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WO2019063352A1 - Method for assisting a driver of a motor vehicle in overtaking an object as well as driver assistance system - Google Patents

Method for assisting a driver of a motor vehicle in overtaking an object as well as driver assistance system Download PDF

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Publication number
WO2019063352A1
WO2019063352A1 PCT/EP2018/075142 EP2018075142W WO2019063352A1 WO 2019063352 A1 WO2019063352 A1 WO 2019063352A1 EP 2018075142 W EP2018075142 W EP 2018075142W WO 2019063352 A1 WO2019063352 A1 WO 2019063352A1
Authority
WO
WIPO (PCT)
Prior art keywords
overtaking
motor vehicle
driver
distance
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/075142
Other languages
French (fr)
Inventor
Bryan MCNAMARA
Deardriu LALLY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Connaught Electronics Ltd
Original Assignee
Connaught Electronics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Connaught Electronics Ltd filed Critical Connaught Electronics Ltd
Publication of WO2019063352A1 publication Critical patent/WO2019063352A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0841—Registering performance data
    • G07C5/085—Registering performance data using electronic data carriers
    • G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/33—Illumination features
    • B60K2360/334—Projection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects

Definitions

  • the invention relates to a method for assisting a driver of a motor vehicle in overtaking an object located on a roadway of the motor vehicle, wherein the object is detected based on sensor data captured from an environmental area of the motor vehicle by a vehicle-side sensor device, a position and a relative speed of the object with respect to the motor vehicle are determined and an overtaking path bypassing the object for overtaking the object is determined as a function of the position and the relative speed.
  • the invention also relates to a driver assistance system for a motor vehicle.
  • this object is solved by a method as well as a driver assistance system having the features according to the respective independent patent claims.
  • a method for assisting a driver of a motor vehicle in overtaking an object located on a roadway of the motor vehicle in particular, the object is detected based on sensor data captured from an environmental area of the motor vehicle by a vehicle-side sensor device, a position and a relative speed of the object with respect to the motor vehicle are determined and an overtaking path bypassing the object for overtaking the object is determined as a function of the position and the relative speed.
  • a legal overtaking distance is determined for overtaking the object as a function of a regional legislation and the overtaking path is additionally determined as a function of the legal overtaking distance.
  • the overtaking path can be visualized to the driver by means of a display device of the motor vehicle.
  • a particularly preferred embodiment of a method for assisting a driver of a motor vehicle in overtaking an object located on a roadway of the motor vehicle the object is detected based on sensor data captured from an environmental area of the motor vehicle by a vehicle-side sensor device, a position and a relative speed of the object with respect to the motor vehicle are determined and an overtaking path bypassing the object for overtaking the object is determined as a function of the position and the relative speed.
  • a legal overtaking distance is determined for overtaking the object as a function of a regional legislation and the overtaking path is additionally determined as a function of the legal overtaking distance.
  • the overtaking path is visualized to the driver by means of a display device of the motor vehicle.
  • the driver of the motor vehicle can be assisted in overtaking manoeuvers of objects, for example other road users.
  • objects can be, for example, pedestrians, cyclists, motorcyclists or other motor vehicles, which are located on the roadway of the motor vehicle.
  • the sensor data from the environmental area of the motor vehicle are first detected by the vehicle-side sensor device.
  • These sensor data can be provided, for example, for an evaluation device of the driver assistance system for analysis.
  • the evaluation device can recognize the object in the environmental area based on the sensor data. This is also referred to as machine vision.
  • the evaluation device can determine the position or spatial position of the object relative to the motor vehicle as well as the relative speed of the object with respect to the motor vehicle.
  • the overtaking distance is determined which corresponds to the legal requirements of the region in which the motor vehicle is currently located.
  • This overtaking distance is, in particular, a minimum distance determined by law, which must be complied with by the motor vehicle when overtaking or bypassing objects.
  • This overtaking distance can vary from region to region and is therefore regional or region-dependent.
  • the regional overtaking distance can, for example, be requested from a database external to the motor vehicle, for example the Internet.
  • the overtaking path is then determined, which is determined, for example, as a curve bypassing the object.
  • the motor vehicle is to move during the overtaking or driving around of the object.
  • the overtaking path is visualized for the driver by means of the vehicle-side display device so that the driver can move the motor vehicle along the overtaking path around the object and thus overtake the object.
  • the overtaking path is thereby determined in such a way that the driver at least keeps the overtaking distance or the legal minimum distance during the overtaking of the object.
  • the overtaking path can be determined such that it bypassed the object at a distance corresponding to the overtaking distance.
  • a particularly safe overtaking manoeuver By determining the overtaking path as a function of the legal overtaking distance, a particularly safe overtaking manoeuver can be provided.
  • the legal overtaking distance is usually determined in such a way that a risk of collision is minimized, for example, even if the object moves inadvertently.
  • a list comprising regional legal overtaking distances is preset, a current position of the motor vehicle is determined, and the overtaking distance corresponding to the current position of the motor vehicle is selected from the list and preset to determine the overtaking path.
  • the current position of the motor vehicle is determined based on data from a global positioning system.
  • the list can, for example, be stored in a vehicle-side memory device and/or in a vehicle-external database, for example the Internet.
