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WO2015135668A1 - Procédé et dispositif servant à faire fonctionner un véhicule - Google Patents

Procédé et dispositif servant à faire fonctionner un véhicule Download PDF

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Publication number
WO2015135668A1
WO2015135668A1 PCT/EP2015/050958 EP2015050958W WO2015135668A1 WO 2015135668 A1 WO2015135668 A1 WO 2015135668A1 EP 2015050958 W EP2015050958 W EP 2015050958W WO 2015135668 A1 WO2015135668 A1 WO 2015135668A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
threading
signal
lane
thread
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2015/050958
Other languages
German (de)
English (en)
Inventor
Sebastian van Staa
Oliver Heim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2015135668A1 publication Critical patent/WO2015135668A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2756/00—Output or target parameters relating to data
    • B60W2756/10—Involving external transmission of data to or from the vehicle

Definitions

  • the invention relates to a method and a device for operating a vehicle.
  • the invention further relates to a computer program.
  • the published patent application DE 10 2005 022 663 A1 discloses a method and a device for driver assistance in motor vehicles.
  • a detection unit is provided, which detects a threading situation in which the driver of the motor vehicle has to thread into traffic on a different lane.
  • the published patent application DE 10 2005 023 185 A1 shows a lane change assistant for motor vehicles.
  • the known devices and methods thus enable a driver of a motor vehicle assistance in a lane change and in a corresponding threading of the motor vehicle in the track to be changed.
  • the object underlying the invention can therefore be seen to provide a method for operating a vehicle having a guide device for at least partially automated driving of the vehicle, wherein a driver of the vehicle is assisted in a threading situation, in which another vehicle in a Wants to thread traffic on a lane of the vehicle.
  • the object underlying the invention can furthermore be seen in providing a corresponding device for operating a vehicle, wherein the vehicle has a guide device for at least partially automated guidance of the vehicle.
  • the object underlying the invention can also be seen to provide a corresponding vehicle.
  • the object underlying the invention can be seen to provide a corresponding computer program.
  • a method of operating a vehicle having guide means for at least partially automated driving of the vehicle comprising the steps of:
  • an apparatus for operating a vehicle comprising:
  • a recognition device for recognizing a threading situation in which another vehicle wants to thread traffic into a traffic lane of the vehicle
  • test device for checking whether or not a guide of the vehicle has to be adapted to the detected threading situation in order to allow the further vehicle to be threaded in
  • a guide device for the at least partially automated guidance of the vehicle which is designed to adapt the guidance of the vehicle to the detected threading situation in the case of a detected threading situation as a function of the test.
  • a computer program which comprises program code for carrying out the method according to the invention when the computer program is executed on a computer.
  • a vehicle which has a guide device for the at least partially automated guidance of the vehicle, the vehicle comprising the device according to the invention.
  • Adjusting the guide will cause the other vehicle to thread. Dangerous situations when threading, which can lead to an accident, for example, can thus be avoided in an advantageous manner. In particular, a traffic flow is not disturbed. In particular, a flowing traffic can be maintained, as unnecessary braking maneuvers of the other vehicle are avoided, which would otherwise (ie, if it could not thread) would perform.
  • the phrase "for at least partially automated driving of the vehicle” may also include, in one embodiment, the case of fully automated guidance.
  • the guide device is designed for the fully automated guidance of the vehicle.
  • the guide device is designed to guide the vehicle at least partially automated, in particular fully automated.
  • a semi-automatic Guiding the vehicle is only partially guided by means of the guide device. The driver must intervene even in a vehicle guidance for the guidance of the vehicle.
  • a fully automated guidance of the vehicle by means of the guide device a driver no longer has to engage in the vehicle guidance. Because the guide device leads the vehicle in a fully automated guidance completely self.
  • Guiding within the meaning of the present invention comprises in particular a longitudinal guide of the vehicle and / or a transverse guide of the vehicle. Guiding within the meaning of the present invention comprises in particular a regulation of an actual value to a desired value. For example, such a value may be a vehicle speed and / or a vehicle acceleration and / or a distance of the vehicle to another vehicle ahead of the vehicle.
  • An adaptation in the sense of the present invention may mean, in particular, that new nominal values are preset to which corresponding actual values are regulated.
  • a new target speed of the vehicle can be specified.
  • a new desired acceleration can be specified.
  • a new desired distance of the vehicle relative to a vehicle driving ahead of the vehicle can be specified. This preceding vehicle may in particular be the other vehicle or the further vehicle when it has been threaded.
  • a new desired lateral position of the vehicle can be specified within its own lane, on which then preferably an actual lateral position of the vehicle is controlled within its own lane.
  • the checking involves comparing a relative speed between a speed of the vehicle and a speed of the other vehicle with a predetermined speed. speed adjustment, wherein the adjusting comprises changing the vehicle speed depending on the comparison.
  • the speed of the vehicle is adjusted accordingly. For example, the speed of the vehicle is reduced so that a distance to a preceding vehicle increases. As a result, a gap between the vehicle and the preceding vehicle becomes larger. This facilitates the threading of the further vehicle. For example, the vehicle can accelerate. Its speed is thus increased in order to move quickly past the other vehicle on the adjacent sprint so that it can thread behind the vehicle.
  • the predeterminedillonsschwei Iwert and the corresponding comparison now ensure that such maneuvers (acceleration, deceleration) are performed only if it allows the vehicle's own safety.
