Method for controlling a driver assistance system

• US 8,195,362 B2
• Filed: 08/10/2007
• Issued: 06/05/2012
• Est. Priority Date: 10/09/2006
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Buerkle, Lutz, Rentschler, Tobias, App, Thomas
• Primary Examiner(s): Dickson, Paul N
• Assistant Examiner(s): FRISBY, KEITH J
• Application Number:
  US12/305,166
• Publication Number:
  US 20090271071A1
• Time in Patent Office: 1,761 Days
• Field of Search: 701/41, 701/36, 701/116, 701/1, 701/207, 180/167, 180/168, 180/169, 380/587, 380/580, 332/64, 340/61, 340/70, 340/71, 318/587, 318/580, 342/61, 342/70, 342/71
• US Class Current: 701/41
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 8/17557 specially adapted for lane departure prevention road vehicle drive control systems for lane keeping otherwise than by controlling a particular sub-unit B60W30/12
• 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

Abstract

A method for controlling a driver assistance system having an LKS function of a vehicle is described. In the region of lane widening, a hypothetical lane which connects a starting lane to a destination lane is generated by the driver assistance system. In the region of the lane widening, the vehicle is guided along the hypothetical lane.

Claims

1. A method for controlling a driver assistance system that includes a lane keeping support (LKS) function of a vehicle, the method comprising:

forming by the driver assistance system a hypothetical lane connecting a starting lane to a destination lane in an area of lane widening;

wherein the forming step includes analyzing a reference steering wheel angle of the vehicle for the determination of a first lane marking of the hypothetical lane.

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

guiding the vehicle by the driver assistance system on the hypothetical lane in the area of lane widening.

3. The method as recited in claim 1, wherein the forming step further includes analyzing a reference yaw rate of the vehicle for the determination of a first lane marking of the hypothetical lane.

4. The method as recited in claim 1, wherein the forming step includes determining a second lane marking of the hypothetical lane by continuing a width of the starting lane.

5. The method as recited in claim 1, wherein the forming step includes determining a second lane marking of the hypothetical lane under the assumption of a standard width of the lane.

6. The method as recited in claim 1, wherein:

the reference steering wheel angle is formed according to the following equation;

δ

_Ref=l*κ

_Road+α

_V−

α

_H;

l=wheel base;

α

_V=inclined-position angle of front wheel;

α

_H=inclined-position angle of rear wheel; and

κ

_Road=curvature of the lane.

7. The method as recited in claim 1, wherein:

a steering movement of the vehicle is detected;

a statistical value of the steering wheel angle is formed from the steering movement according to the following equation;

8. The method as recited in claim 1, wherein a plausibility check is performable for a direction decision for a selection of a destination lane by a steering wheel torque.

9. A method for controlling a driver assistance system that includes a lane keeping support (LKS) function of a vehicle, the method comprising:

forming by the driver assistance system a hypothetical lane connecting a starting lane to a destination lane in an area of lane widening;

wherein the forming step includes analyzing a reference yaw rate of the vehicle for the determination of a first lane marking of the hypothetical lane.

10. The method as recited in claim 9, wherein:

the reference yaw rate (Ψ

_Ref) is formed according to the following equation;

Ψ

_Ref=ν

*κ

_Road;

κ

_Road=curvature of the lane; and

V=speed of the vehicle.

11. The method as recited in claim 9, wherein:

a transverse movement of the vehicle is detected;

a statistical value of the yaw rate is formed from the transverse movement according to the following equation;

12. The method as recited in claim 9, further comprising:

guiding the vehicle by the driver assistance system on the hypothetical lane in the area of lane widening.

13. The method as recited in claim 9, wherein the forming step includes determining a second lane marking of the hypothetical lane by continuing a width of the starting lane.

14. The method as recited in claim 9, wherein the forming step includes determining a second lane marking of the hypothetical lane under the assumption of a standard width of the lane.

15. A method for controlling a driver assistance system that includes a lane keeping support (LKS) function of a vehicle, the method comprising:

forming by the driver assistance system a hypothetical lane connecting a starting lane to a destination lane in an area of lane widening;

wherein a lane that is selected as the destination lane is determined from the following cases;

Case 1;

Ψ

>

Ψ

_Ref;

Case 2;

Ψ

<

Ψ

_Ref; and

Case 3;

Ψ

=Ψ

_Ref;

wherein Ψ

is a yaw rate and Ψ

_Ref is a reference yaw rate.

16. The method as recited in claim 15, further comprising:

guiding the vehicle by the driver assistance system on the hypothetical lane in the area of lane widening.

17. The method as recited in claim 15, wherein the forming step includes determining a second lane marking of the hypothetical lane by continuing a width of the starting lane.

18. The method as recited in claim 15, wherein the forming step includes determining a second lane marking of the hypothetical lane under the assumption of a standard width of the lane.