DE102007053721A1 - Automated vehicle i.e. passenger car, for transportation of passenger, has shock absorbers extending at vehicle, where vehicle independently follows trajectory, which is accessible for other members - Google Patents

Abstract

The vehicle has shock absorbers extending at the vehicle, where the vehicle independently follows a trajectory, which is accessible for other members. A set of sensors detects obstacles and/or road- and weather conditions, and another sensor is rearwardly arranged for detecting subsequent vehicles. The vehicle is reduced in speed at a turn-out, where danger situations and corresponding braking of the vehicle are detected for avoiding danger or for preventing a collision in liability of a driver of the vehicle.

Description

The The invention relates to an automated vehicle for the Passenger transport independently on a trajectory follows, which is also accessible to other participants is.

It is known that so-called driverless transport vehicles are used for intra-company transports. Such vehicles are the subject of VDI Guideline 2510, 'Driverless transport systems', VDI manual Material Flow and Conveyor Technology Volume 2, 1997 ; and thus belongs to the state of the art. In this publication, automated guided vehicles are described as self-propelled floor-level conveyors that are automatically controlled and equipped with their own power supply. The driverless transport vehicle is used for material transport with active and passive load handling devices.

The Tracking of the vehicles is carried out by means of non-contact Sensors that detect the trajectory. As markings in the Railway have u. a. Guiding wires as a very safe means proven. But it is also possible optical markings, z. To use, for example, strokes on the road, although this of course with pollution, z. As snow, is problematic. Even curbs or crash barriers can, if available, be non-contact be recorded. Short distances up to 20 m can also be used Help of incremental encoders, steering angle encoders and inertial sensors be controlled controlled.

driverless Transport vehicles are increasingly outside the internal material flow used. There are also applications for Passenger transports known. The passenger van also follows one firmly defined trajectory, which is detected by the sensor. For fast-moving passenger transporters, fully automatic Driving is assumed that you have your own road, used by no other road users uncontrolled becomes.

at low speeds and equipment with a obstacle-detecting Stop device, driverless vehicles can also there be used where people are. Now there is a need Such vehicles also on public roads use. But they would have to drive faster can, so inner city z. B. 30 or 50 km / h. However, this is due to possible collisions with other road users, u. a. also persons, with fully automatic moving vehicles on public roads not possible. The sensors for obstacle detection apply not yet as sure enough. Passenger transports with automatic moving vehicles are therefore currently only on separate carriageways, z. As in subways and the like., Possible. Shut off roadways However, they are very expensive and close other participants and vehicles out.

Of the Invention is based on the object as much as possible offer automated passenger transport, but others Road users are not excluded and only a small additional Infrastructure needed.

The Task is according to the invention with automated Vehicles according to the features of the claim 1 solved. The subclaims are particularly relevant expedient developments of the invention.

According to the invention So an automated vehicle provided that independently steers and keeps the desired speed, So the driver substantially relieved. He only has to recognize dangers and if necessary reduce the speed in good time. The driver remains the responsibility to prevent collisions. in principle In such a vehicle, the speed is controlled by the driver preselected, or is this in the context of the distance-dependent Conditions limited. It is technically possible, so-called electronic traffic signs in the form of micro-transmitters or coded To install beacons in or near the carriageway, making special Danger spots, z. B. bends, pedestrian crossings, Schools, intersections and the like can be announced. Through electronics in the vehicle, the information is recorded and the Speed of the vehicle corrected accordingly, z. B. on 30 km / h instead of 50 km / h so far. Also, the vehicle can be stopped because the traffic light ahead is red.

One Vehicle that is used in the automatic driving style required So no steering, because the trajectory is through the lane marker specified. The speed is also determined by the driving job and by, for. B. distance-dependent conditions limited. The Vehicle automatically adjusts to the desired speed one. Thus, there is no need for the otherwise typical accelerator pedal or another comparable, manually operated actuator.

It is common to use the brake pedal to reduce the speed. In principle, however, so-called. Joysticks, master switches or other controls are possible. However, they should not be used for general cruise control, but only if it is useful or necessary to avoid danger. Because that, or the automated vehicles should drive as fast as possible all. If every driver changes the speed as he likes today, the traffic becomes river very restless. As a result, the drivers are unnecessarily burdened. It is therefore advantageous that all vehicles drive with sufficient and constant distance behind each other. This smooth driving style is much more relaxing and energy efficient.

To public Roads for such automated vehicles to use, are usually very little infrastructure necessary. The construction of a private road or even one Track is usually more than a hundred times more expensive than the installation of so-called guide wires for automatic tracking of the vehicles. The automated vehicles can be the already existing public roads. The construction of additional roads is eliminated.

in the Vehicle can also be another driver instead of a driver Persons are. However, it is usually convenient the responsibility of a single person named Driver here to leave.