  • the list can, for example, comprise the country- specific or region-specific overtaking distances for different countries or regions. Then the current position of the motor vehicle is determined.
  • GPS data of the motor vehicle can be determined, by means of which a global position, at which the motor vehicle is currently located, is characterized. Depending on the current position, it is then possible to determine in which region or in which country the motor vehicle is currently located, and then the associated overtaking distance is selected from the list.
  • the overtaking distances can be adapted at any time, for example, when the motor vehicle travels into another region with other legal overtaking distances.
  • a delivery location and/or an operating location of the motor vehicle are determined and the overtaking distance corresponding to the delivery location and/or the operating location is preset.
  • the overtaking distance is configured, in particular, at the factory before the motor vehicle is delivered to an end customer.
  • the overtaking distance is predefined and preset which corresponds to the region into which the motor vehicle is delivered and/or in which the motor vehicle is operated.
  • the delivery location and/or the operating location can be determined as a function of a place of residence of the later vehicle owner.
  • the object, the position and the relative speed of which are detected on the basis of sensor data in the form of image data of at least one camera of the vehicle-side sensor device.
  • the motor vehicle can comprise at least one camera which can detect the environmental area in the direction of travel in front of the motor vehicle.
  • a camera can be, for example, a front camera.
  • the image data or video frames of the camera can be provided to the evaluation device, which can recognize objects in the form of other road users in the sensor data.
  • object recognition algorithms can be used, based on which the objects can be identified in the video frames of the environmental area.
  • the position and the relative speed of the object can be determined, for example, based on a displacement of an image of the object within at least two consecutively recorded video frames.
  • the use of image data is particularly advantageous since a plurality of motor vehicles are already equipped with camera systems.
  • the object is classified and the overtaking path is additionally determined as a function of the classification of the object by determining the legal overtaking distance for overtaking the object as a function of a regional, object-specific legislation. For example, it can be determined whether the object is a cyclist, a pedestrian, a motorcyclist or another motor vehicle. This embodiment is based on the fact that it is possible that, depending on the type of the object, different overtaking distances must be kept by law.
  • the object is additionally classified, for example based on the image data, and thus a type of the object or the road user is determined.
  • the regional overtaking distance corresponding to this object is then determined and preset for determining the overtaking path.
  • the overtaking distances corresponding to the different object types can be stored for each region in the list readable by the evaluation device.
  • the corresponding legal overtaking distance can then be selected from the list and preset.
  • a distance between the overtaking path and the object is determined as the sum of the legal overtaking distance and a tolerance value predetermined by the driver.
  • the driver can additionally determine a tolerance value, which is added to the legal overtaking distance.
  • the tolerance value can, for example, be input by the driver by means of an input device and can be stored in the vehicle-side memory device which can be read out by the evaluation device for determining the distance between the overtaking path and the object. The driver can therefore increase the overtaking distance by the tolerance value, for example in order to be able to perform a particularly safe overtaking manoeuver.
  • the overtaking path is projected into a driver's field of view by means of a head-up display of the display device.
  • the overtaking path is projected into the driver's field of view by means of the head-up display in such a way that the driver is given the impression as if the overtaking path were actually in the environmental area of the motor vehicle.
  • the overtaking path can be projected into the field of view in such a way that the driver is given the impression that the overtaking path would run on a surface of the roadway and would bypass the object.
  • the overtaking path is thus shown in perspective on the road surface and is there in particular visible only to the vehicle occupants of the motor vehicle, in particular the driver.
  • Projection of environmental information, such as an overtaking path, into the driver's field of view is also referred to as augmented reality (AR), and is particularly advantageous because the driver can acquire all the information without losing sight of the roadway.
  • AR augmented reality
  • a video sequence of the environmental area detected by a vehicle-side camera with the object is displayed on a screen of the display device, the overtaking path being displayed as an overlay in the video sequence on the screen.
  • a video sequence detected by a front camera of the motor vehicle can be displayed on the screen in an interior of the motor vehicle. This video sequence is superimposed with the overtaking path.
  • the overtaking path can, for example, be displayed as a coloured curve on the screen and can be represented in such a way that it bypasses the object on the image of the roadway of the motor vehicle.
  • a video sequence with an overlay, which describes the overtaking path, is particularly intuitive for the driver.
  • the object to be overtaken is optically highlighted by means of the display device.
  • the object can be optically highlighted, for example, by means of the head-up display and/or on the screen.
  • a three-dimensional surface enclosing the object is determined and displayed by means of the display device.
  • the three-dimensional surface corresponds, for example, to a three-dimensional representation of the object.
  • the three-dimensional surface can, for example, be a transparent bubble, which encloses the object and thus visually highlights the object.
  • the three-dimensional surface is in particular adapted to geometrical dimensions of the object.
  • the three-dimensional surface can, for example, be projected into the driver's field of view by means of the head-up display and/or can be displayed on the screen as an overlay of the video sequence.
  • a distance of the motor vehicle to the object is detected during the overtaking manoeuver and a signal is output to the driver of the motor vehicle if it is detected that the distance of the motor vehicle falls below the legal overtaking distance. For example, it can be detected whether the motor vehicle moves along the overtaking path during the overtaking manoeuver and thus at least maintains the overtaking distance. If it is detected that the overtaking distance is not reached, the signal, for example an optical and/or an acoustic signal, can be output to the driver. Thus, the driver can be pointed out that he is not currently complying with the legally required minimum distance, whereupon the driver can correct his driving route.
