DE202013008112U1 - Driver assistance system for a motor vehicle - Google Patents

Abstract

Driver assistance system for a motor vehicle (2), comprising - an output device (3) designed to output turning instructions for turning processes of the motor vehicle (2), - a computing unit (4), - a computer program product which, when executed on the computing unit (4) the computing unit (4) instructs the user to carry out the following steps: • determining at least one parameter that characterizes a driver's (5) driving behavior (5) of the motor vehicle (2), • classifying the driver's (5) current driving behavior based on the at least one parameter determined , • Determining whether a turning operation of the motor vehicle (2) from a first roadway (6) currently being traveled by the motor vehicle (2) to a second roadway (7) crossing the first roadway (6) is imminent, • if it is determined that a Turning of the motor vehicle (2) is imminent, determining a minimum distance value of the motor vehicle (2) to one on the second drive road users (8) on the road (7), the minimum distance value being determined as a function of the classified current driving behavior of the driver (5), • outputting a turning instruction by means of the output device (3) based on the determined minimum distance value.

Description

The application relates to a driver assistance system for a motor vehicle, a computer program product and a computer-readable medium.

From the DE 102 44 205 A1 a method for collision prevention of vehicles is known in which first the environment of a vehicle and movement quantities of the vehicle are detected by means of sensors. From the output signals of the sensors a right of disregard and a Kollisionsgefährdungsungsmaß are derived. A risk level is determined from a combination of the right of disregard and the risk of collision. Depending on the risk level determined in each case, steps are finally taken to reduce the risk of collision.

Object of embodiments of the invention is to provide a driver assistance system for a motor vehicle, a computer program product and a computer-readable medium, which allow a further improved issue of turn-off instructions for turning operations of the motor vehicle.

• – Ermitteln zumindest eines ein momentanes Fahrverhalten eines Fahrers des Kraftfahrzeugs kennzeichnenden Parameters,
• – Klassifizieren des momentanen Fahrverhaltens des Fahrers basierend auf dem zumindest einen ermittelten Parameter,
• – Ermitteln, ob ein Abbiegevorgang des Kraftfahrzeugs von einer momentan von dem Kraftfahrzeug befahrenen ersten Fahrbahn auf eine die erste Fahrbahn querende zweite Fahrbahn bevorsteht,
• – falls ermittelt wird, dass ein Abbiegevorgang des Kraftfahrzeugs bevorsteht, Ermitteln eines Mindestabstandswerts des Kraftfahrzeugs zu einem auf der zweiten Fahrbahn befindlichen Verkehrsteilnehmer, wobei der Mindestabstandswert in Abhängigkeit des klassifizierten momentanen Fahrverhaltens des Fahrers ermittelt wird,
• – Ausgeben eines Abbiegehinweises mittels der Ausgabevorrichtung basierend auf dem ermittelten Mindestabstandswert.

According to one aspect of the invention, a driver assistance system for a motor vehicle is provided, wherein the driver assistance system has an output device which is designed to output turning instructions for turning operations of the motor vehicle. In addition, the motor vehicle has a computing unit. Furthermore, the motor vehicle has a computer program product which, when executed on the arithmetic unit, instructs the arithmetic unit to carry out the following steps:

• Determining at least one parameter characterizing an instantaneous driving behavior of a driver of the motor vehicle,
• Classifying the current driving behavior of the driver based on the at least one determined parameter,
• Determining whether a turning operation of the motor vehicle is imminent from a first roadway currently being traveled by the motor vehicle onto a second roadway crossing the first roadway,
• If it is determined that a turning operation of the motor vehicle is imminent, determining a minimum distance value of the motor vehicle to a road user located on the second roadway, wherein the minimum distance value is determined as a function of the classified current driving behavior of the driver,
• Outputting of a turn-by-turn indication by the output device based on the determined minimum distance value.

The driver assistance system according to the aforementioned embodiment enables a further improved output of turning instructions for turning operations of the motor vehicle. This is done in particular by classifying the current driving behavior of the driver, determining the minimum distance value of the motor vehicle to a road user located on the second roadway depending on the classified momentary driving behavior of the driver, if a turning operation of the motor vehicle is imminent, and outputting a turn by the output device based on the determined minimum distance value. Thereby, the minimum distance value of the motor vehicle to the other road users can be adapted in an advantageous manner to the driving behavior or the driving style of the respective driver of the motor vehicle, whereby the user acceptance of the driver assistance system and in particular the issued turn-off instructions can be further increased, as will be further explained below.

The minimum distance value of the motor vehicle to the road user located on the second roadway is in one embodiment a minimum time interval of the motor vehicle to the second road user, the minimum time interval characterizing the period of time that the road user at least required from its current position to arrive at the position at which the motor vehicle turns onto the second lane.

In one embodiment, determining the at least one parameter includes determining a current speed and / or a momentary acceleration of the motor vehicle. Furthermore, a time profile of said parameters can be determined. By means of the mentioned parameters, the momentary driving behavior of the driver can be determined as accurately as possible.

In a further embodiment, determining the at least one parameter additionally or alternatively includes determining a duration of a holding process of the motor vehicle at an intersection of the first roadway with the second roadway. The mentioned holding period is likewise a particularly suitable parameter for determining the current driving behavior of the driver.

Classifying the current driving behavior of the driver in one embodiment includes classifying the current driving behavior of the driver as a sporty driving style or a defensive driving style. The determination of the minimum distance value of the motor vehicle in the mentioned embodiment includes an increase of a predetermined distance value in a defensive driving style and reducing the predetermined distance value in a sporty driving style. This is based on the consideration that a driver who has a sporty driving style is typically also more willing to use smaller traffic gaps for the turn-off during turning operations. Accordingly, a driver who has a more defensive driving style typically uses larger traffic holes for the turn. By adapting the minimum distance value of the motor vehicle in the manner mentioned, the user acceptance of the driver assistance system can be further increased.

• – Ermitteln eines momentanen Abstandswerts des Kraftfahrzeugs zu dem auf der zweiten Fahrbahn befindlichen Verkehrsteilnehmer,
• – Ermitteln, ob der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert unterschreitet,
• – wobei das Ausgeben des Abbiegehinweises ein Ausgeben einer Warnmeldung beinhaltet, falls der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert unterschreitet und wobei das Ausgeben des Abbiegehinweises ein Ausgeben eines Abbiegehinweises für ein Durchführen des Abbiegevorgangs beinhaltet, falls der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert nicht unterschreitet.