Possible Dangers to which the driver has to pay attention are u. a. roadway crossing Pedestrians, other vehicles, unfavorable Weather conditions etc.

Especially Children and animals behave spontaneously in traffic, so one danger of collision from those currently available Techniques are not safely mastered. Because the automated vehicle reliable track is guided and the right one Knowing the way, the driver only has to pay attention to these dangers. This is a great advantage especially for non-residents.

at the automated vehicle can be z. B. to act a car, used on public roads becomes. It is interesting for different users. This applies z. B. for individual persons, user communities, Companies, especially car rental companies. People who are relatively little Driving a car will prefer the usual car, because dealing with the new vehicle technology much easier and is more comfortable. Sometimes even children and the disabled or other people, which can not drive with vehicles known technology or allowed, these new vehicles may lead even if possible restrictions are necessary.

A advantageous embodiment of the invention is in claim 2 specified. Not every person is capable of driving a vehicle. Therefore, the driver should first identify himself before the start of the journey. This can u. a. For example, done by him to start a personal key, a card or the like needed. Particular importance in the future has the biometric recognition, for example of the face or a fingerprint and speech recognition. The identification is especially then of interest when looking at the automated vehicles as rental cars used, so whenever a vehicle of a large Group of different people is used. Now it has to be noted whether the user is authorized at all, that is, for example, whether he has legal access and whether he has a driver's license features. Furthermore, the identification of the To determine afterwards who is to a certain Time has passed. This is for vehicles belonging to a larger group are available useful to the vandalism limit, that is, to clarify damages that occur in, originated on or with the vehicle.

Of Further it is possible with an identification of the Give drivers specific permissions. The permission can age-dependent, so children or adolescents in parts or basically just drive at a slower speed allowed to. Drivers, on the other hand, the higher qualification achieved because they are z. B. holder of a corresponding driver's license are allowed to drive at a higher speed. In addition, with an identification can also be set be which route the driver is allowed to drive at all.

In spite of All precautions can happen to it Collisions comes. Therefore, it is advantageous according to claim 3, that the vehicle, especially in front, with a shock absorber Is provided. Depending on the speed the shock absorber should be extendable. For larger ones Speeds should be the bumper as possible far in front of the vehicle. He should dampen a shock and thus the vehicle, or the other collision participants, as much as possible protect. To park the shock absorber should Of course, be retracted, so that the vehicle as possible little footprint needed. Also when driving with low speed, a long bumper is a hindrance. Thus, he should then be relatively far or completely retracted, so that Vehicle can rank better.

An additional driver-assisting function can of course have obstacle-detecting sensors. They are predictive, non-contact sensors, eg. As radar, ultrasound and laser known. With good visual connections, laser scanners can even detect people relatively reliably. But there are also so-called tactile sensors, ie those that trigger only when touched. Through sensors, the inattentive driver can be warned or the vehicle can be braked. However, sensors can also detect fog, rain or snowfall or also assess the road grip, ie the friction coefficient of the road. With ice and snow on the road, the speed should also be on be fit.

Of Further, it is advantageous if track-guided vehicles before a change of direction, so z. B. when turning from the straight leading lane, the driver and possibly also other inmates on the upcoming direction change to draw attention. It is pleasant for the driver that he is referred to the upcoming lateral acceleration. It However, even more important is that the driver in the new direction is made aware so that he looks at the bending Track aimed to detect potential hazards and obstacles. Before turning, the speed can be reduced appropriately.

To Claim 6, there is the possibility that the automated Vehicle can be driven without a driver. This advantage is also a requirement for further subclaims. It should be possible that the vehicle, similar like the so-called driverless transport vehicles in the industrial sector, also at slow speed, z. B. Rangierfahrten to leave the road or turning or parking can. Prerequisite, of course, are appropriate sensors that Prevent collisions. Since there is no driver in the vehicle, Higher speeds are not readily possible.

In In practice, it may be that automated vehicles with different Driving speeds, because not all drivers are eligible for have the higher speed. Also in mixed operation with non-automated vehicles that have no speed limit speed differences are also possible. follows a faster vehicle a slower one so there is a need to overtake the slower vehicle. These are vehicles are equipped according to claim 7 with sensors, the following vehicles can recognize. Once the opportunity z. B. results in an escape point leaves the slow Vehicle overtaking too. Possibly. it will be at the escape point even come to a stop, so the following and maybe even more vehicles can be overhauled. In this case, therefore, a detection of the slower vehicle which stops itself to overtake other vehicles allow.

