The invention relates to a method for evaluating the safety of a lane-change maneuver of a vehicle (EGO). According to the invention: - prior to an initiated lane-change maneuver of the vehicle (EGO) from a left lane (F1) to a central lane (F2) or from a right lane (F3) to the central lane (F2) of a multi-lane roadway stretch (F), a collision risk is determined by means of hypothetical lane-change maneuvers of other vehicles (PE1 to PE3) from the right lane (F3) or the left lane (F1); - based on a maximum lane-change duration and a cutting-in moment (tEM), longitudinal accelerations (ax, PE) of the other vehicles (PE1 to PE3) are determined which lead to a collision, and - the execution of a lane-change maneuver is evaluated on the basis of a longitudinal position (ΔxMM,init, PEi) of the vehicle (EGO) relative to the other vehicles (PE1 to PE3) and initial longitudinal speeds (Δvx,init, PEi) of the vehicle (EGO) relative to the other vehicles (PE1 to PE3) at the beginning of a lane-change maneuver, using a collision probability (PKollision) as a safety measure (S1) and a minimum distance (dx,min) in the event of a non-occurrence of a collision as an additional safety measure (S2), and - when a collision probability (PKollision) has been determined, an intensity of a jolt (j) in a longitudinal acceleration (ax,PE) of the other vehicles (PE1 to PE3) is taken into account.
VERFAHREN ZUR SICHERHEITSBEWERTUNG EINES SPURWECHSELMANÖVERS IM AUTOMATISIERTEN FAHRBETRIEB EINES FAHRZEUGES
METHOD FOR EVALUATING THE SAFETY OF A LANE-CHANGE MANEUVER IN THE AUTOMATED DRIVING MODE OF A VEHICLE
PROCÉDÉ D'ÉVALUATION DE LA SÉCURITÉ D'UNE MANOEUVRE DE CHANGEMENT DE VOIE DANS LE MODE DE CONDUITE AUTOMATISÉ D'UN VÉHICULE
2025-03-12
Patent
Electronic Resource
German
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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