In a further embodiment, the arithmetic unit is also instructed to carry out the following steps:

• Determining a current distance value of the motor vehicle to the road user located on the second roadway,
• Determining whether the determined instantaneous distance value falls short of the determined minimum distance value,
• - wherein the outputting of the turn signal includes outputting a warning message if the determined instantaneous distance value falls below the determined minimum distance value and wherein the outputting of the turn signal includes outputting a turn signal for performing the turn if the determined instantaneous distance value does not fall below the determined minimum distance value.

As a result, the driver of the motor vehicle can be assisted in the execution of the turn to a further improved extent and in particular be notified of a possible danger situation if the determined instantaneous distance value falls below the determined minimum distance value. In addition, in the latter case, for example, an automatic actuation of a braking device of the motor vehicle take place.

In a further embodiment, the arithmetic unit is also instructed to determine a lane of the second lane on which the motor vehicle turns. Determining the minimum distance value of the motor vehicle in the mentioned embodiment includes determining a minimum distance value of the motor vehicle to a road user approaching the intersection of the first roadway and the second roadway on the determined traffic lane. In the mentioned embodiment, those road users are therefore taken into account in determining the minimum distance value of the motor vehicle, which are located on the lane to which the motor vehicle is changing.

Determining the lane of the second lane may include, in particular, determining a current position of a direction indicator of the motor vehicle and / or determining a lane of the first lane currently being traveled by the motor vehicle. As a result, the lane to which the vehicle changes, can be determined in a simple and reliable manner. For example, if the lane of the first lane currently being traveled by the motor vehicle is a lane on which only right-turn operations are possible, a corresponding right-turn operation of the motor vehicle can be concluded.

In one embodiment, determining the minimum distance value of the motor vehicle includes determining a duration until arrival of the traffic participant located on the second roadway at the intersection. Based on said duration, which is also referred to as TTI (TTI, time to intersection), it is thus advantageously possible to provide a lower limit in determining the minimum distance value, wherein in determining the lower limit, a duration of the turning operation of the motor vehicle and a Duration for an acceleration process of the motor vehicle on an instantaneous speed of the road user located on the second roadway can be included.

In particular, the determination of the duration may be made based on data received from a vehicle-to-vehicle communication device and / or a vehicle-to-infrastructure communication device. The mentioned communication devices are also described as car-to-car (C2C) or vehicle-to-vehicle (V2V) communication or car-to-infrastructure (C2I) or vehicle-to-roadside (V2R) communication as well collectively referred to as Car-to-X (C2X) or Vehicle-to-X (V2X) Communication. As a result, position, direction and speed information of the traffic participant located on the second roadway, which are typically contained in messages transmitted by means of the mentioned communication devices, can be taken into account in determining the duration.

Additionally or alternatively, the determination of the duration may be based on data determined by at least one sensor of the motor vehicle. As a result, position, direction and speed information of the road user located on the second roadway can also be determined and taken into account in determining the duration. The at least one sensor can be designed, for example, as a transit time-based sensor, in particular as a radar sensor, lidar sensor or Ultrasonic sensor. Furthermore, the at least one sensor can be designed as an optical camera, in particular as a front camera of the motor vehicle.

In one embodiment, the classification of the current driving behavior of the driver takes place if it is determined that a turning operation of the motor vehicle is imminent. As a result, the approach behavior of the driver to the intersection of the first lane with the second lane can be taken into account as accurately as possible in the classification of the current driving behavior of the driver.

The determination as to whether a turning operation of the motor vehicle from a first lane currently being traveled by the motor vehicle to a second lane crossing the first lane is imminent is in one embodiment based on map data stored in a storage device. The storage device may be part of a navigation system, in particular an on-board navigation system. Such map data have data on route characteristics, whereby the number of additional components of the driver assistance system can be reduced.

In a further embodiment, the arithmetic unit is additionally instructed to determine a priority position of the motor vehicle with respect to the road user located on the second roadway. Determining the minimum distance value of the motor vehicle takes place in the aforementioned embodiment, if the motor vehicle is not entitled to drive. As a result, the adaptation of the minimum distance value of the motor vehicle to the driving behavior or the driving style of the respective driver of the motor vehicle can be limited to traffic situations in which the road user located on the second roadway has priority over the motor vehicle.

• – Ermitteln zumindest eines ein momentanes Fahrverhalten eines Fahrers des Kraftfahrzeugs kennzeichnenden Parameters,
• – Klassifizieren des momentanen Fahrverhaltens des Fahrers basierend auf dem zumindest einen ermittelten Parameter,
• – Ermitteln, ob ein Abbiegevorgang des Kraftfahrzeugs von einer momentan von dem Kraftfahrzeug befahrenen ersten Fahrbahn auf eine die erste Fahrbahn querende zweite Fahrbahn bevorsteht,
• – falls ermittelt wird, dass ein Abbiegevorgang des Kraftfahrzeugs bevorsteht, Ermitteln eines Mindestabstandswerts des Kraftfahrzeugs zu einem auf der zweiten Fahrbahn befindlichen Verkehrsteilnehmer, wobei der Mindestabstandswert in Abhängigkeit des klassifizierten momentanen Fahrverhaltens des Fahrers ermittelt wird,
• – Ausgeben eines Abbiegehinweises mittels der Ausgabevorrichtung basierend auf dem ermittelten Mindestabstandswert.

A further aspect of the invention relates to a computer program product which, when executed on a computing unit of a driver assistance system of a motor vehicle, wherein the driver assistance system has an output device configured to output turning instructions for turning operations of the motor vehicle, instructs the computing unit to carry out the following steps:

• Determining at least one parameter characterizing an instantaneous driving behavior of a driver of the motor vehicle,
• Classifying the current driving behavior of the driver based on the at least one determined parameter,
• Determining whether a turning operation of the motor vehicle is imminent from a first roadway currently being traveled by the motor vehicle onto a second roadway crossing the first roadway,
• If it is determined that a turning operation of the motor vehicle is imminent, determining a minimum distance value of the motor vehicle to a road user located on the second roadway, wherein the minimum distance value is determined as a function of the classified current driving behavior of the driver,
• Outputting of a turn-by-turn indication by the output device based on the determined minimum distance value.