It But it is also possible that at such an alternative location the slow vehicle and the subsequent, faster vehicle be detected by a stationary device and that the slower vehicle is forced into the escape retract and possibly even stop, so overtake the faster vehicle can. To recognize vehicles z. B. Induction loops at. The desired speed of the vehicles can with today's radio technology transmitted to the alternate location or other control device become.

To Claim 9 occasionally there is a need to leave the track. The driver is allowed to drive the vehicle from the automatic Tracking in the manual tracking, so the usual steering, to switch. Reasons for this can z. B. obstacles on the road to be avoided should, but possibly also the manual parking and other maneuvering.

One particular problem exists when the vehicle is not where it is needed. It is therefore advantageous according to claim 10, that the automated vehicle is remotely controllable and so the goal can be performed. The remote control is powered by the automatic Guidance facilitated.

It but it is necessary that the speed of the remote, remote controlling operator, z. B. controlled from a control center becomes. It offers, among other possibilities, by image capture with a vehicle camera and remote transmission in the control center, the operator in front of the vehicle to display a monitor. There is the possibility to so-called multi-machine operation. One operator can have several, in convoy or individually driving vehicles, at the same time. The Vehicles can also be used as driverless taxis.

A further possibility to retrieve results, if the vehicle or the automated vehicles are virtually in one Convoy to be collected. It can then be on the first vehicle a driver, allowing the driver to take control of the roadway has and accordingly when detecting dangerous situations and can slow down obstacles. The vehicles are all very driving in close succession, quasi as strung on a string of pearls. In the convoy, it may be allowed for the vehicles to be marked Leave the track. In general, however, it is just an advantage that even the convoy is automatically track-guided and on the, z. B. remains marked by a guidewire trajectories.

In order to the retrieval of the vehicles is coordinated, may possibly establish a suitable driving service according to claim 12. In principle, it is also possible to use these automated vehicles a normal, not automatically tracked vehicle to follow.

For Konvoibildung various facilities are advantageous. So the vehicles should set themselves up at a regular distance. Distance sensors work, inter alia, optically, inductively tively or with ultrasound. Furthermore, it is possible to determine the direction of the preceding vehicle or to aim. But it is also possible that the vehicle in front, z. B. with radio or optical data transmission the current location and motion vector and also desired or already triggered motion changes, eg. As braking or accelerating, turning and the like., Notifies. The following vehicle can then optimally adjust to the preceding vehicle and thus comply with the distance.

To Claim 14 prevents the coding and identification of the individual Vehicles abuse and errors before.

For the case that the preceding vehicle in the convoy foul behaves, for example, by leaving the road or for some reason drives too fast, it can by Be an advantage that the rest of the convoy does not follow blindly. For safety reasons will the vehicle or be the following vehicles in the roadway brought to a standstill. It is, however, by electronic means possible to prevent the first vehicle from moving too fast to drive, so that a tearing of the convoy avoided becomes.

To Claim 16, it is finally advantageous that the automated Vehicle is not used only for passenger transport, even if the system is mainly passenger traffic should serve. Material transport, similar to automated guided vehicles, are usually only possible at a lower speed, because no driver is responsible for the faster Ride can take over.

Thereby, that the vehicle basically automatically, so independently drives, the driver is significantly relieved. This can However, cause him to become inattentive and possibly. even fall asleep. Therefore, the attention of the driver to control.

This is also a restriction on the ability to drive as a result of alcohol consumption, drugs, illness or other adversities determine. The automotive industry has, or is this diverse Develop systems. It is known, for. B. the eye movement with a Capture camera. Here are different tired people very much of waking people. Possibly. becomes the unfit driver warned and / or reduced the speed to stop.

To Claim 18 is made as comfortable as possible input of the driving order, or a determination of the destination. For the daily repetitive way from the apartment to the Station or to work or back, can the driving task is triggered with identification of the driver. For changing routes it is already possible today Enter the desired destination by voice. hereby are also while driving new inputs, eg. B. alternative Routes and new destinations possible. Possibly. can also do the job for overtaking, lane change or spaced sequences be given to a preceding vehicle.

Especially in vehicles, by a larger group be used, for. B. in rental cars, it is common that the user pays the amount, depending on the scope and duration. In the automated vehicle are corresponding electronic Funds available to z. For example, to record the billing-relevant data. eg total time of use, travel time, route etc. Possibly. are in the automated vehicle and sensors, z. Eg cameras available, which can determine whether the driver or more Inmates use the vehicle properly or whether they did damage.

