Method for representing vehicle surroundings

• US 9,896,092 B2
• Filed: 04/04/2013
• Issued: 02/20/2018
• Est. Priority Date: 04/26/2012
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Waldbauer, Dirk, Fritz, Stefan, Berthold, Thomas, Yin, Xiuxun, Hohm, Andree, Lueke, Stefan
• Primary Examiner(s): Mott, Genna M
• Application Number:
  US14/396,953
• Publication Number:
  US 20150105937A1
• Time in Patent Office: 1,783 Days
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

In a method and a driver assistance system for representing vehicle surroundings of a vehicle having a sensor system for detecting the environment, a boundary of a traffic lane or driving path on which the vehicle is currently being driven is represented by position points that each have a predefined set of attributes especially including a width attribute indicating a lateral width of an unobstructed area available as a maneuvering space on an opposite side of the respective position point.

Claims

1. A driver assistance method for a subject vehicle that is driving on a road, and that has a sensor system and a driver assistance system including an evaluation unit and a control device, wherein the method comprises:

a) with the sensor system, detecting features in an environment ahead of the subject vehicle and producing sensor data representing the features, wherein the features include traffic lane markings on the road, physical boundaries of or on the road, and obstacles on the road;

b) with the driver assistance system, evaluating the sensor data and based on the detected features represented by the sensor data, determining a driving path that is available for the subject vehicle to drive along the road ahead of the subject vehicle;

c) with the driver assistance system, determining a succession of position points representing a boundary of the driving path, wherein the position points are spaced apart from one another and discontinuous along the boundary, and assigning respective attribute values to a predefined set of attributes respectively allocated to each one of the position points, wherein the attributes include a width attribute, and wherein the respective attribute value assigned to the width attribute of a respective one of the position points indicates a lateral width of an unobstructed area that is available as a maneuvering space for the subject vehicle outside of the driving path on an opposite side of the respective position point; and

d) with the control device, executing a driver assistance function for the subject vehicle dependent on the position points and the attribute values assigned to the attributes of the position points;

wherein;

the traffic lane markings on the road include a traversable lane marking that indicates a traffic instruction permitting motor vehicles to cross the traversable lane marking, and at least a portion of the boundary coincides with the traversable lane marking,

the detected features include at least one of the obstacles on the road outside of the driving path on an opposite side of the boundary,

the at least one obstacle would present a collision risk for the subject vehicle if the subject vehicle would traverse the portion of the boundary, and

the method further comprises specifying that the portion of the boundary is a non-traversable boundary by assigning zero as the respective attribute value of the width attribute for each one of the position points representing the portion of the boundary.

2. The driver assistance method according to claim 1, wherein the at least one obstacle is another vehicle that is overtaking or oncoming relative to the subject vehicle.

3. A driver assistance method for a subject vehicle that is driving on a road, and that has a sensor system and a driver assistance system including an evaluation unit and a control device, wherein the method comprises:

a) with the sensor system, detecting features in an environment ahead of the subject vehicle and producing sensor data representing the features, wherein the features include traffic lane markings on the road, physical boundaries of or on the road, and obstacles on the road;

b) with the driver assistance system, evaluating the sensor data and based on the detected features represented by the sensor data, determining a driving path that is available for the subject vehicle to drive along the road ahead of the subject vehicle;

c) with the driver assistance system, determining a succession of position points representing a boundary of the driving path, wherein the position points are spaced apart from one another and discontinuous along the boundary, and assigning respective attribute values to a predefined set of attributes respectively allocated to each one of the position points, wherein the attributes include a width attribute, and wherein the respective attribute value assigned to the width attribute of a respective one of the position points indicates a lateral width of an unobstructed area that is available as a maneuvering space for the subject vehicle outside of the driving path on an opposite side of the respective position point; and

d) with the control device, executing a driver assistance function for the subject vehicle dependent on the position points and the attribute values assigned to the attributes of the position points;

wherein the attributes of each one of the position points further include a lane space attribute, and

wherein the respective attribute value assigned to the lane space attribute of a respective one of the position points indicates a lateral width of an unobstructed area that is available as a driving space for the subject vehicle in the driving path bounded by the respective position point.

4. The driver assistance method according to claim 3, wherein, when none of the obstacles are detected on the road in the driving path adjacent to a respective one of the position points, then the respective attribute value assigned to the lane space attribute of the respective position point corresponds to a predefined lane width value.

