Verfahren zur automatischen Erkennung eines Fahrmanövers eines Kraftfahrzeugs und ein dieses Verfahren umfassendes Fahrerassistenzsystem

摘要

The invention relates to a method for automatically detecting a driving maneuver of a motor vehicle (A), in particular an overtaking maneuver or an evasive maneuver, in which the surroundings of the vehicle are covered and an electronic image thereof is created, the electronic image is used for the detection of a traffic lane and/or of a road as well as of-objects (B, C) in the surroundings of the vehicle, longitudinal-dynamics and lateral-dynamics movement information ({dot over (ψ)}, αy, δH, ωFL, ωFR, ωRL, ωRR) of motor vehicle (A) is determined, and the position ({circumflex over (X)}) of motor vehicle (A) is odometrically estimated on the basis of the data (bLane, yLane, &thetas;, c0) of lane detection and/or road detection and/or of the movement information ({dot over (ψ)}, αy, δH, ωFL, ωFR, ωRL, ωRR) of motor vehicle (A), wherein the invention provides that a) the following indicator quantities are formed from the estimated position data ({circumflex over (X)}) of motor vehicle (A): a value of the lateral distance (LOL, LOR) of motor vehicle (A) from a road marking or traffic line (L), a time-to-collision value (TTCA,B) relative to the distance (d) from the object (B) located in the direction of motion, in particular from the vehicle driving ahead (B), a longitudinal-dynamics overtaking-or-evasive-maneuver indicator (I) formed from the indicator quantity (TTCA,B) of the time-to-collision value and from a value that corresponds to the position (FPS) of the gas pedal of motor vehicle (A), and b) that threshold values (Ith, TTCA,B,th) are determined for said indicator quantities (LOL, LOR, TTCA,B, I), which threshold values are used as criteria for detecting partial maneuvers of an overtaking or evasive maneuver, in particular a maneuver to follow a vehicle driving ahead, a lane change, a maneuver to pass the stationary or moving object (B) and a maneuver to cut into the lane of the overtaken object (B), as well as for detecting transitions between said partial maneuvers.