  • At least one piece of information about the overtaking manoeuvre in particular a video sequence of the environmental area of the motor vehicle displayed on the display device during the overtaking manoeuvre and/or a speed of the motor vehicle and/or an acceleration of the motor vehicle and/or a steering angle of the motor vehicle, is recorded and stored in a memory device.
  • the at least one information can be used, for example in the event of a collision during overtaking manoeuvers with the object, to provide proof of the innocence of the driver.
  • the driver can, for example, demonstrate in retrospect that he has complied with legal speed limits as well as the legal overtaking distance during the overtaking manoeuver.
  • the information can, for example, be stored in the vehicle-side memory device on the vehicle side and/or can be transmitted to a vehicle-external memory device, for example uploaded to a cloud.
  • the recording of the information about the overtaking manoeuver can be activated by the driver and is thus voluntary. Also, the recording of the information about overtaking manoeuvers can be preset by default.
  • the invention also relates to a driver assistance system for a motor vehicle for assisting a driver of the motor vehicle in overtaking an object located on a roadway of the motor vehicle.
  • the driver assistance system in particular comprises a sensor device for capturing sensor data from an environmental area of the motor vehicle and an evaluation device for detecting the object on the basis of the sensor data, for determining a position as well as a relative speed of the object with respect to the motor vehicle, and for determining an overtaking path bypassing the object for overtaking the object as a function of the position and the relative speed.
  • the evaluation device is designed to determine a legal overtaking distance for overtaking the object as a function of a regional legislation and to determine the overtaking path additionally as a function of the legal overtaking distance.
  • the driver assistance system can comprise a display device which is designed to visualize the overtaking path to the driver of the motor vehicle.
  • the driver assistance system comprises a sensor device for capturing sensor data from an environmental area of the motor vehicle and an evaluation device for detecting the object on the basis of the sensor data, for determining a position as well as a relative speed of the object with respect to the motor vehicle, and for determining an overtaking path bypassing the object for overtaking the object as a function of the position and the relative speed.
  • the evaluation device is designed to determine a legal overtaking distance for overtaking the object as a function of a regional legislation and to determine the overtaking path additionally as a function of the legal overtaking distance.
  • the driver assistance system comprises a display device which is designed to visualize the overtaking path to the driver of the motor vehicle.
  • the vehicle-side sensor device can, for example, comprise at least one vehicle-side camera.
  • the evaluation device can, for example, be integrated in a vehicle-side control unit and communicate with the vehicle-side sensor device.
  • the display device may, for example, comprise a head-up display and/or a screen in a passenger compartment of the motor vehicle.
  • Fig. 1 a schematic representation of a motor vehicle with an embodiment of a driver assistance system according to the invention.
  • Fig. 2 a schematic representation of a video frame of a video sequence of an environmental area of the motor vehicle displayed on a display device of the driver assistance system.
  • Fig. 1 shows a motor vehicle 1 , which in the present case is designed as a passenger car.
  • the motor vehicle 1 comprises a driver assistance system 2, which can assist a driver of the motor vehicle 1 in overtaking an object 3 in an environmental area 4 of the motor vehicle 1 .
  • the driver assistance system 2 comprises a sensor device 5, which in the present case is designed as a camera 6.
  • the sensor device 5 is designed to detect sensor data from the environmental area 4 of the motor vehicle 1 and to provide these sensor data to an evaluation device 7 of the motor vehicle 1 .
  • the evaluation device 7 can, for example, be integrated into a control unit of the motor vehicle 1 .
  • the evaluation device 7 is designed to recognize the object 3 in the sensor data of the sensor device 5, for example in image data of the camera 6, and to determine a position of the object 3 relative to the motor vehicle 1 , as well as a relative speed of the object 3 relative to the motor vehicle 1 .
  • the evaluation device 7 is designed to determine an overtaking distance required by law, which the motor vehicle 1 must at least comply with if it intends wants to bypass or overtake the object 3.
  • a list of regional, legal overtaking distances can be stored, for example, in a vehicle-side memory device 8 and/or in a vehicle-external database 9, for example the Internet.
  • the list of the vehicle-side memory device 8 and/or the vehicle-external database 9 can be searched for the overtaking distance for the current region in which the motor vehicle 1 is located by the evaluating device 7.
  • an overtaking path for the motor vehicle 1 which bypasses the object 3 can be determined, which is displayed to the driver by means of a display device 10 of the motor vehicle 1 .
  • the display device 10 may, for example, comprise a screen and/or a head-up display.
  • Fig. 2 exemplarily shows a video frame 1 1 of a video sequence which has been captured by the camera 6 from the environmental area 4.
  • the video frame 1 1 is displayed on a screen 12 of the display device 10.
  • the video frame 1 1 shows the environmental area 4 in front of the motor vehicle 1 , wherein the object 3, which is embodied here as a cyclist 14, is located on a roadway 13 of the motor vehicle 1 .
  • the cyclist 14 can be recognized based on the sensor data of the sensor device 5.