In addition, another aspect of the invention relates to a computer-readable medium having stored thereon a computer program product according to the aforementioned embodiment.

The computer program product and the computer-readable medium according to the aforementioned embodiments have the advantages already mentioned in connection with the corresponding driver assistance system, which are not listed again at this point in order to avoid repetition.

• – Ermitteln zumindest eines ein momentanes Fahrverhalten eines Fahrers des Kraftfahrzeugs kennzeichnenden Parameters,
• – Klassifizieren des momentanen Fahrverhaltens des Fahrers basierend auf dem zumindest einen ermittelten Parameter,
• – Ermitteln, ob ein Abbiegevorgang des Kraftfahrzeugs von einer momentan von dem Kraftfahrzeug befahrenen ersten Fahrbahn auf eine die erste Fahrbahn querende zweite Fahrbahn bevorsteht,
• – falls ermittelt wird, dass ein Abbiegevorgang des Kraftfahrzeugs bevorsteht, Ermitteln eines Mindestabstandswerts des Kraftfahrzeugs zu einem auf der zweiten Fahrbahn befindlichen Verkehrsteilnehmer, wobei der Mindestabstandswert in Abhängigkeit des klassifizierten momentanen Fahrverhaltens des Fahrers ermittelt wird,
• – Ausgeben eines Abbiegehinweises mittels der Ausgabevorrichtung basierend auf dem ermittelten Mindestabstandswert.

A further aspect of the invention relates to a method for operating a driver assistance system of a motor vehicle, wherein the driver assistance system has an output device designed to output turning instructions for turning operations of the motor vehicle. The method comprises the following steps:

• Determining at least one parameter characterizing an instantaneous driving behavior of a driver of the motor vehicle,
• Classifying the current driving behavior of the driver based on the at least one determined parameter,
• Determining whether a turning operation of the motor vehicle is imminent from a first roadway currently being traveled by the motor vehicle onto a second roadway crossing the first roadway,
• If it is determined that a turning operation of the motor vehicle is imminent, determining a minimum distance value of the motor vehicle to a road user located on the second roadway, wherein the minimum distance value is determined as a function of the classified current driving behavior of the driver,
• Outputting of a turn-by-turn indication by the output device based on the determined minimum distance value.

The method has the advantages already mentioned in connection with the corresponding driver assistance system, which are not listed again at this point in order to avoid repetition.

In one embodiment of the method, determining the at least one parameter includes determining a current speed and / or a momentary acceleration of the motor vehicle.

In a further embodiment of the method, determining the at least one parameter additionally or alternatively includes determining a duration of a holding operation of the motor vehicle at an intersection of the first roadway with the second roadway.

Classifying the current driving behavior of the driver in one embodiment includes classifying the current driving behavior of the driver as a sporty driving style or a defensive driving style. Determining the minimum distance value of the motor vehicle in the mentioned embodiment includes increasing a predetermined distance value in a defensive driving style and reducing the predetermined distance value in a sporty driving style.

• – Ermitteln eines momentanen Abstandswerts des Kraftfahrzeugs zu dem auf der zweiten Fahrbahn befindlichen Verkehrsteilnehmer,
• – Ermitteln, ob der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert unterschreitet,
• – wobei das Ausgeben des Abbiegehinweises ein Ausgeben einer Warnmeldung beinhaltet, falls der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert unterschreitet und wobei das Ausgeben des Abbiegehinweises ein Ausgeben eines Abbiegehinweises für ein Durchführen des Abbiegevorgangs beinhaltet, falls der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert nicht unterschreitet.

In a further embodiment, the method also has the following steps:

• Determining a current distance value of the motor vehicle to the road user located on the second roadway,
• Determining whether the determined instantaneous distance value falls short of the determined minimum distance value,
• - wherein the outputting of the turn signal includes outputting a warning message if the determined instantaneous distance value falls below the determined minimum distance value and wherein the outputting of the turn signal includes outputting a turn signal for performing the turn if the determined instantaneous distance value does not fall below the determined minimum distance value.

In a further embodiment, there is also a determination of a lane of the second lane on which the motor vehicle turns. Determining the minimum distance value of the motor vehicle in the mentioned embodiment includes determining a minimum distance value of the motor vehicle to a road user approaching the intersection of the first roadway with the second roadway.

Determining the lane of the second lane may include, in particular, determining a current position of a direction indicator of the motor vehicle and / or determining a lane of the first lane currently being traveled by the motor vehicle.

In one embodiment, determining the minimum distance value of the motor vehicle includes determining a duration until arrival of the traffic participant located on the second roadway at the intersection.

In particular, the determination of the duration may be made based on data received from a vehicle-to-vehicle communication device and / or a vehicle-to-infrastructure communication device.

Additionally or alternatively, the determination of the duration may be based on data determined by at least one sensor of the motor vehicle.

In one embodiment, the classification of the current driving behavior of the driver takes place if it is determined that a turning operation of the motor vehicle is imminent.

The determination as to whether a turning operation of the motor vehicle from a first lane currently being traveled by the motor vehicle to a second lane crossing the first lane is imminent is in one embodiment based on map data stored in a storage device.

In a further embodiment, there is also a determination of a priority position of the motor vehicle with respect to the road user located on the second roadway. Determining the minimum distance value of the motor vehicle takes place in the aforementioned embodiment, if the motor vehicle is not entitled to drive.

• – Mittel zum Ermitteln zumindest eines ein momentanes Fahrverhalten eines Fahrers des Kraftfahrzeugs kennzeichnenden Parameters,
• – Mittel zum Klassifizieren des momentanen Fahrverhaltens des Fahrers basierend auf dem zumindest einen ermittelten Parameter,
• – Mittel zum Ermitteln, ob ein Abbiegevorgang des Kraftfahrzeugs von einer momentan von dem Kraftfahrzeug befahrenen ersten Fahrbahn auf eine die erste Fahrbahn querende zweite Fahrbahn bevorsteht,
• – Mittel zum Ermitteln eines Mindestabstandswerts des Kraftfahrzeugs zu einem auf der zweiten Fahrbahn befindlichen Verkehrsteilnehmer, falls ermittelt wird, dass ein Abbiegevorgang des Kraftfahrzeugs bevorsteht, wobei der Mindestabstandswert in Abhängigkeit des klassifizierten momentanen Fahrverhaltens des Fahrers ermittelt wird,
• – Mittel zum Ausgeben eines Abbiegehinweises mittels der Ausgabevorrichtung basierend auf dem ermittelten Mindestabstandswert.

