The invention relates to a method for evaluating the safety of a lane-change manoeuvre in the automated driving mode of a vehicle (EGO) having a surroundings sensor system, wherein the surroundings of the vehicle (EGO) and objects located therein are detected. According to the invention: - prior to an initiated lane-change manoeuvre of the vehicle (EGO) from a left-hand lane (F1) to a central lane (F2) or from a right-hand lane (F3) to the central lane (F2) of a multi-lane carriageway section (F), a collision risk is determined by means of hypothetical lane-change manoeuvres of other vehicles (PE1 to PE3) to the right-hand lane (F3) or the left-hand lane (F1); - based on a maximum lane-change duration and a cutting-in moment (t EM ), longitudinal accelerations (a x,PE ) of the other vehicles (PE1 to PE3) are determined which lead to a collision, and - performance of a lane-change manoeuvre is evaluated on the basis of a longitudinal position (Δ xMM,init,PEi ) of the vehicle (EGO) relative to the other vehicles (PE1 to PE3) and initial longitudinal speeds (Δ vx,init,PEi ) of the vehicle (EGO) relative to the other vehicles (PE1 to PE3) at the beginning of a lane-change manoeuvre, using a collision probability as safety measure (S1) and a minimum distance (dx,min) in the event of a non-occurrence of a collision as additional safety measure (S2).
VERFAHREN ZUR SICHERHEITSBEWERTUNG EINES SPURWECHSELMANÖVERS IM AUTOMATISIERTEN FAHRBETRIEB EINES FAHRZEUGES
METHOD FOR EVALUATING THE SAFETY OF A LANE-CHANGE MANOEUVRE IN THE AUTOMATED DRIVING MODE OF A VEHICLE
PROCÉDÉ D'ÉVALUATION DE LA SÉCURITÉ D'UNE MAN?UVRE DE CHANGEMENT DE VOIE DANS LE MODE DE CONDUITE AUTOMATISÉ D'UN VÉHICULE
2025-06-25
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 |
European Patent Office | 2024
|European Patent Office | 2024
|European Patent Office | 2024
|European Patent Office | 2024
|European Patent Office | 2025
|