  • the cyclist 14 can be identified by means of object recognition algorithms based on the image data of the camera 6.
  • the overtaking distance 15 can be identified, for example based on the list of the overtaking distances corresponding to the legislation, which must at least be kept to bypass the cyclist 14 according to the legal requirements or legislation at the current location of the motor vehicle 1 .
  • the overtaking path 16, which bypasses the object 3 at the determined, legal overtaking distance 15, can be displayed as an overlay 17 in the video frame 1 1 on the screen 12.
  • the cyclist 14 can be overtaken, for example, on the left or right by the motor vehicle 1 , so that an overtaking path 16, which leads around the cyclist 14 on the left, and an overtaking path 16 which leads around the cyclist 14 on the right is determined and displayed here.
  • the driver can move the motor vehicle 1 along this overtaking path 16 and thereby overtake the object 3 at least with the overtaking distance 15.
  • the overtaking path can be projected into the driver's field of view by means of a head-up display of the display device 10. Further output devices of the motor vehicle 1 can also be used to provide a safe overtaking manoeuver.
  • signals can be output to the driver when it is detected that the motor vehicle 1 leaves the specific overtaking path 16.
  • signals may, for example, be acoustic signals which are output by means of a loudspeaker, and/or icons, which are displayed by means of the display device 10.
  • the object 3 can also be optically highlighted, for example, by displaying a three- dimensional surface, which encloses the object 3, as an overlay on the screen 12.
  • the geometrical dimensions of the object 3 can in particular be visualized by the three- dimensional surface for the driver.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for assisting a driver of a motor vehicle (1) in overtaking an object (3) located on a roadway (13) of the motor vehicle (1), wherein the object (3) is detected based on sensor data captured from an environmental area (4) of the motor vehicle (1) by a vehicle-side sensor device (5), a position and a relative speed of the object (3) with respect to the motor vehicle (1) are determined and an overtaking path (16) bypassing the object (3) for overtaking the object (3) is determined as a function of the position and the relative speed, wherein a legal overtaking distance (15) is determined for overtaking the object (3) as a function of a regional legislation, the overtaking path (16) is additionally determined as a function of the legal overtaking distance (15), and the overtaking path (16) is visualized to the driver by means of a display device (10) of the motor vehicle (1). The invention also relates to a driver assistance system (2) for a motor vehicle (1).

Description

Method for assisting a driver of a motor vehicle in overtaking an object as well as driver assistance system
The invention relates to a method for assisting a driver of a motor vehicle in overtaking an object located on a roadway of the motor vehicle, wherein the object is detected based on sensor data captured from an environmental area of the motor vehicle by a vehicle-side sensor device, a position and a relative speed of the object with respect to the motor vehicle are determined and an overtaking path bypassing the object for overtaking the object is determined as a function of the position and the relative speed. The invention also relates to a driver assistance system for a motor vehicle.
It is already known from the prior art to assist a driver of a motor vehicle during overtaking manoeuvers. For this purpose, objects, such as other road users, for example cyclists or pedestrians, can be detected in an environmental area of the motor vehicle based on sensor data from a vehicle-side sensor device, and information about the object can be provided to a driver of the motor vehicle so that the driver is made aware of the other road users. It is also already known to manoeuver the motor vehicle autonomously and thus move the motor vehicle around the object automatically without the driver's intervention. To this end, US 2016/0224027 A1 describes an autonomous driving system which is designed to move autonomously along a reference path in an environment in which an obstacle is present. For this purpose, information about a movement of the obstacle is initially determined in order to be able to bypass the obstacle without major changes in the travel path.
It is the object of the present invention to provide a solution as to how an object can be bypassed particularly securely on a roadway of the motor vehicle.
According to the invention, this object is solved by a method as well as a driver assistance system having the features according to the respective independent patent claims.
Advantageous embodiments of the invention are the subject of the dependent patent claims, the description and the figures.
According to an embodiment of a method for assisting a driver of a motor vehicle in overtaking an object located on a roadway of the motor vehicle, in particular, the object is detected based on sensor data captured from an environmental area of the motor vehicle by a vehicle-side sensor device, a position and a relative speed of the object with respect to the motor vehicle are determined and an overtaking path bypassing the object for overtaking the object is determined as a function of the position and the relative speed. In particular, a legal overtaking distance is determined for overtaking the object as a function of a regional legislation and the overtaking path is additionally determined as a function of the legal overtaking distance. The overtaking path can be visualized to the driver by means of a display device of the motor vehicle.
According to a particularly preferred embodiment of a method for assisting a driver of a motor vehicle in overtaking an object located on a roadway of the motor vehicle, the object is detected based on sensor data captured from an environmental area of the motor vehicle by a vehicle-side sensor device, a position and a relative speed of the object with respect to the motor vehicle are determined and an overtaking path bypassing the object for overtaking the object is determined as a function of the position and the relative speed. Moreover, a legal overtaking distance is determined for overtaking the object as a function of a regional legislation and the overtaking path is additionally determined as a function of the legal overtaking distance. The overtaking path is visualized to the driver by means of a display device of the motor vehicle.