Furthermore, a further aspect of the invention relates to a device for operating a driver assistance system of a motor vehicle, wherein the driver assistance system has an output device designed to output turning instructions for turning operations of the motor vehicle. The device for operating the driver assistance system has the following:

• Means for determining at least one parameter characterizing an instantaneous driving behavior of a driver of the motor vehicle,
• Means for classifying the current driving behavior of the driver based on the at least one determined parameter,
• Means for determining whether a turning operation of the motor vehicle from a first roadway currently being traveled by the motor vehicle to a second roadway crossing the first roadway is imminent,
• Means for determining a minimum distance value of the motor vehicle to a road user located on the second roadway, if it is determined that a turn of the Motor vehicle, wherein the minimum distance value is determined as a function of the classified current driving behavior of the driver,
• - means for outputting a turn-by-turn indication by the output device based on the determined minimum distance value.

By means of said device for operating a driver assistance system, as already explained, a further improved output of turn-by-turn instructions for turning operations of the motor vehicle is made possible.

In one embodiment, the means for determining the at least one parameter include means for determining a current speed and / or a momentary acceleration of the motor vehicle. By means of the mentioned parameters, the momentary driving behavior of the driver can be determined as accurately as possible.

In a further embodiment, the means for determining the at least one parameter additionally or alternatively include means for determining a duration of a stopping operation of the motor vehicle at an intersection of the first lane with the second lane. The mentioned holding period is likewise a particularly suitable parameter for determining the current driving behavior of the driver.

The means for classifying the driver's current driving behavior in one embodiment include means for classifying the driver's current driving behavior as a sportive driving style or a defensive driving style. The means for determining the minimum distance value of the motor vehicle in the aforementioned embodiment include means for increasing a predetermined distance value in a defensive driving manner and means for reducing the predetermined distance value in a sporty driving style. By adapting the minimum distance value of the motor vehicle in the manner mentioned, the user acceptance of the driver assistance system can be further increased.

• – Mittel zum Ermitteln eines momentanen Abstandswerts des Kraftfahrzeugs zu dem auf der zweiten Fahrbahn befindlichen Verkehrsteilnehmer,
• – Mittel zum Ermitteln, ob der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert unterschreitet,
• – wobei die Mittel zum Ausgeben des Abbiegehinweises Mittel zum Ausgeben einer Warnmeldung beinhalten, falls der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert unterschreitet und wobei die Mittel zum Ausgeben des Abbiegehinweises Mittel zum Ausgeben eines Abbiegehinweises für ein Durchführen des Abbiegevorgangs beinhalten, falls der ermittelte momentane Abstandswert den ermittelten Mindestabstandswert nicht unterschreitet.

In a further embodiment, the device for operating a driver assistance system also has the following:

• Means for determining a current distance value of the motor vehicle to the road user located on the second roadway,
• - means for determining whether the determined instantaneous distance value falls short of the determined minimum distance value,
• Wherein the means for outputting the turn-by direction includes means for issuing a warning message if the determined instantaneous distance value undershoots the determined minimum distance value, and wherein the means for outputting the turn-by direction comprises means for outputting a turn-by-turn turn-by instruction if the determined instantaneous distance value includes not lower than the minimum distance determined.

As a result, the driver of the motor vehicle can be assisted in the execution of the turn to a further improved extent and in particular be notified of a possible danger situation if the determined instantaneous distance value falls below the determined minimum distance value.

In a further embodiment, the device for operating a driver assistance system further comprises means for determining a lane of the second lane on which the motor vehicle turns. In the mentioned embodiment, the means for determining the minimum distance value of the motor vehicle include means for determining a minimum distance value of the motor vehicle to a road user approaching the intersection of the first roadway with the second roadway on the determined traffic lane. In the mentioned embodiment, those road users are therefore taken into account in determining the minimum distance value of the motor vehicle, which are located on the lane to which the motor vehicle is changing.

The means for determining the traffic lane of the second roadway may in particular include means for determining a current position of a direction indicator of the motor vehicle and / or means for determining a lane of the first roadway currently being traveled by the motor vehicle. As a result, the lane to which the vehicle changes, can be determined in a simple and reliable manner.

In one embodiment, the means for determining the minimum distance value of the motor vehicle include means for determining a time until the arrival of the traffic participant located on the second roadway at the intersection. On the basis of the stated duration, a lower limit can thus advantageously be provided in the determination of the minimum distance value. In determining the lower limit, a duration of the turning operation of the motor vehicle and a duration for an acceleration process of the motor vehicle to an instantaneous speed of the second roadway be included.

In particular, the determination of the duration may be made based on data received from a vehicle-to-vehicle communication device and / or a vehicle-to-infrastructure communication device. As a result, position, direction and speed information of the traffic participant located on the second roadway, which are typically contained in messages transmitted by means of the mentioned communication devices, can be taken into account in determining the duration.

Additionally or alternatively, the determination of the duration may be based on data determined by at least one sensor of the motor vehicle. As a result, position, direction and speed information of the road user located on the second roadway can also be determined and taken into account in determining the duration. The at least one sensor can be designed, for example, as a transit time-based sensor, in particular as a radar sensor, lidar sensor or ultrasound sensor. Furthermore, the at least one sensor can be designed as an optical camera, in particular as a front camera of the motor vehicle.

In one embodiment, the means for classifying the current driving behavior of the driver are arranged to classify the current driving behavior of the driver if it is determined that a turning operation of the motor vehicle is imminent. As a result, the approach behavior of the driver to the intersection of the first lane with the second lane can be taken into account as accurately as possible in the classification of the current driving behavior of the driver.

The determination as to whether a turning operation of the motor vehicle from a first lane currently being traveled by the motor vehicle to a second lane crossing the first lane is imminent is in one embodiment based on map data stored in a storage device. The storage device may be part of a navigation system, in particular an on-board navigation system. Such map data have data on route characteristics, whereby the number of additional components of the driver assistance system can be reduced.

