicating emergencies
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• 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: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Method of assisting a motor vehicle in changing from a current lane to an adjacent target lane. The space in front and the space behind the vehicle at least in the adjacent target lane is monitored, the distance of objects (in particular vehicles) detected there, and their speeds are measured, and safety distances calculated therefrom. If all the measured distances are greater than the calculated safety distances, a possible lane change is signalled.

Claims

1. Method of assisting a motor vehicle in changing from a current lane in which the vehicle is operated, to a target lane adjacent thereto, comprising the steps of:

monitoring a space behind and a space in front of said vehicle in at least the target lane, to detect presence of objects therein;

determining speeds of detected objects in said target lane and of said vehicle;

determining distances of the detected objects in said target lane from said vehicle;

calculating for each detected object in said target lane a safety distance from said vehicle based on determined speed of said object, a predetermined reaction time and a predetermined deceleration value;

comparing the determined distance of each detected object in said target lane with the safety distance calculated therefor;

if at least the determined distance of each detected object in said target lane is greater than or equal to the calculated safety distance for said object, activating a signal to a driver of said vehicle, indicating that a lane change is possible; and

if the determined distance of at least one detected object in said target lane is smaller than the calculated safety distance for said object, performing the additional steps of;

comparing at least a first sum of the determined distances of said detected objects in said target lane with a first corresponding sum of the safety distances calculated for said detected objects;

if said at least a first sum of said determined distances is greater than said first corresponding sum of calculated safety distances, activating a signal to said driver, indicating that a lane change is possible; and

if at least the determined distance of any detected object in the target lane is less than the calculated safety distance for said object, and if said at least a first sum of determined distances is not greater than the first corresponding sum of calculated safety distances, activating a signal indicating that a lane change is not possible.

2. Method according to claim 1 further comprising the steps of

monitoring a space behind and a space in front of said vehicle in said current lane to detect presence of objects therein;

determining speeds of detected objects in said current lane;

determining distances of detected objects in said current lane from said vehicle; and

calculating for each detected object in said current lane a safety distance from said vehicle based on the determined speed of said object, a predetermined reaction time and a predetermine deceleration value;

wherein said second comparing step further comprises the steps of;

comparing a second sum of said determined distances of an object detected in the space behind said vehicle in the target lane and of an object detected in the space in front of said vehicle in the current lane, with a second corresponding sum of the calculated safety distances for said objects; and

comparing a third sum of said determined distances of the object detected in the space behind said vehicle in the current lane and the object detected in the space in front of said vehicle in the target lane 9, with a corresponding sum of the calculated safety distances for said objects; and

wherein said second activating step comprises activating said signal indicating that a lane change is possible when each of said first, second and third sums of determined distances is greater than the respective corresponding first, second and third sum of calculated safety distances.

3. Method according to claim 1, wherein the safety distances are each calculated as the sum of a reaction distance, a braking distance differential for full braking, a distance for coasting to a standstill and a residual distance serving as safety margin.

4. Method according to claim 2, wherein the safety distances are each calculated as the sum of a reaction distance, a braking distance differential for full braking, a distance for coasting to a standstill and a residual distance serving as safety margin.

5. Method according to claim 2, comprising an additional step of automatically controlling position of said vehicle relative to an object detected in front of said vehicle in the current lane whereby the determined distance of a detected object in the space in front of said vehicle in the current lane is kept greater than or equal to that of the calculated safety distance for said object, by controlling acceleration and deceleration of said vehicle.

6. Method according to claim 3, comprising an additional step of automatically controlling position of said vehicle relative to an object detected in front of said vehicle in the current lane whereby the determined distance of a detected object in the space in front of said vehicle in the current lane is kept greater than or equal to that of the calculated safety distance for said object, by controlling acceleration and deceleration of said vehicle.

7. Method according to claim 2, wherein a computer simulation of a lane change is carried out in response to a signal indicating a possible lane change, to determine an acceleration or deceleration said vehicle which may be required for said lane change.

8. Method according to claim 5, wherein a computer simulation of a lane change is carried out in response to a signal indicating a possible lane change, to determine an acceleration or deceleration said vehicle which may be required for said lane change.

9. Method according to claim 7 wherein in said simulation:

a deceleration of said vehicle is selected if both of the determined distances of the objects in spaces behind said vehicle both in the target lane and in the current lane are greater than the corresponding calculated safety distances of said objects; and

an acceleration of said vehicle is selected if both of the determined distances of the objects in spaces in front said vehicle in the target lane and in the current lane are greater than the corresponding calculated safety distances of said objects.

10. Method according to claim 9, wherein the simulation is repeated, with incrementally increased values of acceleration or deceleration if no possible lane change has been achieved with a previously selected value.

11. Method according to claim 9, wherein in the event of a possible lane change which has been found by said simulation, the detected acceleration or deceleration value is illustrated on a display device.

12. Method according to claim 9, wherein in the event of a possible lane change which has been found by said simulation, the detected acceleration or deceleration value is passed on to a longitudinal movement controller device of said vehicle for automatic acceleration or deceleration of the same.

13. Method according to claim 11, wherein the signal indicating a possible lane change is passed to a transverse movement controller device of said vehicle in order to move said vehicle automatically into the target lane.

14. Method according to claim 1, wherein the method is actuated by request for an indication of a change in travel direction and the requested indication of a change in travel direction does not take place until a possible lane change is signalled.