DE102009028767A1 - Driver assistance system for motor vehicles, has unit for determination of parameter relevant for support function, which is dependent on determined environmental parameter of vehicle or driver - Google Patents

Abstract

The driver assistance system has a unit for the determination of a parameter relevant for a support function, which is dependent on a determined environmental parameter of a vehicle or a driver. The unit is designed to provide a subjective feeling of driving with the determination of a parameter relevant for a support function depending on the environmental parameter of the vehicle or the driver. An independent claim is also included for a method for supporting a user of a motor vehicle, particularly a driver of a motor vehicle.

Description

State of the art

The The invention relates to a driver assistance system for motor vehicles, with a facility for determining a support function relevant Size determined by at least one determined environmental parameter of the vehicle and / or the driver.

Driver assistance systems assist the driver in controlling a vehicle. An example of such a well-known system is a warning / information system from danger points such as tight bends (Curve warning system), for example, in a navigation system can be integrated. As physically relevant parameters are at a curve warning system typically the current speed, the distance to the curve and the physical conditions of the Road and the tire used.

From the DE 10 2004 028 613 A1 a generic lane change assistant for motor vehicles is known in which the risk to be determined except the location data of the vehicles affected by the lane change also on the detected environmental conditions, in particular the visibility conditions dependent. In the known lane change assistant, it is assumed that with regard to the danger of a lane change maneuver, not only is the distance of the vehicles involved physically relevant, but also environmental influences that objectively complicate the lane change maneuver, for example due to poor visibility for a human driver. Accordingly, the danger value is determined by means of a function that is directly dependent on the location data and another physically relevant variable, the environmental parameter.

From the DE 10 2007 007 896 A1 Another generic driver assistance system is known, which is also for the detection and consideration of driver-related or situation-dependent parameters, eg. B. the objective, detectable by sensors degree of fatigue of the driver is set up.

Disclosure of the invention

at the inventive, characterized in claim 1 Driver assistance system is about the generic Characteristics provided in determining the for the support function relevant size to consider the subjective perception of driving.

According to the invention Accordingly, it is suggested in determining the need and the choice of the issue type of warning / information not only the physical for the respective support function relevant parameters or environmental parameters in direct Way to use, but the subjective feeling of the driver due to its environment, preferably in the way that the influence of the environmental parameter on the subjective Driving sense in the to be determined, for the support function relevant size reflects. The size is characterized by the respective environmental parameter that is to be considered subjective sense of driving is indirectly dependent. additionally Indirect dependence of size from the respective environmental parameters can also be a direct dependence on this (or another) environmental parameter be taken into account in a conventional manner. The "environment parameter" in the The meaning of the present invention includes all individual parameters or parameter groups or several or all of these parameter groups, that captured in the particular application and for representation the current environmental situation are used.

According to one advantageous embodiment of the invention is provided that the environmental parameter information regarding the current natural visibility in the Environment of the vehicle, in particular the brightness provides. Darkness, Danger of dazzle due to the position of the sun and other influences on the visibility can thus - independently from the physically objective handicap for the driver - according to her Effect on the subjective driving sensation of a human driver be taken into account.

at In another embodiment, the environmental parameter represents Information regarding the current lane of the vehicle adjacent artifacts or lane boundaries ready.

Independently thereof, or in conjunction therewith, the environmental parameter may be determined according to a preferred embodiment of the present invention information regarding the in the lane area of the vehicle currently and / or location-based hazard areas provide.

According to one Further advantageous embodiment provides the environmental parameters Information regarding the situation-dependent, justified in the environment of the driver or the vehicle Stress factors, eg. As the traffic, ready.

In a further advantageous embodiment, the environmental parameter provides information relating to ambient driving habits and / or the environmental driving style the user ready.

Advantageous is also a development of the present driver assistance system, at the environmental parameter information regarding the recorded current weather conditions.

When Particularly advantageous is a further embodiment according to which the driver-relevant environmental parameters by scaling the one relevant to the support function Size or by scaling a non-driver-relevant parameter, taken into account in the determination of size becomes.

According to one particularly preferred embodiment is the invention Driver assistance system designed as a curve warning system. This curve warner warns - at the same physical road conditions (same static friction value) - in the dark the driver at a greater distance or even less tight Curves as in brightness. The subjective driving feeling, justified by the limited visibility is next to only physical relevant parameters, such as the static friction value.

The Invention will be described below with reference to exemplary embodiments described in more detail. The only figure of the drawing shows in a schematic representation of an embodiment of a driver assistance system according to the present Invention.

The inventive consideration of the subjective driving sensation in driver assistance systems will be described below with reference to one of DE 10 2006 057 153 A1 explained in the context of an advanced driver assistance system application known curve warning system. The ADAS shown in the figure has a recording device 20 namely, a readable and writable memory device for storing data. These data are provided by at least one navigation sensor 30 , optionally with at least one GPS module, by at least one motor vehicle sensor 32 and / or by at least one environmental sensor 34 , such as B. by at least one rain sensor provided.

