Method for assisting a user of a vehicle during an automated transverse guidance of the vehicle on a road having a branch taking into account a preceding vehicle, computing device and driver assistance system
View Patent ↗A method for assisting a user of a vehicle during an automated lateral guidance of the vehicle on a road having multiple lanes includes determining map-based position data that describes a present position of the vehicle in relation to the lanes on the basis of satellite-based position data and high-resolution map data, receiving sensor data from an environment sensor of the vehicle, detecting a preceding vehicle and a trajectory taken by the preceding vehicle based on the sensor data, determining probabilities of occupancy for the vehicle for at least some of the lanes based on the map-based position data and/or sensor data, recognizing a branch in the road based on the map-based position data and/or sensor data, and actuating an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle.
1 . A method for assisting a user of a vehicle during an automated lateral guidance of the vehicle on a road having multiple lanes, the method comprising:
receiving satellite-based position data and high-resolution map data;
determining map-based position data that describe a present position of the vehicle in relation to the lanes on a basis of the satellite-based position data and the high-resolution map data;
receiving sensor data from at least one environment sensor of the vehicle, the sensor data describing boundaries of the lanes;
detecting a preceding vehicle and a trajectory taken by the preceding vehicle on a basis of the sensor data;
determining probabilities of occupancy for the vehicle for at least some of the lanes on a basis of the map-based position data and/or the sensor data;
recognizing a branch in the road on a basis of the map-based position data and/or the sensor data, the branch resulting in at least one of the lanes branching off from the other lanes; and
actuating an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle.
2 . The method according to claim 1 , comprising:
verifying the actuation of the output device for outputting the takeover request on a basis of the trajectory of the preceding vehicle in response to the actuation of the output device being planned on a basis of the probabilities of occupancy.
3 . The method according to claim 2 , comprising:
performing a path planning for a future lateral guidance of the vehicle on a basis of the trajectory of the preceding vehicle in response to the verification results in the output device not being actuated.
4 . The method according to claim 1 , comprising:
planning the actuation of the output device for outputting the takeover request according to a situation of a lane with a highest probability of occupancy relative to the branch.
5 . The method according to claim 1 , comprising:
planning the actuation of the output device for outputting the takeover request according to a comparison of a highest probability of occupancy with a probability of occupancy pertaining to at least one branching lane.
6 . A computing device for a driver assistance system of a vehicle, wherein the computing device is configured to:
during an automated lateral guidance of the vehicle:
receive satellite-based position data and high-resolution map data;
determine map-based position data that describes a present position of the vehicle in relation to lanes on a basis of the satellite-based position data and the high-resolution map data;
receive sensor data from at least one environment sensor of the vehicle, the sensor data describing boundaries of the lanes;
detect a preceding vehicle and a trajectory taken by the preceding vehicle on a basis of the sensor data;
determine probabilities of occupancy for the vehicle for at least some of the lanes on a basis of the map-based position data and/or the sensor data;
recognize a branch in the road on a basis of the map-based position data and/or the sensor data, the branch resulting in at least one of the lanes branching off from the other lanes; and
actuate an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle.
7 . The computing device according to claim 6 , wherein the computing device is configured to:
verify the actuation of the output device for outputting the takeover request on a basis of the trajectory of the preceding vehicle in response to the actuation of the output device being planned on a basis of the probabilities of occupancy.
8 . The computing device according to claim 7 , wherein the computing device is configured to:
perform a path planning for a future lateral guidance of the vehicle on a basis of the trajectory of the preceding vehicle in response to the verification results in the output device not being actuated.
9 . The computing device according to claim 6 , wherein the computing device is configured to:
plan the actuation of the output device for outputting the takeover request according to a situation of a lane with a highest probability of occupancy relative to the branch.
10 . The computing device according to claim 6 , wherein the computing device is configured to:
plan the actuation of the output device for outputting the takeover request according to a comparison of a highest probability of occupancy with a probability of occupancy pertaining to at least one branching lane.
11 . A driver assistance system for a vehicle, comprising:
the computing device according to claim 6 ; and
the output device for outputting the takeover request to the user of the vehicle,
wherein the driver assistance system is configured for automated lateral guidance of the vehicle.
12 . A method for assisting a user of a vehicle during an automated lateral guidance of the vehicle on a road having multiple lanes, the method comprising:
receiving satellite-based position data and high-resolution map data;
determining map-based position data that describe a present position of the vehicle in relation to the lanes on a basis of the satellite-based position data and the high-resolution map data;
receiving sensor data from at least one environment sensor of the vehicle, the sensor data describing boundaries of the lanes;
detecting a preceding vehicle and a trajectory taken by the preceding vehicle on a basis of the sensor data;
determining probabilities of occupancy for the vehicle for at least some of the lanes on a basis of the map-based position data and/or the sensor data;
recognizing a branch in the road on a basis of the map-based position data and/or the sensor data, the branch resulting in at least one of the lanes branching off from the other lanes;
actuating an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle;
verifying the actuation of the output device for outputting the takeover request on a basis of the trajectory of the preceding vehicle in response to the actuation of the output device being planned on a basis of the probabilities of occupancy; and,
performing a path planning for a future lateral guidance of the vehicle on a basis of the trajectory of the preceding vehicle in response to the verification results in the output device not being actuated.
13 . The method according to claim 12 , comprising:
planning the actuation of the output device for outputting the takeover request according to a situation of a lane with a highest probability of occupancy relative to the branch.
14 . The method according to claim 13 , comprising:
planning the actuation of the output device for outputting the takeover request according to a comparison of a highest probability of occupancy with a probability of occupancy pertaining to at least one branching lane.
15 . A method for assisting a user of a vehicle during an automated lateral guidance of the vehicle on a road having multiple lanes, the method comprising:
receiving satellite-based position data and high-resolution map data;
determining map-based position data that describe a present position of the vehicle in relation to the lanes on a basis of the satellite-based position data and the high-resolution map data;
receiving sensor data from at least one environment sensor of the vehicle, the sensor data describing boundaries of the lanes;
detecting a preceding vehicle and a trajectory taken by the preceding vehicle on a basis of the sensor data;
determining probabilities of occupancy for the vehicle for at least some of the lanes on a basis of the map-based position data and/or the sensor data;
recognizing a branch in the road on a basis of the map-based position data and/or the sensor data, the branch resulting in at least one of the lanes branching off from the other lanes;
actuating an output device for outputting a takeover request before the branch is reached according to the probabilities of occupancy and the trajectory of the preceding vehicle;
planning the actuation of the output device for outputting the takeover request according to a situation of a lane with a highest probability of occupancy relative to the branch; and,
planning the actuation of the output device for outputting the takeover request according to a comparison of a highest probability of occupancy with a probability of occupancy pertaining to at least one branching lane.
16 . The method according to claim 15 , comprising:
verifying the actuation of the output device for outputting the takeover request on a basis of the trajectory of the preceding vehicle in response to the actuation of the output device being planned on a basis of the probabilities of occupancy.
17 . The method according to claim 16 , comprising:
performing a path planning for a future lateral guidance of the vehicle on a basis of the trajectory of the preceding vehicle in response to the verification results in the output device not being actuated.