In a further embodiment, the device for operating a driver assistance system also has means for determining a priority position of the motor vehicle with respect to the road user located on the second roadway. Determining the minimum distance value of the motor vehicle takes place in the aforementioned embodiment, if the motor vehicle is not entitled to drive. As a result, the adaptation of the minimum distance value of the motor vehicle to the driving behavior or the driving style of the respective driver of the motor vehicle can be limited to traffic situations in which the road user located on the second roadway has priority over the motor vehicle.

The motor vehicle may in particular be a passenger car or a truck.

Embodiments of the invention will now be described with reference to the accompanying figures.

1 shows a flowchart of a method for operating a driver assistance system of a motor vehicle, which is carried out by means of a computing unit;

2A and 2 B show an example of a traffic situation in which a method that is executed by means of a computing unit can be used;

3 shows that in the 2A and 2 B illustrated motor vehicle with a driver assistance system according to an embodiment of the invention.

1 shows a flowchart of a method for operating a driver assistance system of a motor vehicle, which is carried out by means of a computing unit.

The driver assistance system in this case has an output device which is designed to output turn-by-turn instructions for turning operations of the motor vehicle, for example an optical and / or acoustic output device.

In one step 50 sensor data is determined by means of which it is possible to conclude a possible upcoming turning operation of the motor vehicle from a first roadway currently being traveled by the motor vehicle to a second roadway crossing the first roadway. For this purpose, in the embodiment shown, a determination of a current position of the motor vehicle and retrieval of stored in a memory device map data, the retrieved record includes map data to a portion of an environment of the determined current position of the motor vehicle. The storage device may be part of a navigation system, in particular an on-board navigation system. Furthermore, the determination of the sensor data may include taking pictures by means of at least one optical camera of the motor vehicle, in particular a front camera of the motor vehicle.

In one step 60 is based on the in the step 50 determined sensor data determines whether a turning operation of the motor vehicle is imminent. This is done by means of an evaluation of the retrieved data set of the map data or by means of an image analysis of the images taken by the at least one optical camera.

If in the step 60 is determined that no turning operation of the motor vehicle is imminent, the steps 50 and 60 repeatedly executed.

If, in contrast, in the step 60 is determined that a turning operation of the motor vehicle is imminent, takes place in one step 70 determining at least one of a current driving behavior of a driver of the motor vehicle characterizing parameter. In the embodiment shown, determining the at least one parameter involves determining a current speed and a momentary acceleration of the motor vehicle.

Based on in the step 70 determined parameters takes place in one step 80 classifying the current driving behavior of the driver, wherein classifying the current driving behavior in the illustrated embodiment includes classifying the current driving behavior of the driver as a sporty driving style or a defensive driving style.

For example, the drivability may be classified as a sporty driving style if the motor vehicle approaches the intersection of the first roadway with the second roadway at a high speed. Furthermore, the driveability can be classified as a sporty driving style if the vehicle is decelerated before crossing with high negative acceleration values. Accordingly, when the motor vehicle approaches the intersection at a low speed, the driving performance may be classified as a defensive driving style. Furthermore, the driving behavior can be classified as a defensive driving manner, if a deceleration of the motor vehicle takes place before crossing with low negative acceleration values.

In one step 90 In the embodiment shown, the turning direction of the motor vehicle is determined, ie the direction in which the motor vehicle changes from the first lane to the second lane. For this purpose, a lane of the second lane is determined in the embodiment shown, to which the motor vehicle turns.

In one step 100 it is determined whether there are other road users on the first lane and / or the second lane in a predetermined area around the intersection. This may be done based on data received from a vehicle-to-vehicle communication device and / or a vehicle-to-infrastructure communication device of the motor vehicle. In addition, this can be done based on data determined by at least one sensor of the motor vehicle, wherein the at least one sensor can be embodied in particular as a radar sensor, lidar sensor, ultrasound sensor or as an optical camera.

If in the step 100 it is determined that there are no other road users in the given area around the intersection, takes place in one step 140 outputting a turn-by-turn indication by the output device for performing the turn-off operation. For example, outputting of an optical and / or acoustic turn-off indication takes place by means of the output device.

If, in contrast, in the step 100 is determined that in the predetermined area around the intersection at least one other road users on the second lane, which approaches on the lane to which the motor vehicle turns, to the intersection, is in one step 110 a size t _gap a traffic _gap to the other road users, ie a current time distance value of the motor vehicle to the road user located on the second lane, determined.

For example, in the step 90 determined that the motor vehicle turns from the first lane from the driver's perspective of the motor vehicle to the left on the second lane, so from the driver's perspective of the motor vehicle from the right to the intersection cross traffic, and in particular the closest to the intersection Road users for determining the size t _{gap of} the traffic _gap detected. Will, however, in the step 90 determined that the motor vehicle turns from the first lane from the driver's perspective of the motor vehicle to the right on the second lane, so from the driver's perspective of the motor vehicle from the left to the intersection cross traffic, and in particular the closest to the intersection Road users for determining the size t _{gap of} the traffic _gap detected.

The determination of the size t _{gap of} the traffic _gap is in turn based on data received from the vehicle-to-vehicle communication device and / or the vehicle-to-infrastructure communication device of the motor vehicle or based on data determined by the at least one sensor of the motor vehicle, from which position, direction and Speed information of the located on the second lane traffic participant are determined.

In one step 120 In addition, a determination of a minimum distance value t _{desired of} the motor vehicle to the road user located on the second roadway. In the embodiment shown, the minimum distance value t _set is composed of a lower limit t _min and a safety _buffer t _reserv . The lower limit t _min includes a duration until arrival of the road user located on the second roadway at the intersection, a duration of the turn of the motor vehicle and a duration for an acceleration process of the motor vehicle to a current speed of the road user located on the second roadway. The safety _buffer t _reserv takes into account the reaction time of the driver and is for example 1.5 seconds.