By means of the method, the driver of the motor vehicle can be assisted in overtaking manoeuvers of objects, for example other road users. Such objects can be, for example, pedestrians, cyclists, motorcyclists or other motor vehicles, which are located on the roadway of the motor vehicle. For this purpose, the sensor data from the environmental area of the motor vehicle are first detected by the vehicle-side sensor device. These sensor data can be provided, for example, for an evaluation device of the driver assistance system for analysis. The evaluation device can recognize the object in the environmental area based on the sensor data. This is also referred to as machine vision. In addition, the evaluation device can determine the position or spatial position of the object relative to the motor vehicle as well as the relative speed of the object with respect to the motor vehicle.
In addition, the overtaking distance is determined which corresponds to the legal requirements of the region in which the motor vehicle is currently located. This overtaking distance is, in particular, a minimum distance determined by law, which must be complied with by the motor vehicle when overtaking or bypassing objects. This overtaking distance can vary from region to region and is therefore regional or region-dependent. The regional overtaking distance can, for example, be requested from a database external to the motor vehicle, for example the Internet. Depending on the position and the relative speed of the object to the motor vehicle, as well as dependent on the legally defined overtaking distance, the overtaking path is then determined, which is determined, for example, as a curve bypassing the object. Along this overtaking path, the motor vehicle is to move during the overtaking or driving around of the object. For this purpose, the overtaking path is visualized for the driver by means of the vehicle-side display device so that the driver can move the motor vehicle along the overtaking path around the object and thus overtake the object. The overtaking path is thereby determined in such a way that the driver at least keeps the overtaking distance or the legal minimum distance during the overtaking of the object. For example, the overtaking path can be determined such that it bypassed the object at a distance corresponding to the overtaking distance.
By determining the overtaking path as a function of the legal overtaking distance, a particularly safe overtaking manoeuver can be provided. Thus, it is possible to avoid collisions with objects during the overtaking by the motor vehicle since the legal overtaking distance is usually determined in such a way that a risk of collision is minimized, for example, even if the object moves inadvertently.
It can be provided that a list comprising regional legal overtaking distances is preset, a current position of the motor vehicle is determined, and the overtaking distance corresponding to the current position of the motor vehicle is selected from the list and preset to determine the overtaking path. In particular, the current position of the motor vehicle is determined based on data from a global positioning system. The list can, for example, be stored in a vehicle-side memory device and/or in a vehicle-external database, for example the Internet. The list can, for example, comprise the country- specific or region-specific overtaking distances for different countries or regions. Then the current position of the motor vehicle is determined. For this purpose, for example, GPS data of the motor vehicle can be determined, by means of which a global position, at which the motor vehicle is currently located, is characterized. Depending on the current position, it is then possible to determine in which region or in which country the motor vehicle is currently located, and then the associated overtaking distance is selected from the list. By providing the list and determining the current position of the motor vehicle, the advantage is obtained that the overtaking distances can be adapted at any time, for example, when the motor vehicle travels into another region with other legal overtaking distances.
Alternatively or additionally, a delivery location and/or an operating location of the motor vehicle are determined and the overtaking distance corresponding to the delivery location and/or the operating location is preset. According to this embodiment, the overtaking distance is configured, in particular, at the factory before the motor vehicle is delivered to an end customer. For this purpose, the overtaking distance is predefined and preset which corresponds to the region into which the motor vehicle is delivered and/or in which the motor vehicle is operated. For example, the delivery location and/or the operating location can be determined as a function of a place of residence of the later vehicle owner. Thus, it can be advantageously ensured that, when delivered to the end customer, the motor vehicle provides overtaking distances which meet the legal requirements.
Preferably, the object, the position and the relative speed of which are detected on the basis of sensor data in the form of image data of at least one camera of the vehicle-side sensor device. For example, the motor vehicle can comprise at least one camera which can detect the environmental area in the direction of travel in front of the motor vehicle. Such a camera can be, for example, a front camera. The image data or video frames of the camera can be provided to the evaluation device, which can recognize objects in the form of other road users in the sensor data. For this purpose, for example, object recognition algorithms can be used, based on which the objects can be identified in the video frames of the environmental area. The position and the relative speed of the object can be determined, for example, based on a displacement of an image of the object within at least two consecutively recorded video frames. The use of image data is particularly advantageous since a plurality of motor vehicles are already equipped with camera systems.
In a further development of the invention, the object is classified and the overtaking path is additionally determined as a function of the classification of the object by determining the legal overtaking distance for overtaking the object as a function of a regional, object- specific legislation. For example, it can be determined whether the object is a cyclist, a pedestrian, a motorcyclist or another motor vehicle. This embodiment is based on the fact that it is possible that, depending on the type of the object, different overtaking distances must be kept by law. For example, it may be necessary that, for overtaking an object in the form of a cyclist, a first overtaking distance must be maintained, while for overtaking an object in the form of a motor vehicle, a second overtaking distance different from the first overtaking distance must be kept Therefore, the object is additionally classified, for example based on the image data, and thus a type of the object or the road user is determined. Depending on the type of the object, the regional overtaking distance corresponding to this object is then determined and preset for determining the overtaking path. For example, the overtaking distances corresponding to the different object types can be stored for each region in the list readable by the evaluation device. Depending on the current region in which the motor vehicle is located, as well as on the basis of the classification of the object, the corresponding legal overtaking distance can then be selected from the list and preset.
