Method and device for lane keeping support in motor vehicles

• US 7,765,066 B2
• Filed: 12/11/2002
• Issued: 07/27/2010
• Est. Priority Date: 04/23/2002
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Heinebrodt, Martin, Braeuchle, Goetz
• Primary Examiner(s): Keith; Jack W.
• Assistant Examiner(s): Dager; Jonathan M
• Application Number:
  US10/512,593
• Publication Number:
  US 20050228588A1
• Time in Patent Office: 2,785 Days
• Field of Search: 701/301, 701/1, 701/96, 340/436, 340/903, 180/169, 348/118
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• 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 for lane keeping support in motor vehicles, in which a setpoint value for the lateral position of the vehicle is determined, the actual position of the vehicle in relation to the boundaries of the lane in which the host vehicle is traveling is detected by a sensor device and an output signal for the lane keeping support is calculated by a setpoint-actual comparison, wherein objects are tracked in at least one neighboring lane and a setpoint value for the lateral position is varied as a function of tracking data of these objects.

Claims

1. A method for lane keeping support in a motor vehicle, the method comprising:

determining a setpoint value for a lateral position of the vehicle relative to a center of a lane in which the vehicle is traveling, wherein the determined setpoint value is such that the vehicle remains inside the lane when the position of the vehicle is controlled according to the setpoint value;

determining an actual position of the vehicle in relation to boundaries of the lane in which the vehicle is traveling, using a sensor device;

calculating an output signal for the lane keeping support by a setpoint-actual comparison;

controlling the position of the vehicle according to the setpoint value, using the output signal; and

tracking at least one object in at least one neighboring lane and varying the setpoint value, for the lateral position of the vehicle relative to the center of the lane, as a function of tracking data of the object, wherein the varied setpoint still keeps the vehicle inside the lane when the position of the vehicle is controlled according to the setpoint value;

wherein the determined setpoint value is a control parameter for providing control of the vehicle position;

wherein the setpoint value is calculated as a function of a normal value selectable by a driver and representing a lateral offset of the vehicle from a center of the lane in which the vehicle is traveling, as desired by the driver.

2. The method as recited in claim 1, wherein the tracking data includes a lateral distance of the object from a center of the lane in which the vehicle is traveling or from the lateral position of the vehicle, and wherein the setpoint value is varied by increasing the lateral distance when passing the object.

3. The method as recited in claim 1, wherein the tracking step includes analyzing a video image recorded by at least one video camera.

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

acquiring the tracking data of the object using a distance sensor.

5. The method as recited in claim 4, wherein the distance sensor is one of a radar sensor or a lidar sensor.

6. The method as recited in claim 1, wherein an object in a neighboring lane on a right of the vehicle and an object in a neighboring lane on a left of the vehicle are tracked, one of the neighboring lanes on the right or left being a lane of oncoming traffic.

7. The method as recited in claim 1, wherein the tracking data includes at least one of an object distance in a longitudinal direction of the lane in which the vehicle is traveling, an absolute or relative speed of the object, and a size of the object, and wherein the setpoint value is calculated taking into account at least one of the tracking data.

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

dynamically varying at least one of parameters which determine a dependence of the setpoint value on the tracking data by a self-learning system as a function of correcting measures taken by the driver in steering.

9. The method as recited in claim 1, wherein the output signal is calculated in such a way that the actual position is regulated at the setpoint value within a fixedly or variably selectable predicted time.

10. The method as recited in claim 9, wherein points in time at which the vehicle will pass the object are calculated in advance based on measured relative speeds of the object, and the tracking data of the passed objects after the predicted time has elapsed is used for calculation of the setpoint value.

11. The method as recited in claim 10, wherein the predicted time is reduced while the object is being passed in passing maneuvers.

12. The method as recited in claim 11, wherein the predicted time is reduced in curves.

14. The method of claim 1, wherein the object is a second vehicle moving in the at least one neighboring lane.

15. The method of claim 14, wherein the tracking data includes the size of the second vehicle moving in the at least one neighboring lane, and the varying of the setpoint value includes varying the setpoint value as a function of the size of the second vehicle moving in the at least one neighboring lane.

16. The method of claim 14, wherein the setpoint value has a first magnitude prior to the vehicle passing the second vehicle when the vehicle is not within a predetermined longitudinal distance of the second vehicle, and wherein the setpoint value is varied to a second magnitude as a function of the tracking data when the vehicle is within the predetermined longitudinal distance from the second vehicle, and

further comprising returning the setpoint value to the first magnitude after the vehicle has passed the second vehicle and the vehicle is again not within the predetermined longitudinal distance from the second vehicle.

17. The method of claim 6, wherein the object in the neighboring lane on the right of the vehicle is a second vehicle and the object in the neighboring lane on the left of the vehicle is a third vehicle, and the setpoint value is varied as a function of the tracking data of both the second and third vehicles.

18. The method of claim 17, wherein the setpoint value is varied as a function of an average of a first setpoint value and a second setpoint value, the first setpoint value calculated as a function of the tracking data of the second vehicle, and the second setpoint value calculated as a function of the tracking data of the third vehicle.

13. A device for lane keeping support in a motor vehicle, comprising:

a device configured to determine a setpoint value for a lateral position of the vehicle relative to a center of a lane in which the vehicle is traveling, wherein the determined setpoint value is such that the vehicle remains inside the lane when the position of the vehicle is controlled according to the setpoint value;

a sensor device configured to detect an actual position of the vehicle in relation to boundaries of the lane in which the vehicle is traveling;

a comparator device to calculate an output signal for the lane keeping support by a setpoint value-actual comparison;

a control device to control the position of the vehicle according to the setpoint value, using the output signal;

a tracking system configured to track objects in at least one neighboring lane; and

a device to vary the setpoint value, for the lateral position of the vehicle relative to the center of the lane, as a function of the tracking data of these objects, wherein the varied setpoint still keeps the vehicle inside the lane when the position of the vehicle is controlled according to the setpoint value;

wherein the determined setpoint value is a control parameter for providing control of the vehicle position;

wherein the setpoint value is calculated as a function of a normal value selectable by a driver and representing a lateral offset of the vehicle from a center of the lane in which the vehicle is traveling, as desired by the driver.