The illustrated driver assistance system further comprises a navigation system using GPS 50 as well as a digital map on top of a storage medium 52 is stored. The system is used to store the sensor data and to work with the ADAS applications 60 or ADAS data 62 (eg information about adjacent buildings) to communicate. The recorded data may be stored by a pre-processor 22 be precalculated. An output device 10 Namely, a human machine interface device (HMI device or man-machine interface) is used for, for example, visual, audible and / or haptic transmission of navigation instructions and / or map information to indicate which ADAS applications 60 currently running.

By applying statistical methods to the data records of the sensors 30 . 32 . 34 is it possible to have a user profile 12 to determine that the default behavior, e.g. B. reproduces a speed profile of a driver. The standard behavior of a driver can be influenced not only by time information but also by environmental factors, such as when driving uphill.

The driver assistance system according to the invention differs from previously known driver assistance systems in that warnings of the driver assistance system earlier, later, more frequently, less frequently or in a different manner (visually, acoustically), even with the same physical conditions, but changed environmental parameters that affect the subjective driving sense haptic) than in a conventional system. This is done with a calculation unit 14 a variable relevant for the respective support function, in particular a danger value, on the basis of the parameters and state variables described below (physically and motivated by the subjective driving sensation). The output device 10 , ie the system unit for the information and warning output, is extended accordingly.

The curve warning system is, as described above, in a navigation system 50 integrated so that there is a positioning on a card basis. For a turn warning system, the curvature of the most likely future path of the vehicle is calculated in advance in a manner known per se on the basis of the map. On the basis of a curvature k, the maximum speed v _max , with which the curve can be safely traversed, can be estimated in a manner known per se:

Here, g = 9.81 m / s ^{2 is} the average gravitational acceleration on the ground and μ is the static friction value between the road and the tire of the vehicle. On the basis of the current speed, the distance to the respective curve point, which lies within a look ahead distance, and the associated derived maximum speed v _{max, it} can be calculated whether the speed is in the current position for driving safely through the curve or for possible stopping within the visibility is critical. If it is critical, a warning is generated. Here, the reaction time of the driver can be included in the warning. The physical conditions of the road and the tire influence the static friction value μ. The value has to be estimated for different scenarios. For this example, the ambient temperature (ice danger) or the wiper function or a rain sensor can be included.

• – zeitlich variierende Sichtverhältnisse, z. B. Helligkeit, Sonnenstand (Blendgefahr), Regen
• – fahrerrelevante Wetterbedingungen, z. B. Trockenheit, Regen, Wind (instabilere Fahrweise), Eis, Schnee
• – umgebungsbedingte Sichtverhältnisse, z. B. angrenzende Bebauung oder Fahrbahnbegrenzung
• – zeitlich variierende Gefahrenbereiche, z. B. Gegenverkehr
• – umgebungsbedingte Gefahrenbereiche, z. B. Wildwechselbereiche
• – zeitlich variierender, umgebungsbedingter Stresspegel des Fahrers, z. B. bedingt durch Verkehrsaufkommen, Telefonaktivität
• – umgebungsbedingter Bekanntheitsgrad der Strecke
• – umgebungsbedingte persönliche Fahrweise

For the decision as to whether, when and how (acoustically, optically, haptically) a warning or information message is to be output, in addition to the physically relevant parameters which influence the static friction value μ or the current vehicle behavior (already initiated braking / turning operation), environmental parameters considered, insofar as they affect the driver's subjective driving experience. Examples of such driver-relevant environmental parameters or parameter classes can be:

• - temporally varying visibility, z. B. Brightness, position of the sun (risk of glare), rain
• - Driver relevant weather conditions, eg. Dryness, rain, wind (unstable driving style), ice, snow
• - environmental conditions, eg. B. adjacent building or road boundary
• - temporally varying danger areas, z. B. oncoming traffic
• - environmental hazard areas, eg. B. game areas
• - temporally varying, environmental stress levels of the driver, z. B. due to traffic, telephone activity
• - Ambient awareness of the route
• - environmental personal driving

Some Example applications for the subjectively relevant environmental parameters are listed below. These environmental parameters can through sensors, through prior detection and deployment in a database or stored by a statistical analysis Data are determined.

The Consideration of the driver-relevant environmental parameters for the determination of the for the support function Relevant size can be different ways done, for example, by scaling the maximum speed, by scaling the stiction value before calculating the maximum speed or by scaling the look ahead distance.

