Method and device for performing an at least partially automated driving maneuver

Patent metadata

Field	Value
Publication number	US-11433882-B2
Application number	US-201816223784-A
Country	US
Kind code	B2
Filing date	Dec 18, 2018
Priority date	Jul 29, 2016
Publication date	Sep 6, 2022
Grant date	Sep 6, 2022

Abstract

A method performs an at least partially automated maneuver. When an increased probability of collision of the vehicle with a vehicle in front is recognized, at least the decision to divert and/or the decision to return, i.e. the decision to return to the lane in which the vehicle was travelling before the diversion, is controlled as a function of a parameter of the traffic situation in front of the vehicle in front.

First claim

What is claimed is:

1. A method for performing an at least partially automated maneuver via an electronic control unit for a vehicle, the method comprising the steps of:
detecting whether there is an increased probability of a collision of the vehicle with a vehicle traveling ahead, and
controlling, as a function of a parameter of the traffic situation in front of the vehicle traveling ahead, at least a decision to divert and/or a decision to return, wherein:
when an increased risk of a collision of the vehicle with the vehicle traveling ahead is present, a probability of diversion of the vehicle traveling ahead onto another lane is determined,
assistance or execution of a targeted braking operation of the vehicle with respect to the vehicle traveling ahead is implemented if the probability of diversion of the vehicle traveling ahead onto a diversion lane of the vehicle is lower than a predetermined value, and
assistance or execution of a targeted braking operation of the vehicle with respect to a vehicle in front of the vehicle traveling ahead is executed if the probability of diversion of the vehicle traveling ahead onto the diversion lane of the vehicle is higher than a predetermined value.

2. The method as claimed in claim 1 , wherein
a transition to a maneuvering phase with a predominant braking effect or to a maneuvering phase with a predominant steering effect is controlled as a function of the parameters of the traffic situation in front of the vehicle traveling ahead.

3. The method as claimed in claim 1 , wherein
at least a time of a start of a braking phase or a diversion phase and/or a transition time between a maneuvering phase with a predominant braking effect and a maneuvering phase with a predominant steering effect are/is controlled as a function of the parameters of the traffic situation in front of the vehicle traveling ahead.

4. The method as claimed in claim 1 , wherein
one or more parameters from the following group of parameters of the traffic situation in front of the vehicle traveling ahead is taken into account:
(i) a parameter of a probable collision or disruption between the vehicle traveling ahead and a vehicle in front of the vehicle traveling ahead,
(ii) a parameter of a probable collision or disruption between the vehicle traveling ahead and another road user,
(iii) a parameter of a probable collision or disruption between the vehicle in front of the vehicle traveling ahead and another road user, and
(iv) pulling out and/or a driving intention of at least one road user in front of the vehicle traveling ahead.

5. The method as claimed in claim 1 , wherein
at least one parameter of a possible collision or disruption between the vehicle and the vehicle traveling ahead is determined as a function of one or more relative movement parameters or a collision between the vehicle traveling ahead and another road user.

6. The method as claimed in claim 1 , wherein
a probability with which a collision or disruption can occur in the diversion lane within a specific time interval is taken into account in order to make a decision against a diversion control operation and/or a return control operation.

7. The method as claimed in claim 1 , wherein
different decision criteria for the diversion and for the return are taken into account as a function of at least one parameter of the traffic situation in front of the vehicle traveling ahead.

8. A control device for performing an at least partially automated maneuver for a motor vehicle, comprising:
an open-loop or closed-loop electronic control unit that executes a computer program to:
detect whether there is an increased probability of a collision of the vehicle with a vehicle traveling ahead, and
control, as a function of a parameter of the traffic situation in front of the vehicle traveling ahead, at least a decision to divert and/or a decision to return, wherein:
when an increased risk of a collision of the vehicle with the vehicle traveling ahead is present, a probability of diversion of the vehicle traveling ahead onto another lane is determined,
assistance or execution of a targeted braking operation of the vehicle with respect to the vehicle traveling ahead is implemented if the probability of diversion of the vehicle traveling ahead onto a diversion lane of the vehicle is lower than a predetermined value, and
assistance or execution of a targeted braking operation of the vehicle with respect to a vehicle in front of the vehicle traveling ahead is executed if the probability of diversion of the vehicle traveling ahead onto the diversion lane of the vehicle is higher than a predetermined value.

9. The control device as claimed in claim 8 , wherein
a transition to a maneuvering phase with a predominant braking effect or to a maneuvering phase with a predominant steering effect is controlled as a function of the parameters of the traffic situation in front of the vehicle traveling ahead.

10. The control device as claimed in claim 8 , wherein
at least a time of a start of a braking phase or a diversion phase and/or a transition time between a maneuvering phase with a predominant braking effect and a maneuvering phase with a predominant steering effect are/is controlled as a function of the parameters of the traffic situation in front of the vehicle traveling ahead.

11. The control device as claimed in claim 8 , wherein
one or more parameters from the following group of parameters of the traffic situation in front of the vehicle traveling ahead is taken into account:
(i) a parameter of a probable collision or disruption between the vehicle traveling ahead and a vehicle in front of the vehicle traveling ahead,
(ii) a parameter of a probable collision or disruption between the vehicle traveling ahead and another road user,
(iii) a parameter of a probable collision or disruption between the vehicle in front of the vehicle traveling ahead and another road user, and
(iv) pulling out and/or a driving intention of at least one road user in front of the vehicle traveling ahead.

12. The control device as claimed in claim 8 , wherein
at least one parameter of a possible collision or disruption between the vehicle and the vehicle traveling ahead is determined as a function of one or more relative movement parameters or a collision between the vehicle traveling ahead and another road user.

13. The control device as claimed in claim 8 , wherein
a probability with which a collision or disruption can occur in the diversion lane within a specific time interval is taken into account in order to make a decision against a diversion control operation and/or a return control operation.

14. The control device as claimed in claim 8 , wherein
different decision criteria for the diversion and for the return are taken into account as a function of at least one parameter of the traffic situation in front of the vehicle traveling ahead.

Assignees

• Bayerische Motoren Werke Ag

Inventors

• Augst Alexander

Classifications

• B60W2554/801

  Lateral distance · CPC title

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• B60W30/18163

  Lane change; Overtaking manoeuvres · CPC title

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• B62D15/0265

  Automatic obstacle avoidance by steering · CPC title