In a further embodiment of the invention, a distance between the overtaking path and the object is determined as the sum of the legal overtaking distance and a tolerance value predetermined by the driver. In this case, the driver can additionally determine a tolerance value, which is added to the legal overtaking distance. The tolerance value can, for example, be input by the driver by means of an input device and can be stored in the vehicle-side memory device which can be read out by the evaluation device for determining the distance between the overtaking path and the object. The driver can therefore increase the overtaking distance by the tolerance value, for example in order to be able to perform a particularly safe overtaking manoeuver.
In a further development of the invention, the overtaking path is projected into a driver's field of view by means of a head-up display of the display device. According to this embodiment, the overtaking path is projected into the driver's field of view by means of the head-up display in such a way that the driver is given the impression as if the overtaking path were actually in the environmental area of the motor vehicle. For example, the overtaking path can be projected into the field of view in such a way that the driver is given the impression that the overtaking path would run on a surface of the roadway and would bypass the object. The overtaking path is thus shown in perspective on the road surface and is there in particular visible only to the vehicle occupants of the motor vehicle, in particular the driver. Projection of environmental information, such as an overtaking path, into the driver's field of view is also referred to as augmented reality (AR), and is particularly advantageous because the driver can acquire all the information without losing sight of the roadway.
It can also be provided that a video sequence of the environmental area detected by a vehicle-side camera with the object is displayed on a screen of the display device, the overtaking path being displayed as an overlay in the video sequence on the screen. For example, a video sequence detected by a front camera of the motor vehicle can be displayed on the screen in an interior of the motor vehicle. This video sequence is superimposed with the overtaking path. The overtaking path can, for example, be displayed as a coloured curve on the screen and can be represented in such a way that it bypasses the object on the image of the roadway of the motor vehicle. A video sequence with an overlay, which describes the overtaking path, is particularly intuitive for the driver.
In a further development of the invention, the object to be overtaken is optically highlighted by means of the display device. For this purpose, the object can be optically highlighted, for example, by means of the head-up display and/or on the screen.
Preferably, for optically highlighting the object to be overtaken, a three-dimensional surface enclosing the object is determined and displayed by means of the display device. The three-dimensional surface corresponds, for example, to a three-dimensional representation of the object. The three-dimensional surface can, for example, be a transparent bubble, which encloses the object and thus visually highlights the object. The three-dimensional surface is in particular adapted to geometrical dimensions of the object. The three-dimensional surface can, for example, be projected into the driver's field of view by means of the head-up display and/or can be displayed on the screen as an overlay of the video sequence. By highlighting the object by means of the three- dimensional surface, the driver can be made aware of the object to be overtaken, and its geometrical dimensions can be recorded very quickly.
It proves to be advantageous, if a distance of the motor vehicle to the object is detected during the overtaking manoeuver and a signal is output to the driver of the motor vehicle if it is detected that the distance of the motor vehicle falls below the legal overtaking distance. For example, it can be detected whether the motor vehicle moves along the overtaking path during the overtaking manoeuver and thus at least maintains the overtaking distance. If it is detected that the overtaking distance is not reached, the signal, for example an optical and/or an acoustic signal, can be output to the driver. Thus, the driver can be pointed out that he is not currently complying with the legally required minimum distance, whereupon the driver can correct his driving route.
In a particularly advantageous embodiment of the invention at least one piece of information about the overtaking manoeuvre, in particular a video sequence of the environmental area of the motor vehicle displayed on the display device during the overtaking manoeuvre and/or a speed of the motor vehicle and/or an acceleration of the motor vehicle and/or a steering angle of the motor vehicle, is recorded and stored in a memory device. The at least one information can be used, for example in the event of a collision during overtaking manoeuvers with the object, to provide proof of the innocence of the driver. By recording the overtaking manoeuver, the driver can, for example, demonstrate in retrospect that he has complied with legal speed limits as well as the legal overtaking distance during the overtaking manoeuver. The information can, for example, be stored in the vehicle-side memory device on the vehicle side and/or can be transmitted to a vehicle-external memory device, for example uploaded to a cloud. The recording of the information about the overtaking manoeuver can be activated by the driver and is thus voluntary. Also, the recording of the information about overtaking manoeuvers can be preset by default.
The invention also relates to a driver assistance system for a motor vehicle for assisting a driver of the motor vehicle in overtaking an object located on a roadway of the motor vehicle. According to an embodiment, the driver assistance system in particular comprises a sensor device for capturing sensor data from an environmental area of the motor vehicle and an evaluation device for detecting the object on the basis of the sensor data, for determining a position as well as a relative speed of the object with respect to the motor vehicle, and for determining an overtaking path bypassing the object for overtaking the object as a function of the position and the relative speed. In particular, the evaluation device is designed to determine a legal overtaking distance for overtaking the object as a function of a regional legislation and to determine the overtaking path additionally as a function of the legal overtaking distance. Furthermore, the driver assistance system can comprise a display device which is designed to visualize the overtaking path to the driver of the motor vehicle.