The Decision for the type of presentation (visual, acoustic, haptic) of the warning / information depends on the one hand of Danger level (eg if a strong braking would be necessary), but also from the situation (traffic, telephone on / off, Night mode of the display, display reflection due to the light incidence). In addition, a different reaction time may occur the possibly changed output mode is considered become. The information channel should always support the driver and do not distract him from traffic. It should be possible few messages are given to the driver for additional To avoid stress.

When illustrative embodiment of an environmental parameter, which influences the subjective perception of driving, is the brightness called. With identical physical conditions of road, Tire, current speed of the vehicle is there for the driver helpful when under night driving conditions in less Critical cases already have a warning, which is a hint to the maximum recommended speed, appears. The Warning can then have a more informative character and thus contribute to the safety of the driver.

One another example of parameters that the subjective driving experience due to the (changed) environment of the driver, may be a low sun position (especially in rain), as a result the view is influenced. Likewise, related ones can Buildings (houses or lane boundaries, for example Rural roads in southern England or forest crossings) obstruct the view and alert or inform at less critical Require cases. Depending on twilight and season can also be included the risk of debris, by looking at curves whose history is not fully understood can be, the maximum speed is lowered. When expanding Car2Car communication can be taken into account by oncoming traffic in order to warn the driver even with less critical turns, because the driver may not cut the curve in any case. This one mentioned environmental parameters are possibly more complex in their Capture or require a database that provides ADAS applications.

A limiting case between physical parameters and environmental parameters motivated by the subjective perception of driving is the estimation of the static friction value. The difference in adhesion between dry and wet pavement is often subjectively assessed differently than the difference in physical adhesion actually is. The driven speed in the rain is therefore likely to be closer to the physical maximum speed regularly than on dry roads. This can also be taken into account by the above-mentioned scaling. In dry weather, the inventive Driver assistance system, for example, propose to drive through a curve with 80 km / h. In the rain, due to the objectively lower adhesion, it would be suggested to reduce the speed, e.g. B. to 60 km / h. This reduction would be due to the direct dependence of the hazard value of the physically relevant parameters or environmental parameters. Since the driver feels uncomfortable in bad weather and naturally calculates a greater safety margin, the system would consider this by a given assessment of the environmental condition and reduce the maximum speed again, z. B. at 55 km / h. The evaluation of the environmental parameter by means of scaling can, as in this example, be carried out by applying a respectively definable offset and / or factor to the variable to be determined. However, the scaling can also be implemented by application to an "objective" parameter, for example the static friction coefficient μ. For example, if μ <0.2, this value may be multiplied by a factor 0.5 to account for the subjective driving sensation due to the objectively reduced static friction, while at higher μ values a factor closer to or equal to 1.0 stops is brought.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• DE 102004028613 A1 [0003]
• DE 102007007896 A1 [0004]
• - DE 102006057153 A1 [0016]

Claims (11)

Driver assistance system for motor vehicles, with a device ( 14 ) for determining a quantity relevant to a support function, which is dependent on at least one determined environmental parameter of a vehicle and / or a driver, characterized in that the device ( 14 ) is designed to take into account a subjective sense of driving when determining the relevant for the support function variable depending on the environmental parameters of the vehicle and / or the driver. Driver assistance system according to claim 1, characterized in that that the environmental parameter information regarding the current natural visibility in the Environment of the vehicle, in particular the brightness provides. Driver assistance system according to claim 1 or 2, characterized characterized in that the environmental parameter information regarding artifacts or lane boundaries adjacent the roadway of the vehicle provides. Driver assistance system according to one of the claims 1 to 3, characterized in that the environmental parameter information regarding the in the lane area of the vehicle currently and / or location-based hazard areas. Driver assistance system according to one of the claims 1 to 4, characterized in that the environmental parameter information regarding the situation-dependent, in the environment of the driver or the vehicle justified stress factors for the driver. Driver assistance system according to one of the claims 1 to 5, characterized in that the environmental parameter information regarding environmental driving habits and / or the environment-based driving style of the user provides. Driver assistance system according to one of the claims 1 to 6, characterized in that the environmental parameter information regarding the current weather conditions. Driver assistance system according to one of the claims 1 to 7, characterized in that the subjective driving sense by scaling the for the support function relevant size or by scaling one not driver-relevant parameter used in the determination of the size is taken into account. Driver assistance system according to one of the claims 1 to 8, characterized in that the support function of the driver assistance system is a curve warning system and the maximum Speed of the vehicle the size to be determined is. Driver assistance system according to one of the claims 1 to 9, characterized in that the driver assistance system to select at least one presentation type the support function depending on Danger level and from a situation-dependent parameter is set up. Method for supporting at least one User of a motor vehicle, in particular at least one driver a motor vehicle, wherein an environmental parameter of the vehicle and / or the driver, and in determining a Environmental parameters depend on the support function relevant size taken into account by a facility is characterized in that in determining the for the support function relevant size depending on the environmental parameters of the vehicle and / or the driver takes into account a subjective driving experience becomes.

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