The minimum distance value t _Soll is determined as a function of the classified current driving behavior of the driver. For this purpose, in the embodiment shown, the safety _buffer t _{reserv is multiplied} by a factor that takes into account the threshold value _adaptation based on the driving behavior of the driver. The safety _buffer t _{reserv is increased} in a defensive driving style and reduced in a sporty driving style. For example, the safety _buffer t _{reserv is} increased by 0.5 seconds in a defensive driving style and reduced by 0.5 seconds in a sporty driving style.

In one step 130 it is determined whether the determined instantaneous distance value t _gap corresponds at least to the determined minimum distance value t _Soll , ie it is determined whether the relationship t _gap ≥ t _setpoint applies.

If in the step 130 is determined that said relationship applies, that is, if it is determined that the determined instantaneous distance t _gap at least equal to the determined minimum distance t _Soll corresponds outputting of a turn signal by means of the output device for performing the turn, as in turn with the step 140 is shown.

If, in contrast, in the step 130 If it is determined that the said relationship does not apply, that is, if it is determined that the determined instantaneous distance value falls short of the determined minimum distance value, this takes place in one step 150 issuing a warning message by means of the output device, for example an optical and / or acoustic warning message. Additionally, in the step 150 a haptic warning message are issued, for example in the form of vibrations of the driver's seat. Subsequently, the step 100 and if necessary, the steps 110 . 120 . 130 and 140 respectively. 150 be executed repeatedly.

Thus, a method for an adaptive turn assistant or an adaptive turn assist system can be provided, in which a turn recommendation or a warning of the turn assist is adapted by the approach behavior of the driver of the motor vehicle.

It is based on the consideration that the probability of a risky turning process with a longer waiting time at an intersection can increase. For example, the driver typically does not objectively assess the gaps in cross traffic, but rather tends to take a risky turn after a long wait. In addition, it may play a role as the driver approaches the intersection. For example, drivers who are approaching a crossroads in terms of sport tend to be more willing to use smaller traffic gaps in the turn-off process. In particular, this parameter, d. H. approaching the intersection may be used by the adaptive turn-off assistant to purposefully assist the driver in accordance with the situation and to increase the system's acceptance of a non-adaptive solution.

The turn assistant applies in particular to the following intersections: X-intersection, T-intersection and roundabout where the driver must respect the right of way or stop at stop signs. The turn can be registered by turn signals and / or track assignment. The cross traffic is registered, for example, by C2C or C2X information which contains the position, direction and speed information of other vehicles.

With sporty approach behavior, the security buffer is reduced to further improve the acceptance of the system. The security buffer does not fall below a minimum threshold.

The following are three example turnaround scenarios where the driver can be assisted by the turn-off assistance system.

In a first traffic situation, the driver stops at the intersection, the turning assistance system issues information to the driver that the intersection is clear, and the driver then performs the turn.

In a second traffic situation, the driver stops at the intersection and the turn-off assistance system issues information to the driver that is approaching more relevant traffic crossing. The driver wants to make the turn, but the intersection traffic accelerates and the turn-off assistance system issues a warning, whereupon the driver does not make the turn and stops at the intersection.

In a third traffic situation, the driver stops at the intersection and the turn-off assistance system provides the driver with information that crosses traffic is approaching. The driver then stops at the intersection, the crossing traffic passes the intersection and the turn-off assistance system outputs information about the next gap.

To display the turn recommendation, for example, a head-up display or a display device in an instrument cluster of the motor vehicle as a human-machine interface, which is also referred to as HMI (HMI, Human Machine Interface), are used. Warning can also use vibrations in the driver's seat or warning sounds.

In particular, map data can be used to identify relevant intersections. The recognition of the crossing vehicle may in particular be based on C2C or C2X data.

In the event of faulty or defective C2C communication, the driver can be informed, for example, by a symbol in the instrument cluster or in the head-up display, that the turn assistant is currently not available.

2A and 2 B show an example of a traffic situation in which a method that is performed by means of a computing unit, can be used.

In addition shows 2A the traffic situation at a first time and 2 B shows the traffic situation at a second, later time. Components with the same functions are used in the 2A and 2 B marked with the same reference numerals.

To the in 2A time shown drives a motor vehicle 2 in the form of a passenger car in a direction of travel on a lane schematically represented by an arrow A 12 a first lane 6 in the area in front of a crossroads 9 the first lane 6 with a second lane 7 that the first roadway 6 crosses. The first lane 6 points next to the lane 12 another lane 18 on. The second lane 7 has a lane 10 as well as another lane 19 on and forms in the area of the intersection 9 one by a traffic sign 20 marked priority road.

On the lane 10 the second lane 7 there is a road user 8th in the form of a passenger car. The road user 8th approaches the intersection 9 in a direction schematically represented by an arrow B direction.

The car 2 has a sensor 22 acting as an optical camera for detecting objects in a detection area schematically represented by a broken line 23 is trained. Based on the sensor 22 The data obtained can be the upcoming intersection 9 be determined. This is done by means of an image evaluation of images taken by the optical camera. There is also a traffic sign 21 in the form of a right of way sign at least partially within the coverage area 23 of the sensor 22 , This can be done based on the sensor 22 determined data a priority position of the motor vehicle 2 in relation to the road user 8th be determined. In addition, the upcoming intersection 9 and the priority position are determined based on map data stored in an in 2A Not shown storage device of the motor vehicle 2 are stored.

In the traffic situation shown, there is also a determination as to whether a turning operation of the motor vehicle takes place 2 from the moment of the motor vehicle 2 traveled first lane 6 on the second lane 7 imminent. If it is determined that a turning operation of the motor vehicle 2 imminent becomes the approach behavior of a driver 5 of the motor vehicle 2 determined and classified.

In addition, at a determined turning of the motor vehicle 2 on the lane 10 the second lane 7 ie, in a determined Rechtsabbiegevorgang, a minimum distance value of the motor vehicle 2 to the from the perspective of the driver 5 from the left of the intersection 9 approaching and on the second lane 7 located road users 8th determined. In a corresponding manner, in a determined turning of the motor vehicle 2 on the lane 19 the second lane 7 ie, in a determined left turn, a minimum distance value of the motor vehicle 2 to himself from the perspective of the driver 5 from the right of the intersection 9 approaching and on the second lane 7 be located, with such road users for reasons of clarity in 2A are not shown in detail.