According to a particularly preferred embodiment, the driver assistance system comprises a sensor device for capturing sensor data from an environmental area of the motor vehicle and an evaluation device for detecting the object on the basis of the sensor data, for determining a position as well as a relative speed of the object with respect to the motor vehicle, and for determining an overtaking path bypassing the object for overtaking the object as a function of the position and the relative speed. Moreover, the evaluation device is designed to determine a legal overtaking distance for overtaking the object as a function of a regional legislation and to determine the overtaking path additionally as a function of the legal overtaking distance. Furthermore, the driver assistance system comprises a display device which is designed to visualize the overtaking path to the driver of the motor vehicle.
The vehicle-side sensor device can, for example, comprise at least one vehicle-side camera. The evaluation device can, for example, be integrated in a vehicle-side control unit and communicate with the vehicle-side sensor device. The display device may, for example, comprise a head-up display and/or a screen in a passenger compartment of the motor vehicle.
The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the driver assistance system according to the invention.
Further features of the invention are apparent from the claims, the figures and the description of figures. The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of figures and/or shown in the figures alone are usable not only in the respectively specified combination, but also in other combinations or alone without departing from the scope of the invention. Thus, implementations are also to be considered as encompassed and disclosed by the invention, which are not explicitly shown in the figures and explained, but arise from and can be generated by separated feature combinations from the explained implementations. Implementations and feature combinations are also to be considered as disclosed, which thus do not have all of the features of an originally formulated independent claim. Moreover, implementations and feature combinations are to be considered as disclosed, in particular by the
implementations set out above, which extend beyond or deviate from the feature combinations set out in the relations of the claims.
The invention is explained in more detail on the basis of preferred exemplary
embodiments and with reference to the attached drawings.
These show in:
Fig. 1 a schematic representation of a motor vehicle with an embodiment of a driver assistance system according to the invention; and
Fig. 2 a schematic representation of a video frame of a video sequence of an environmental area of the motor vehicle displayed on a display device of the driver assistance system.
In the figures identical as well as functionally identical elements are provided with the same reference characters. Fig. 1 shows a motor vehicle 1 , which in the present case is designed as a passenger car. The motor vehicle 1 comprises a driver assistance system 2, which can assist a driver of the motor vehicle 1 in overtaking an object 3 in an environmental area 4 of the motor vehicle 1 . For this purpose, the driver assistance system 2 comprises a sensor device 5, which in the present case is designed as a camera 6. The sensor device 5 is designed to detect sensor data from the environmental area 4 of the motor vehicle 1 and to provide these sensor data to an evaluation device 7 of the motor vehicle 1 . The evaluation device 7 can, for example, be integrated into a control unit of the motor vehicle 1 . The evaluation device 7 is designed to recognize the object 3 in the sensor data of the sensor device 5, for example in image data of the camera 6, and to determine a position of the object 3 relative to the motor vehicle 1 , as well as a relative speed of the object 3 relative to the motor vehicle 1 .
In addition, the evaluation device 7 is designed to determine an overtaking distance required by law, which the motor vehicle 1 must at least comply with if it intends wants to bypass or overtake the object 3. For this purpose, a list of regional, legal overtaking distances can be stored, for example, in a vehicle-side memory device 8 and/or in a vehicle-external database 9, for example the Internet. Depending on a current position of the motor vehicle 1 , which can be determined, for example, by means of a vehicle-side GPS device, the list of the vehicle-side memory device 8 and/or the vehicle-external database 9 can be searched for the overtaking distance for the current region in which the motor vehicle 1 is located by the evaluating device 7. Depending on the position of the object 3 with respect to the motor vehicle 1 , the relative speed of the object 3 with respect to the motor vehicle 1 , as well as the legal overtaking distance, an overtaking path for the motor vehicle 1 which bypasses the object 3 can be determined, which is displayed to the driver by means of a display device 10 of the motor vehicle 1 . The display device 10 may, for example, comprise a screen and/or a head-up display.
Fig. 2 exemplarily shows a video frame 1 1 of a video sequence which has been captured by the camera 6 from the environmental area 4. The video frame 1 1 is displayed on a screen 12 of the display device 10. The video frame 1 1 shows the environmental area 4 in front of the motor vehicle 1 , wherein the object 3, which is embodied here as a cyclist 14, is located on a roadway 13 of the motor vehicle 1 . The cyclist 14 can be recognized based on the sensor data of the sensor device 5. For example, the cyclist 14 can be identified by means of object recognition algorithms based on the image data of the camera 6. Then, the overtaking distance 15 can be identified, for example based on the list of the overtaking distances corresponding to the legislation, which must at least be kept to bypass the cyclist 14 according to the legal requirements or legislation at the current location of the motor vehicle 1 .
The overtaking path 16, which bypasses the object 3 at the determined, legal overtaking distance 15, can be displayed as an overlay 17 in the video frame 1 1 on the screen 12. Here, the cyclist 14 can be overtaken, for example, on the left or right by the motor vehicle 1 , so that an overtaking path 16, which leads around the cyclist 14 on the left, and an overtaking path 16 which leads around the cyclist 14 on the right is determined and displayed here. The driver can move the motor vehicle 1 along this overtaking path 16 and thereby overtake the object 3 at least with the overtaking distance 15. Alternatively or additionally, the overtaking path can be projected into the driver's field of view by means of a head-up display of the display device 10. Further output devices of the motor vehicle 1 can also be used to provide a safe overtaking manoeuver. Thus, for example, signals can be output to the driver when it is detected that the motor vehicle 1 leaves the specific overtaking path 16. Such signals may, for example, be acoustic signals which are output by means of a loudspeaker, and/or icons, which are displayed by means of the display device 10.
