Guidance system for assisting lane change of a motor vehicle

• US 6,388,565 B1
• Filed: 05/08/2000
• Issued: 05/14/2002
• Est. Priority Date: 05/08/1999
• Status: Expired due to Term

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Inventors: Regensburger, Uwe, Bernhard, Werner, Knoeppel, Carsten, Noecker, Gerhard
• Primary Examiner(s): Hofsass, Jeffrey
• Assistant Examiner(s): TANG, SON M
• Application Number:
  US09/567,058
• Time in Patent Office: 736 Days
• Field of Search: 340/435, 340/436, 340/437, 340/438, 340/996
• US Class Current: 340/435
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: G01S 19/14 specially adapted for specific applications

Abstract

A vehicle guidance system for assisting a driving lane change includes an object detection unit for detecting objects in a laterally adjacent rearward side space area of the vehicle. An analysis unit receives signals from the object detection unit and determines whether an object is situated in a dead angle section (blind spot) of the monitored rearward side space, or whether any such object in a section of the monitored rearward side space which is rearward beyond a dead angle section is moving forward at a higher speed than the system vehicle. If so, and if, in addition, it detects at the same time a lane change request pertaining to the corresponding side area, it activates a warning indicating unit for emitting a warning signal. According to the invention, a position detection device is provided which determines path data of the obstacle vehicle and the road geometry data, as well as the position of the system vehicle on the road. When the object detection unit detects an obstacle vehicle which is following in the rearward side space, corresponding to the covered distance recorded by the position detection device and the road geometry, a position assignment of the vehicle which is following is determined relative to the road.

Claims

1. A guidance system for assisting a driving lane change of a vehicle, comprising:

an object detection unit for detecting objects in a monitored area which is rearward and laterally adjacent of the vehicle;

a warning indicating unit;

an analysis unit which determines by means of signals supplied to it by the object detection unit whether an object is situated in a dead angle section of the monitored rearward area, and whether an object in a section of the monitored rearward side space which is rearwardly beyond the dead angle section is moving forward at a higher speed than the vehicle, and activates the warning indicating unit for emitting a warning signal if, in addition, it detects a lane change request pertaining to the corresponding side area;

wherein

a position detection device determines path data for the vehicle and road geometry data for a road on which the vehicle travels, as well as a position of the vehicle on the road;

an analysis unit stores said path data, road geometry, and position of the vehicle; and

when the object detection unit detects an object which is following in the rearward side space, corresponding to a road distance traveled by the vehicle, for which the position detection device has determined path data and road geometry that are stored by said analysis unit, a position assignment of the object relative to the road is determined by the analysis unit relative to the road, based on the stored path data and road geometry.

2. The guidance system for assisting a lane change according to claim 1, wherein the warning indicating unit is activated for the emission of a warning signal when the object which is following is situated in a target lane of the vehicle for which a lane change request has been made.

3. The guidance system for assisting a lane change according to claim 1, wherein the warning signal comprises the flashing of a red warning triangle in a side mirror of the vehicle.

4. The guidance system for assisting a lane change according to claim 1, wherein the path and road geometry data are stored over a detection range of the object detection unit.

5. The guidance system for assisting a lane change according to claim 1, wherein the road geometry data are detected by means of optical sensors.

6. The guidance system for assisting a lane change according to claim 1, wherein the path data are determined from at least one of a path/speed signal, a steering angle, rotational wheel speed sensors and a satellite-assisted position determination by means of the GPS.

7. The guidance system for assisting a lane change according to claim 1, wherein:

the guidance assistance system is activated only by the request for a driving direction indication; and

a requested driving direction indication takes place only when a possible lane change is signaled.

8. The guidance system for assisting a lane change according to claim 1, wherein a detected object which follows is assigned to a corresponding adjacent lane when such object is offset to the left or right of the vehicle by a road width.

9. The method for assisting a driving lane change by an operator of a vehicle, comprising:

monitoring an area which is rearward and laterally adjacent of the vehicle by means of sensors to detect presence of an object within the monitored area, as well as distance and angular position of said object relative to the vehicle;

determining a position of the vehicle on a road traveled by the vehicle;

detecting vehicle navigational operating parameters for said vehicle;

determining road geometry of the road traveled by the vehicle based on said vehicle operating parameters;

determining a position of said object relative to the vehicle;

determining a position of said object relative to the road based on said road geometry, position of said vehicle on the road and position of said object relative to the vehicle; and

activating an alarm which said operator signals a lane change to a target lane at a time when an object is present in said target lane in said monitored area.

10. The method for assisting a driving lane change by an operator of a vehicle according to claim 9, wherein said sensors detect presence of an object in a dead angle section of said monitored area, as well as an object which is in said monitored area rearward of the dead angle section and moving at a speed greater than a speed of the vehicle.

11. The method for assisting a driving lane change by an operator of a vehicle according to claim 9, wherein said object is a second vehicle.

12. A method for determining a lane position of an object which follows a vehicle, relative to a segment of roadway traversed by the vehicle, said method comprising:

detecting motion parameters of said vehicle as it traverses a segment of roadway comprising a plurality of lanes;

detecting position of the vehicle relative to said traversed segment of roadway;

determining road geometry of said traversed segment of roadway based on said motion parameters and said position of the vehicle detected as said vehicle traverses said segment of roadway;

detecting position, relative to said vehicle, of said object which follows said vehicle; and

determining a lane position of said object relative to said traversed segment of roadway based on said road geometry, and said detected position of said object relative to said vehicle.