The minimum distance value is dependent on the classified approach behavior, ie, depending on a current driving behavior of the driver 5 determined. Furthermore, this will take a period until the arrival of the second lane 7 road user 8th at the crossroads 9 determined. This can be done in the illustrated traffic situation based on a vehicle-to-vehicle communication device 13 of the motor vehicle 2 received data, the road user 8th also a vehicle-to-vehicle communication device 13 owns which position, direction and speed information of the road user 8th sending out. In addition, there is the road user 8th at least partially within a detection range shown schematically by a dashed and dotted line 24 at least one sensor 15 of the motor vehicle 2 , wherein the at least one sensor 15 for example, as a radar sensor, Lidarsensor or as an ultrasonic sensor is formed. Thereby, the duration additionally or alternatively based on the at least one sensor 15 of the motor vehicle 2 determined data are determined.

To the in 2 B shown second time is the motor vehicle 2 already at a standstill on a stop line 25 whereas the road user 8th the intersection 9 continues to approach. Based on the determined minimum distance value of the motor vehicle 2 to the road user 8th and a determined instantaneous distance value of the motor vehicle 2 to the road user 8th becomes the in 2 B shown second turn a turn by means of a in 2 B not shown in detail output device of the motor vehicle 2 to the driver 5 of the motor vehicle 2 output, as will be explained in more detail in connection with the following figure.

In addition shows 3 that in the 2A and 2 B illustrated motor vehicle 2 with a driver assistance system 1 according to an embodiment of the invention. Components with the same functions as in the 2A and 2 B are denoted by the same reference numerals and will not be explained again below. For clarity, the motor vehicle 2 as well as in 3 shown components of the motor vehicle 2 in 3 only shown schematically.

The driver assistance system 1 has an output device 3 on, for outputting turning instructions for turning operations of the motor vehicle 2 is trained. The output device 3 is designed for example as an optical and / or acoustic output device. In particular, the output device 3 Component of a combination instrument of the motor vehicle 2 be. Furthermore, the output device 3 as a head-up display of the motor vehicle 2 be educated. In addition, the driver assistance system 1 in the embodiment shown, an actuating device 37 for a in 3 not shown driver's seat of the motor vehicle 2 on. As a result, haptic warnings in the form of vibrations of the driver's seat can be issued.

The driver assistance system 1 also has an arithmetic unit 4 on. The arithmetic unit 4 has a computer readable medium 17 and a processing unit 26 on. The processing unit 26 For example, it can be designed as an electronic processor, in particular as a microprocessor, microcontroller or application-specific integrated circuit (ASIC). The computer-readable medium 17 For example, it can be designed as a flash memory. On the computer readable medium 17 is a computer program product stored that when it is on the arithmetic unit 4 is executed, the arithmetic unit 4 instructs the steps explained in connection with the above-mentioned embodiments of the method, in particular the steps of in 1 shown method to execute.

This is the arithmetic unit 4 via a signal line 38 with the output device 3 as well as via a signal line 47 with the actuator 37 connected. Furthermore, the arithmetic unit 4 via a signal line 39 with a communication unit 27 of the motor vehicle 2 connected. The communication unit 27 In the illustrated embodiment, in addition to the vehicle-to-vehicle communication device 13 a vehicle-to-infrastructure communication device 14 on. Based on the vehicle-to-vehicle communication device 13 and / or the vehicle-to-infrastructure communication device 14 Received data can be determined further road users, which approach an intersection at which the motor vehicle 2 located. In addition, road users approaching an intersection may be based on the at least one sensor 15 of the motor vehicle 2 determined data are determined. This is the at least one sensor 15 via a signal line 40 with the arithmetic unit 4 connected.

In addition, the arithmetic unit 4 via a signal line 41 with a navigation system 28 of the motor vehicle 2 connected. The navigation system 28 has a position detecting device 29 and a storage device 16 with map data stored thereon. Determining whether a turning operation of the motor vehicle 2 from a moment of the motor vehicle 2 traveled first lane is approaching a first lane crossing the second lane, thus based on the in the storage device 16 stored map data is done.

Furthermore, the arithmetic unit 4 via a signal line 42 with the sensor 22 connected in the embodiment shown as optical camera is formed. This can be done based on the sensor 22 determined data a Vorfahrtslage at an imminent turning operation of the motor vehicle 2 be determined. Furthermore, a turning direction of the upcoming turn can be determined, for example, by an evaluation of on and / or adjacent to the roadway arranged traffic signs that mark a prescribed direction. In addition, the turning direction may be based on a current position of one in the area of a steering wheel 36 of the motor vehicle arranged direction indicator 11 be determined. This is the arithmetic unit 4 via a signal line 46 with a sensor 35 connected to determine the position of the direction indicator 11 is trained.

Furthermore, the arithmetic unit 4 via a signal line 43 with a sensor 30 for determining a degree of depression of a brake pedal 31 of the motor vehicle 2 is formed, as well as via a signal line 44 with a sensor 32 for determining a degree of depression of an accelerator pedal 33 of the motor vehicle 2 is formed, connected. In addition, the arithmetic unit 4 via a signal line 45 with a sensor 34 connected for determining a current speed of the motor vehicle 2 is trained. Based on the sensors 30 . 32 and 34 determined data can be the current driving behavior of a driver of the motor vehicle 2 be classified and determined the above-mentioned minimum distance value depending on the classified current driving behavior of the driver.

Although at least one exemplary embodiment has been shown in the foregoing description, various changes and modifications may be made. The above embodiments are merely examples and are not intended to limit the scope, applicability, or configuration in any way. Rather, the foregoing description provides those skilled in the art with a scheme for practicing at least one example embodiment, which may make numerous changes in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the appended claims and their legal equivalents ,

LIST OF REFERENCE NUMBERS

1

Driver assistance system

2

motor vehicle

3

output device

4

computer unit

5

driver

6

roadway

7

roadway

8th

road users

9

crossing

10

lane

11

Direction indicators

12

lane

13

Vehicle-to-vehicle communication device

14

Vehicle-to-infrastructure communication device

15

sensor

16

storage device

17

medium

18

lane

19

lane

20

road sign

21

road sign

22

sensor

23

detection range

24

detection range

25

stop line

26

processing unit

27

communication unit

28

navigation system

29

Position-determining device

30

sensor

31

brake pedal

32

sensor

33

accelerator

34

sensor

35

sensor

36

steering wheel

37

actuator

38

signal line

39

signal line

40

signal line

41

signal line

42

signal line

43

signal line

44

signal line

45

signal line

46

signal line

47

signal line

50

step

60

step

70

step

80

step

90

step

100

step

110

step

120

step

130

step

140

step

150

step

A

arrow

B

arrow

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10244205 A1 [0002]