5. The driver assistance method according to claim 3, wherein, when one of the obstacles is detected on the road in the driving path adjacent to a respective one of the position points, then the respective attribute value assigned to the lane space attribute of the respective position point is an actual value of the lateral width of the unobstructed area between the position point and the detected obstacle.

6. A driver assistance method for a subject vehicle that is driving on a road, and that has a sensor system and a driver assistance system including an evaluation unit and a control device, wherein the method comprises:

a) with the sensor system, detecting features in an environment ahead of the subject vehicle and producing sensor data representing the features, wherein the features include traffic lane markings on the road, physical boundaries of or on the road, and obstacles on the road;

b) with the driver assistance system, evaluating the sensor data and based on the detected features represented by the sensor data, determining a driving path that is available for the subject vehicle to drive along the road ahead of the subject vehicle;

c) with the driver assistance system, determining a succession of position points representing a boundary of the driving path, wherein the position points are spaced apart from one another and discontinuous along the boundary, and assigning respective attribute values to a predefined set of attributes respectively allocated to each one of the position points, wherein the attributes include a width attribute, and wherein the respective attribute value assigned to the width attribute of a respective one of the position points indicates a lateral width of an unobstructed area that is available as a maneuvering space for the subject vehicle outside of the driving path on an opposite side of the respective position point; and

d) with the control device, executing a driver assistance function for the subject vehicle dependent on the position points and the attribute values assigned to the attributes of the position points;

wherein the attribute values assigned to the width attribute of the position points are determined based on presence or absence, and position, of a moving object in a traffic lane adjacent to the driving path on the opposite side of the position points, such that the attribute value of the width attribute of a given one of the position points at a given location varies over time.

7. The driver assistance method according to claim 6, wherein the attribute value of the width attribute of the given one of the position points is set to zero when the moving object is detected in the traffic lane adjacent to the driving path, and is set to a positive lane width value when no moving object is detected in the traffic lane adjacent to the driving path.

8. A driver assistance method for a subject vehicle that is driving on a road, and that has a sensor system and a driver assistance system including an evaluation unit and a control device, wherein the method comprises:

a) with the sensor system, detecting features in an environment ahead of the subject vehicle and producing sensor data representing the features, wherein the features include physical boundaries of or on the road, and obstacles on the road;

b) with the driver assistance system, evaluating the sensor data and based on the detected features represented by the sensor data, determining a driving path that is available for the subject vehicle to drive along the road ahead of the subject vehicle;

c) with the driver assistance system, determining a succession of position points representing a boundary of the driving path, wherein the position points are spaced apart from one another and discontinuous along the boundary, and respectively assigning to each individual respective one of the position points, a respective individual traversability indicator value that indicates whether a respective portion of the boundary represented by the respective position point is traversable because the respective boundary portion may be safely crossed by the subject vehicle or is non-traversable because the respective boundary portion may not be safely crossed by the subject vehicle, wherein first ones of the position points have the traversability indicator values indicating that the boundary portions represented by the first position points are traversable and second ones of the position points have the traversability indicator values indicating that the boundary portions represented by the second position points are non-traversable; and

d) with the control device, executing a driver assistance function for the subject vehicle dependent on the position points and the traversability indicator values assigned thereto.

9. A driver assistance method for a subject vehicle that is driving on a road, and that has a sensor system and a driver assistance system including an evaluation unit and a control device, wherein the method comprises the steps:

a) with the sensor system, detecting features in an environment ahead of the subject vehicle and producing sensor data representing the features, wherein the features include traffic lane markings on the road, physical boundaries of or on the road, and obstacles on the road;

b) with the driver assistance system, evaluating the sensor data and based on the detected features represented by the sensor data, determining a driving path that is available for the subject vehicle to drive along the road ahead of the subject vehicle;

c) with the driver assistance system, determining a succession of position points representing a boundary of the driving path, wherein the position points are discontinuous and spaced apart from one another by a longitudinal spacing distance along the boundary, and determining a length of the longitudinal spacing distance between a respective one of the position points and a next successive one of the position points dependent on at least one of the following parameters;

c1) an actual current speed of the subject vehicle,

c2) a complexity of the features in the environment at an area of the respective position point,

c3) a curvature of the driving path at an area of the respective position point, and/or

c4) a local width of the driving path at an area of the respective position point,

d) with the driver assistance system, assigning respective attribute values to a predefined set of attributes respectively allocated to each one of the position points, wherein the attributes include a width attribute, and wherein the respective attribute value assigned to the width attribute of the respective position point indicates a lateral width of an unobstructed area that is available as a maneuvering space for the subject vehicle outside of the driving path on an opposite side of the respective position point; and

e) with the control device, executing a driver assistance function for the subject vehicle dependent on the position points and the attribute values assigned to the attributes of the position points.

