Method for recognizing a change in lane of a vehicle

• US 6,889,161 B2
• Filed: 02/13/2002
• Issued: 05/03/2005
• Est. Priority Date: 04/12/2001
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Lueder, Jens, Winner, Hermann
• Primary Examiner(s): SHAH, KAMINI S
• Application Number:
  US10/311,176
• Publication Number:
  US 20030156015A1
• Time in Patent Office: 1,175 Days
• Field of Search: 701/93, 701/96, 702/94, 702/102, 340/901, 340/904, 340/905
• US Class Current: 702/147
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/081 using distance control
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

A method of detecting a lane change of a subject vehicle (20), having a locating device (10) which uses angular resolution for locating vehicles (VEH1, VEH2, VEH3) traveling in front, and a device (44) for determining the yaw rate (ω₀) of the subject vehicle. The angular velocity (ω_i) of at least one vehicle traveling in front relative to the subject vehicle (20) is measured using the locating device (10), and a lane change signal (LC) indicating the lane change is formed by comparing the measured angular velocity (ω_i) to the yaw rate (ω₀) of the subject vehicle.

Claims

1. A method of detecting a lane change of a subject vehicle including a locating device adapted to use an angular resolution for locating at least one vehicle traveling in front of the subject vehicle and a device for determining a yaw rate of the subject vehicle, comprising:

measuring an angular velocity of the at least one vehicle relative to the subject vehicle using the locating device; and

comparing the angular velocity to the yaw rate of the subject vehicle to form a lane change signal indicating the lane change.

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

before the comparing of the angular velocity to the yaw rate, correcting the angular velocity of the at least one vehicle to form another relative angular velocity which is independent of a relative speed of the at least one vehicle.

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

forming a composite angular velocity from one of the angular velocity and the other angular velocity of a plurality of vehicles traveling in front of the subject vehicle, the composite angular velocity representing a relative change in an angle of a combination of the plurality of vehicles; and

comparing the yaw rate to the composite angular velocity.

4. The method as recited in claim 3, wherein the composite angular velocity includes one of a weighted average of the other angular velocity, an unweighted average of the other angular velocity, a weighted average of the angular velocity, and an unweighted average of the relative angular velocity.

5. The method claim 1, wherein the determining of the yaw rate includes evaluating a signal from a yaw rate sensor.

6. The method as recited in claim 3, further comprising calculating the lane change signal according to a formula which gives a high positive value when the yaw rate of the subject vehicle and one of the angular velocity and the composite angular velocity have values different from zero and have opposite algebraic signs.

7. The method as recited in claim 6, wherein the calculating of the lane change signal includes calculating a cross-correlation of the yaw rate of the subject vehicle using one of the angular velocity and the composite angular velocity.

8. The method as recited in claim 1, further comprising detecting a beginning of the lane change when the lane change signal exceeds a predetermined threshold value.

9. The method as recited in claim 8, further comprising reducing the predetermined threshold value when a turn indicator of the subject vehicle is actuated.

10. The method as recited in claim 8, further comprising detecting a completion of the lane change when the lane change signal falls below the predetermined threshold value for a second time after the detecting of the beginning of the lane change.