Method and device for determining a lane-adaptation parameter for a lane-keeping system of a vehicle, as well as method and device for lane guidance of a vehicle

• US 9,463,798 B2
• Filed: 04/15/2013
• Issued: 10/11/2016
• Est. Priority Date: 04/16/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Renner, Christian
• Primary Examiner(s): Sweeney, Brian P
• Application Number:
  US14/394,917
• Publication Number:
  US 20150088338A1
• Time in Patent Office: 1,275 Days
• Field of Search: 701/1
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B62D 15/026 combined with automatic distance control, i.e. electronic tow bar
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A method for determining a lane-adaptation parameter for a lane-keeping system of a vehicle having at least one surround sensor. The method includes reading in, from a sensor signal from the at least one surround sensor, an obstacle-extension area of a visibility obstacle, caused by at least one vehicle driving in front, transversely to a course of a traffic lane on which the vehicle is to travel. The method also includes ascertaining the lane-adaptation parameter as a function of the read-in obstacle-extension area and a vehicle-extension area transversely to the course of the traffic lane in which the vehicle is to travel. The lane-adaptation parameter is determined so that when using the lane-adaptation parameter, the lane-keeping system is set up to reduce an overlap of the obstacle-extension area and the vehicle-extension area.

Claims

1. A method for providing automated lane guidance using a lane-keeping system of a vehicle having at least one surround sensor, the method comprising:

reading in by the lane-keeping system, from a sensor signal from the at least one surround sensor, an obstacle-extension area of a visibility obstacle, caused by at least one vehicle driving in front, transversely to a course of a traffic lane in which the vehicle is to travel;

determining, by the lane-keeping system, a lane-adaptation parameter as a function of the read-in obstacle-extension area and a vehicle-extension area transversely to the course of the traffic lane in which the vehicle is to travel, the lane-adaptation parameter being determined so that the lane-keeping system when using the lane-adaptation parameter is set up to reduce an overlap of the obstacle-extension area and the vehicle-extension area; and

providing, by the lane-keeping system, automated lane guidance of the vehicle using the lane-adaptation parameter to reduce an overlap of the obstacle-extension area and the vehicle-extension area.

2. The method of claim 1, wherein in the determining, the lane-adaptation parameter is ascertained with a lane width of the traffic lane, so that the lane-keeping system when using the lane-adaptation parameter is set up to induce an offset of the vehicle-extension area relative to the obstacle-extension area within the lane width of the traffic lane, and/or about an area of maximally one half of the traffic lane width outside the traffic lane.

3. The method of claim 1, further comprising:

detecting the obstacle-extension area of the visibility obstacle, caused by the at least one vehicle driving in front, transversely to the course of the traffic lane in which the vehicle is to travel, using the sensor signal from the at least one surround sensor.

4. The method of claim 1, further comprising:

reading in the vehicle-extension area transversely to the course of the traffic lane in which the vehicle is to travel, from the sensor signal of the at least one surround sensor.

5. A method for providing automated lane guidance of a vehicle, the method comprising:

determining, by the lane-keeping system, a lane-adaptation parameter for a lane-keeping system of a vehicle having at least one surround sensor, by performing the following;

reading in by the lane-keeping system, from a sensor signal from the at least one surround sensor, an obstacle-extension area of a visibility obstacle, caused by at least one vehicle driving in front, transversely to a course of a traffic lane in which the vehicle is to travel; and

determining, by the lane-keeping system, the lane-adaptation parameter as a function of the read-in obstacle-extension area and a vehicle-extension area transversely to the course of the traffic lane in which the vehicle is to travel, the lane-adaptation parameter being determined so that the lane-keeping system when using the lane-adaptation parameter is set up to reduce an overlap of the obstacle-extension area and the vehicle-extension area; and

performing, by the lane-keeping system, the automated lane guidance using the lane-adaptation parameter, so that the overlap of the obstacle-extension area and the vehicle-extension area is reduced.

6. The method of claim 5, wherein in the executing of the lane guidance, a specified trajectory for the vehicle is adapted as a function of the lane-adaptation parameter, such that the overlap of the obstacle-extension area and the vehicle-extension area is reduced when the vehicle is moving along the adapted specified trajectory.

7. The method of claim 5, wherein in the executing of the lane guidance, a specified trajectory for the vehicle is adapted as a function of the lane-adaptation parameter, such that the vehicle-extension area is shifted in the direction of a driver-side traffic lane boundary.

8. A lane-keeping system of a vehicle having at least one surround sensor, comprising:

a controller including a processor configured to provide automated lane guidance by performing the following;

reading in, from a sensor signal from the at least one surround sensor, an obstacle-extension area of a visibility obstacle, caused by at least one vehicle driving in front, transversely to a course of a traffic lane in which the vehicle is to travel;

determining a lane-adaptation parameter as a function of the read-in obstacle-extension area and a vehicle-extension area transversely to the course of the traffic lane in which the vehicle is to travel, the lane-adaptation parameter being determined so that the lane-keeping system when using the lane-adaptation parameter is set up to reduce an overlap of the obstacle-extension area and the vehicle-extension; and

providing automated lane guidance of the vehicle using the lane-adaptation parameter to reduce an overlap of the obstacle-extension area and the vehicle-extension area.

9. A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having program code which, when executed by the processor, performs a method for providing automated lane guidance using a lane-keeping system of a vehicle having at least one surround sensor, the method comprising;

reading in by the lane-keeping system, from a sensor signal from the at least one surround sensor, an obstacle-extension area of a visibility obstacle, caused by at least one vehicle driving in front, transversely to a course of a traffic lane in which the vehicle is to travel;

determining, by the lane-keeping system, a lane-adaptation parameter as a function of the read-in obstacle-extension area and a vehicle-extension area transversely to the course of the traffic lane in which the vehicle is to travel, the lane-adaptation parameter being determined so that the lane-keeping system when using the lane-adaptation parameter is set up to reduce an overlap of the obstacle-extension area and the vehicle-extension area; and

providing, by the lane-keeping system, automated lane guidance of the vehicle using the lane-adaptation parameter to reduce an overlap of the obstacle-extension area and the vehicle-extension area.