Lateral guidance assistance for motor vehicles

• US 20050228588A1
• Filed: 12/11/2002
• Published: 10/13/2005
• Est. Priority Date: 04/23/2002
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Braeuchle, Goetz, Heinebrodt, Martin
• Granted Patent: US 7,765,066 B2
• Time in Patent Office: Days
• 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

1-14. -14. (canceled)

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

determining a setpoint value for a lateral position of the vehicle;

determining an actual position of the vehicle in relation to boundaries of a 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; and

tracking at least one object in at least one neighboring lane and varying the setpoint value for the lateral position as a function of tracking data of the object.

16. The method as recited in claim 15, 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.

17. The method as recited in claim 15, wherein the tracking step includes analyzing a video image recorded by at least one video camera.

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

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

19. The method as recited in claim 18, wherein the distance sensor is one of a radar sensor or a lidar sensor.

20. The method as recited in claim 15, 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.

21. The method as recited in claim 15, 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.

22. The method as recited in claim 15, wherein the setpoint value is calculated as a function of an absolute speed of the vehicle.

23. The method as recited in claim 15, 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.

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

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

25. The method as recited in claim 15, 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.

26. The method as recited in claim 25, 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.

27. The method as recited in claim 26, wherein the predicted time is reduced while the object is being passed in passing maneuvers.

28. The method as recited in claim 27, wherein the predicted time is reduced in curves.

29. 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;

a sensor device configured to detect an actual position of the vehicle in relation to boundaries of a 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 tracking system capable of tracking objects in at least one neighboring lane; and

a device to vary the setpoint value for the lateral position as a function of the tracking data of these objects.