10. The driver assistance method according to claim 9, wherein the step c) comprises determining the length of the longitudinal spacing distance dependent on the actual current speed of the subject vehicle.

11. The driver assistance method according to claim 9, wherein the step c) comprises determining the length of the longitudinal spacing distance dependent on the complexity of the features in the environment.

12. The driver assistance method according to claim 9, wherein the step c) comprises determining the length of the longitudinal spacing distance dependent on the curvature of the driving path.

13. The driver assistance method according to claim 9, wherein the step c) comprises determining the length of the longitudinal spacing distance dependent on the local width of the driving path.

14. The driver assistance method according to claim 9, wherein:

in the step b) the driving path is determined corresponding to a traffic lane on the road identified by the traffic lane markings on the road, and

in the step c) the position points are determined directly along the locations of the traffic lane markings on the road.

15. The driver assistance method according to claim 9, wherein:

the physical boundaries and the obstacles are positioned on the road and include roadwork or construction site barriers, structures, guardrails and/or parked vehicles on the road,

in the step b) the driving path is determined as deviating from a traffic lane on the road identified by the traffic lane markings on the road so as to skirt around the physical boundaries and the obstacles, and

in the step c) the position points are determined along and skirting around the physical boundaries and the obstacles independent of and deviating from the traffic lane markings.

16. The driver assistance method according to claim 9, further comprising specifying that at least a portion of the boundary is a non-traversable boundary by assigning zero as the respective attribute value of the width attribute for each one of the position points representing the portion of the boundary.

17. The driver assistance method according to claim 9, further comprising specifying that at least a portion of the boundary is a traversable boundary by assigning a respective value greater than zero as the respective attribute value of the width attribute for each one of the position points representing the portion of the boundary.

18. The driver assistance method according to claim 9, wherein the driver assistance system further comprises a data bus of the vehicle, and wherein the method further comprises transmitting the position points and the attribute values assigned to the attributes thereof, to the control device via the data bus.

19. The driver assistance method according to claim 9, wherein at least a portion of the boundary of the driving path is defined by one of the physical boundaries that has been detected, and further comprising specifying that the portion of the boundary is a non-traversable boundary by setting the attribute value of one of the attributes of each one of the position points representing the portion of the boundary to a non-traversable value which identifies the boundary as non-traversable at the respective position point.

20. The driver assistance method according to claim 9, wherein:

the traffic lane markings include a traffic lane line that bounds and defines a traffic lane on the road,

the obstacles include a stationary obstacle in the traffic lane ahead of the subject vehicle,

the driving path is determined to include a first path portion along the traffic lane from the subject vehicle to the obstacle, a second path portion skirting around the obstacle, and a third path portion along the traffic lane ahead of the obstacle,

the boundary of the driving path includes a first boundary portion of the first path portion, a second boundary portion of the second path portion, and a third boundary portion of the third path portion,

the first boundary portion is represented by ones of the position points along the traffic lane line,

the second boundary portion is represented by ones of the position points skirting around the obstacle and deviating from the traffic lane line,

the third boundary portion is represented by ones of the position points along the traffic lane line, and

the attribute value of one of the attributes of each one of the position points of the second boundary portion is set to a non-traversable value that identifies the second boundary portion as a non-traversable boundary.

21. The driver assistance method according to claim 9, further comprising specifying that at least a first portion of the boundary is a non-traversable boundary by assigning zero as the respective attribute value of the width attribute for each one of the position points representing the first portion of the boundary, and specifying that at least a second portion of the boundary is a traversable boundary by assigning a respective value greater than zero as the respective attribute value of the width attribute for each one of the position points representing the second portion of the boundary.

22. The driver assistance method according to claim 9,

wherein the step c) comprises determining a left set of the position points to represent a left boundary of the driving path, and determining a right set of the position points to represent a right boundary of the driving path, and

wherein the attribute values of the width attribute of the left set of position points indicate the lateral width of the unobstructed area available on the left side of the left set of position points, and the attribute values of the width attribute of the right set of position points indicate the lateral width of the unobstructed area available on the right side of the right set of position points.