Claims (15)

Driver assistance system for a motor vehicle ( 2 ), comprising - an output device ( 3 ) configured for outputting turning instructions for turning operations of the motor vehicle ( 2 ), - a computing unit ( 4 ), - a computer program product which, when stored on the computing unit ( 4 ) is executed, the arithmetic unit ( 4 ) leads to the following steps: determining at least one current driver behavior ( 5 ) of the motor vehicle ( 2 ) characterizing parameter, • Classifying the current driving behavior of the driver ( 5 ) based on the at least one determined parameter, • determining whether a turning operation of the motor vehicle ( 2 ) of a moment of the motor vehicle ( 2 ) traveled first lane ( 6 ) on a first lane ( 6 ) crossing second roadway ( 7 ), if it is determined that a turning operation of the motor vehicle ( 2 ), determining a minimum distance of the motor vehicle ( 2 ) to one on the second lane ( 7 ) ( 8th ), wherein the minimum distance value depends on the classified current driving behavior of the driver ( 5 ), issuing a turn-by-turn instruction by means of the output device ( 3 ) based on the determined minimum distance value. The driver assistance system of claim 1, wherein determining the at least one parameter comprises determining a current speed and / or a momentary acceleration of the motor vehicle. 2 ) includes. The driver assistance system according to claim 1 or claim 2, wherein determining the at least one parameter comprises determining a duration of a holding operation of the motor vehicle ( 2 ) at an intersection ( 9 ) of the first lane ( 6 ) with the second lane ( 7 ) includes. Driver assistance system according to one of the preceding claims, wherein the classification of the current driving behavior of the driver ( 5 ) classifying the current driving behavior of the driver ( 5 ) as a sporty driving style or a defensive driving style and wherein the determination of the minimum distance value of the motor vehicle ( 2 ) includes increasing a predetermined distance value in a defensive driving style and decreasing the predetermined distance value in a sportive driving style. Driver assistance system according to one of the preceding claims, wherein the arithmetic unit ( 4 ) is guided to carry out the following steps: determining a current distance value of the motor vehicle ( 2 ) to that on the second lane ( 7 ) ( 8th Determining whether the determined instantaneous distance value undershoots the ascertained minimum distance value, wherein the outputting of the turn - by direction includes outputting a warning message if the determined instantaneous distance value undershoots the determined minimum distance value and wherein the outputting of the turn - off instruction outputting a turn - off instruction for carrying out the Turning involves, if the determined instantaneous distance value does not fall below the determined minimum distance value. Driver assistance system according to one of the preceding claims, wherein the arithmetic unit ( 4 ) is also instructed to determine a lane of the second lane ( 7 ) to which the motor vehicle ( 2 ) and determining the minimum distance value of the motor vehicle ( 2 ) determining a minimum distance value of the motor vehicle ( 2 ) to a determined on the lane ( 10 ) to the intersection ( 9 ) of the first lane ( 6 ) with the second lane ( 7 ) approximate road user ( 8th ) includes. A driver assistance system according to claim 6, wherein determining the traffic lane ( 10 ) of the second lane ( 7 ) determining a current position of a direction indicator ( 11 ) of the motor vehicle ( 2 ) and / or determining a momentarily of the motor vehicle ( 2 ) traffic lane ( 12 ) of the first lane ( 6 ) includes. Driver assistance system according to one of the preceding claims, wherein determining the minimum distance value of the motor vehicle ( 2 ) determining a duration until the arrival on the second lane ( 7 ) road user ( 8th ) at the crossroads ( 9 ) includes. The driver assistance system of claim 8, wherein determining the duration based on a vehicle-to-vehicle communication device ( 13 ) and / or a vehicle-to-infrastructure communication device ( 14 ) received data takes place. A driver assistance system according to claim 8 or claim 9, wherein determining the duration based on at least one sensor ( 15 ) of the motor vehicle ( 2 ) determined data takes place. Driver assistance system according to one of the preceding claims, wherein the classification of the current driving behavior of the driver ( 5 ) if it is determined that a turning operation of the motor vehicle ( 2 ) is imminent. Driver assistance system according to one of the preceding claims, wherein determining whether a turning operation of the motor vehicle ( 2 ) of a moment of the motor vehicle ( 2 ) traveled first lane ( 6 ) on a first lane ( 6 ) crossing second roadway ( 7 ), based on in a storage device ( 16 ) stored map data is done. Driver assistance system according to one of the preceding claims, wherein the arithmetic unit ( 4 ) is also instructed to determine a priority position of the motor vehicle ( 2 ) with respect to the second lane ( 7 ) ( 8th ) and wherein the determination of the minimum distance value of the motor vehicle ( 2 ), if the motor vehicle ( 2 ) is not entitled to drive. Computer program product that, when stored on a computer unit ( 4 ) of a driver assistance system ( 1 ) of a motor vehicle ( 2 ) is executed, wherein the driver assistance system ( 1 ) an output device ( 3 ) configured for outputting turning instructions for turning operations of the motor vehicle ( 2 ), the arithmetic unit ( 4 ) to carry out the following steps: determining at least one current driver behavior ( 5 ) of the motor vehicle ( 2 ) characterizing parameter, - classifying the current driving behavior of the driver ( 5 ) based on the at least one determined parameter, - determining whether a turning operation of the motor vehicle ( 2 ) of a moment of the motor vehicle ( 2 ) traveled first lane ( 6 ) on a first lane ( 6 ) crossing second roadway ( 7 ), if it is determined that a turning operation of the motor vehicle ( 2 ), determining a minimum distance of the motor vehicle ( 2 ) to one on the second lane ( 7 ) ( 8th ), wherein the minimum distance value depends on the classified current driving behavior of the driver ( 5 ), issuing a turn-by-turn instruction by means of the output device ( 3 ) based on the determined minimum distance value. A computer readable medium having stored thereon a computer program product according to claim 14.

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