Method for recognising a change in lane of a vehicle
AssigneeRobert Bosch GmbH
InventorsHermann Winner, Jens Lueder
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Abstract
A method of detecting a lane change of a subject vehicle (20), having a locating device (10) which uses angular resolution for locating vehicles (VEH1, VEH2, VEH3) traveling in front, and a device (44) for determining the yaw rate (ω0) of the subject vehicle. The angular velocity (ωi) of at least one vehicle traveling in front relative to the subject vehicle (20) is measured using the locating device (10), and a lane change signal (LC) indicating the lane change is formed by comparing the measured angular velocity (ωi) to the yaw rate (ω0) of the subject vehicle.
Claims10
A method of detecting a lane change of a subject vehicle (20) having a locating device (10) which uses angular resolution for locating vehicles (VEH1, VEH2, VEH3) traveling in front, and a device (44) for determining the yaw rate (ω0) of the subject vehicle,
- wherein the angular velocity (ωi) of at least one vehicle traveling in front relative to the subject vehicle (20) is measured using the locating device (10), and a lane change signal (LC) indicating the lane change is formed by comparing the measured angular velocity (ωi) to the yaw rate (ω0) of the subject vehicle.
The method as recited in one of the preceding claims,
- wherein the signal from a yaw rate sensor (44) is evaluated as the yaw rate (ω0) of the subject vehicle (20).
The method as recited in one of the preceding claims,
- wherein the lane change signal (LC) is calculated according to a formula which gives a high positive value when the yaw rate (ω0) of the subject vehicle and the relative or composite angular velocity (ωi, ωe) are different from zero in terms of actual amount and have opposite algebraic signs.
The method as recited in one of the preceding claims,
- wherein the beginning of a lane change is detected by the fact that the lane change signal (LC) exceeds a specified threshold value (TH).
Dependencies are inferred from the claim text.