The object 3 can also be optically highlighted, for example, by displaying a three- dimensional surface, which encloses the object 3, as an overlay on the screen 12. The geometrical dimensions of the object 3 can in particular be visualized by the three- dimensional surface for the driver.

Claims

Claims
1 . Method for assisting a driver of a motor vehicle (1 ) in overtaking an object (3)
located on a roadway (13) of the motor vehicle (1 ), wherein the object (3) is detected based on sensor data captured from an environmental area (4) of the motor vehicle (1 ) by a vehicle-side sensor device (5), a position and a relative speed of the object (3) with respect to the motor vehicle (1 ) are determined and an overtaking path (16) bypassing the object (3) for overtaking the object (3) is determined as a function of the position and the relative speed,
characterized in that
a legal overtaking distance (15) is determined for overtaking the object (3) as a function of a regional legislation, the overtaking path (16) is additionally determined as a function of the legal overtaking distance (15), and the overtaking path (16) is visualized to the driver by means of a display device (10) of the motor vehicle (1 ).
2. Method according to claim 1 ,
characterized in that
a list comprising regional legal overtaking distances is preset, a current position of the motor vehicle (1 ) is determined, and the overtaking distance (15) corresponding to the current position of the motor vehicle (1 ) is selected from the list and preset to determine the overtaking path (16).
3. Method according to claim 2,
characterized in that
the current position of the motor vehicle (1 ) is determined on the basis of data from a global positioning system.
4. Method according to any one of the preceding claims,
characterized in that
a delivery location and/or an operating location of the motor vehicle (1 ) are determined and the overtaking distance (15) corresponding to the delivery location and/or the operating location is preset.
5. Method according to any one of the preceding claims,
characterized in that
the object (3), the position and the relative speed of which are detected on the basis of sensor data in the form of image data of at least one camera (6) of the vehicle- side sensor device (5).
6. Method according to any one of the preceding claims,
characterized in that
the object (3) is classified and the overtaking path (16) is additionally determined as a function of the classification of the object (3) by determining the legal overtaking distance (15) for overtaking the object (3) as a function of a regional, object-specific legislation.
7. Method according to any one of the preceding claims,
characterized in that
a distance between the overtaking path (16) and the object (3) is determined as the sum of the legal overtaking distance (15) and a tolerance value preset by the driver.
8. Method according to any one of the preceding claims,
characterized in that
the overtaking path (16) is projected into a driver's field of view by means of a head- up display of the display device (10).
9. Method according to one of the preceding claims,
characterized in that
a video sequence of the environmental area (4) with the object (3) detected by a vehicle-side camera (6) is displayed on a screen (12) of the display device (10), wherein the overtaking path (16) is displayed as an overlay (17) in the video sequence on the screen (12).
10. Method according to claim 8 or 9,
characterized in that
the object (3) to be overtaken is optically highlighted by means of the display device (10).
1 1 . Method according to claim 10,
characterized in that
for optically highlighting the object (3) to be overtaken, a three-dimensional surface enclosing the object (3) is determined and displayed by means of the display device (10).
12. Method according to any one of the preceding claims,
characterized in that
during the overtaking manoeuver, a distance of the motor vehicle (1 ) to the object (3) is detected and a signal is output to the driver of the motor vehicle (1 ) if it is detected that the distance of the motor vehicle (1 ) falls below the legal overtaking distance (15).
13. Method according to any one of the preceding claims,
characterized in that
at least one piece of information about the overtaking manoeuvre, in particular a video sequence of the environmental area (4) of the motor vehicle (1 ) displayed on the display device (10) during the overtaking manoeuvre and/or a speed of the motor vehicle (1 ) and/or an acceleration of the motor vehicle (1 ) and/or a steering angle of the motor vehicle (1 ), is recorded and stored in a memory device (8, 9).
14. Driver assistance system (2) for a motor vehicle (1 ) for assisting a driver of the motor vehicle in overtaking an object (3) located on a roadway (13) of the motor vehicle (1 ), comprising
- a sensor device (5) for capturing sensor data from an environmental area (4) of the motor vehicle (1 ),
- an evaluation device (7) for detecting the object (3) on the basis of the sensor data, for determining a position as well as a relative speed of the object (3) with respect to the motor vehicle (1 ), and for determining an overtaking path (16) bypassing the object (3) for overtaking the object (3) as a function of the position and the relative speed,
characterized in that
the evaluation device (7) is designed to determine a legal overtaking distance (15) for overtaking the object (3) as a function of a regional legislation and to determine the overtaking path (16) additionally as a function of the legal overtaking distance (15), and the driver assistance system (2) comprises a display device (10) which is designed to visualize the overtaking path (16) to the driver of the motor vehicle (1 ).
PCT/EP2018/075142 2017-09-28 2018-09-18 Method for assisting a driver of a motor vehicle in overtaking an object as well as driver assistance system Ceased WO2019063352A1 (en)

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