To Claim 20, the automated vehicle, z. By recognizing and evaluation of radio beacons, traffic signs or other traffic signs be pointed to a danger point. In the simplest case this would be a warning or a hint for the Driver. It can also be that the automated vehicle is reduced in speed or z. B. in front of a stop sign actually brought to a stop. The driver must then acknowledge that he has recognized the danger and that he a further trip or faster trip can be responsible. Upon detection of a slow driving, z. B. at a pedestrian crossing, the vehicle can independently behind the pedestrian crossing pick up the higher speed again. such Measures relieve the driver substantially. The automated vehicle But represents much more than a vehicle with assistance system. The automation leads to traffic rules actually be respected that the flow of traffic is rapid and without traffic jams that takes place because of the more even flow of traffic less energy is consumed and that overall the drivers and Passengers come to their destination more relaxed. The number of accidents can be drastically reduced. The automated vehicles can also be used by people who have not previously were allowed to drive themselves.

According to claim 21, it is advantageous that on the trajectory, so z. B. on a public road that is used by the automated vehicle, a grid or pattern is located. This may be, for. B. act a series of black and white lines, similar to a zebra three fen or checkerboard pattern, which can be seen far in advance. Checkerboard patterns made of black or white concrete slabs of 30-50 cm edge length covering the entire lane can be clearly detected by cameras more than 20 m in front of the vehicle. Persons who are dressed in black or white and standing or lying on the road will in any case interrupt the pattern and can thus be clearly identified as an obstacle or danger point.

Instead of Optical raster or marks can also be over the roadway distributed microwave reflectors be suitable. she have advantages in worse weather. The effort to be precise Location is, however, larger.

optical Systems are used in adverse weather conditions, not recognized anymore. This then leads to that at Snowfall, rain and fog, the speed of the vehicle automatically is reduced. Thus, although the transport performance of the vehicles lower, but safety is maintained.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited non-patent literature

• - 'Driverless transport systems', VDI manual Material Flow and Conveyor Technology Volume 2, 1997 [0002]

Claims (21)

An automated passenger transport vehicle, which follows a trajectory independently, which is also accessible to other participants, characterized in that - the recognition of dangerous situations and the corresponding braking of the vehicle to avoid the risk or to prevent a collision is the responsibility of the driver , Vehicle according to claim 1, characterized that - the driver must identify. Vehicle, after at least one of the preceding ones Claims characterized in that - front on the vehicle one or more shock absorbers depending on the speed be extended. Vehicle, after at least one of the preceding ones Claims characterized in that - Sensors to detect obstacles and / or road or weather conditions be used and that warned with detection of a danger the driver and or the speed is reduced. Vehicle, after at least one of the preceding ones Claims characterized in that - the track-guided vehicle before a change of direction the driver on the upcoming direction change draws attention and / or reduces the speed of the vehicle. Vehicle, after at least one of the preceding ones Claims characterized in that - the Vehicle can drive without driver. Vehicle, after at least one of the preceding ones Claims characterized in that - one Sensor or more sensors are directed to the rear, to subsequent Recognize vehicles and that the vehicle may be in a passing place can drive to overtake the following vehicle too to let. Vehicle, after at least one of the preceding ones Claims characterized in that - at an escape point the vehicle in speed so far is reduced, that possibly a faster, subsequent vehicle can overtake. Vehicle, after at least one of the preceding ones Claims characterized in that - the in itself lane-guided vehicle by the driver from the Automatic mode can be switched to manual mode and thus can also leave the predetermined trajectory. Vehicle, after at least one of the preceding ones Claims characterized in that - the Vehicle remotely or independently to a new one Goal is led. Vehicle, after at least one of the preceding ones Claims characterized in that - the Vehicle is equipped so that it with other vehicles one Convoy can form. Vehicle, after at least one of the preceding ones Claims characterized in that - the Retrieving the vehicle by a car service or a authorized persons happens. Vehicle, after at least one of the preceding ones Claims characterized in that - it for convoy formation with non-contact spacer devices equipped. Vehicle, after at least one of the preceding ones Claims characterized in that - it can be identified without contact and / or even perform a contactless identification can. Vehicle, after at least one of the preceding ones Claims characterized in that - it the convoy can break off as soon as the vehicle in front in the convoy is illegal. Vehicle, after at least one of the preceding ones Claims characterized in that - the Vehicle is also used for other transports. Vehicle, after at least one of the preceding ones Claims characterized in that - the Attention of the driver is controlled. Vehicle, after at least one of the preceding ones Claims characterized in that - With the identification of the driver already recognized the driving order or that the driving order by a manual key input or by voice input. Vehicle, after at least one of the preceding ones Claims characterized in that - the Use of the vehicle recorded and if necessary also calculated. Vehicle, according to at least one of the preceding claims, characterized in that - it slowly drives or stops at marked danger spots and / or gives the driver a signal and - that for the start or again faster Fah Ren the driver must be released or confirmed and / or that after the end of the danger point again automatically driven faster. Vehicle, after at least one of the preceding ones Claims characterized in that - the Vehicle must recognize a Raser or pattern on the trajectory.