  • the predetermined speed threshold value depends on the specific individual case and in particular on a current vehicle speed.
  • the testing comprises comparing a distance between the vehicle and the other vehicle with a predetermined threshold distance, the adjusting changing the distance depending on the vehicle Comparison includes.
  • a threading signal is sent from the vehicle to the further vehicle in order to signal to the further vehicle that the threading is granted to it.
  • the further vehicle in particular a driver of the further vehicle, is thus advantageously informed that the vehicle has recognized that the further vehicle wants to thread and that the threading is granted to it (the further vehicle).
  • a related uncertainty of the driver of the other vehicle, whether he is allowed to thread or not, can thus in vorteilhaf- ter way to be avoided. Accidents can thus be avoided in an advantageous manner.
  • the driver of the other vehicle for example, adjust his driving style accordingly.
  • the threading signal comprises an optical signal, which is provided by means of a vehicle lighting, and / or an acoustic signal, which is provided by means of a vehicle horn.
  • An optical signal is usually easily recognizable, especially in the dark.
  • a vehicle lighting may include, for example, a high beam and / or a dipped beam.
  • a flasher can be operated, which activates the high beam accordingly.
  • the threading signal is sent to a driver assistance system of the further vehicle, so that the driver assistance system can provide a driver assistance function as a function of the threading signal.
  • the driver assistance system of the further vehicle can thus adapt its strategy accordingly in the case of possible interventions in a vehicle guidance of the further vehicle, in particular in the case of a vehicle guidance system for changing lanes and for threading.
  • the driver assistance system of the further vehicle can, for example, correspondingly adapt a setpoint speed of the further vehicle and / or a setpoint distance of the further vehicle to a vehicle driving ahead of the further vehicle, wherein the driver assistance system has an actual distance and / or an actual speed of the further vehicle on the aforementioned setpoint values regulates.
  • the above-mentioned desired distance can be reduced and / or the above-mentioned desired speed can be increased in order to thread as quickly as possible into the traffic of the adjacent lane.
  • the driver assistance system thus guides the vehicle with the information or the knowledge that the vehicle has been threaded by the vehicle.
  • a communication between the vehicle and the further vehicle is carried out by means of a wireless communication method.
  • a wireless communication method may comprise, for example, a mobile radio communication method and / or a WLAN communication method.
  • a responsive signal formed and transmitted responsively to the transmitted threading signal by means of the further vehicle is received by the vehicle, wherein the adjustment of the guidance is carried out as a function of the feedback signal.
  • the other vehicle forms a feedback signal in response to the transmitted and received from the other vehicle threading signal and sends this feedback signal to the vehicle.
  • the vehicle that sent the threading signal thus knows that its transmitted threading signal has arrived and that the other vehicle knows that threading is being granted to it. Accordingly, an adjustment of the leadership of the vehicle can be performed.
  • the feedback signal includes the information as to whether the further vehicle wants to thread in front of or behind the vehicle.
  • the vehicle can accelerate if the other vehicle wants to thread behind him, or delay, if the other vehicle wants to thread in front of him.
  • the feedback signal includes the information with which target speed the further vehicle wants to drive on the lane of the vehicle.
  • the vehicle can adjust its own speed so that it does not rise too fast after threading the further vehicle, whereby even a distance between the vehicle and the threaded vehicle (ie the other vehicle) can increase. This increases safety for the vehicles. Accidents can be avoided in an advantageous manner.
  • the recognition device for example, a camera, in particular a stereo camera, and / or a video camera, in particular a stereo video camera, and / or an environment sensor or multiple environment sensors, for example a radar sensor and / or a lidar sensor and / or an ultrasonic sensor and / or a laser sensor and / or any combination thereof.
  • the detection device comprises one or more
  • Environment sensors which may correspond to one of the above sensors, for example.
  • an evaluation of the data from the environmental sensors or from the images taken by means of the environmental sensors takes place as to whether the further vehicle wants to thread or not.
  • an activated direction indicator, colloquially also called Blink ker colloquially also called Blink ker, the other vehicle may be an indication that the other
  • the recognition device comprises a digital map, in particular the digital map of a navigation system.
  • a navigation system can be encompassed by the recognition device, for example.
  • the digital map advantageously indicates where lanes end or narrow, so that the further vehicle has to change the lane at these points and into the lane of the vehicle
  • the further vehicle sends a message to the vehicle that it wants to change to the lane of the vehicle in order to thread itself into the traffic on the lane.
  • the further vehicle may send a message to the vehicle that a lane of the further vehicle ends. The vehicle can thus detect a threading situation in which the other vehicle wants to change to the lane of the vehicle in order to thread it into the traffic.
  • FIG. 1 shows a flowchart of a method for operating a vehicle
  • FIG. 2 shows a device for operating a vehicle
  • FIG. 3 shows a threading situation.
  • FIG. 1 shows a flow chart of a method for operating a vehicle, which has a guide device for at least partially automated guidance, in particular for fully automated guidance of the vehicle.
  • a threading situation is detected in which another vehicle wants to thread traffic into a traffic lane of the vehicle. It is checked in step 103 whether an at least partially automated guidance of the vehicle by means of the guide device must be adapted to the detected threading situation or not in order to allow the further vehicle threading.
  • step 103 If it has been determined in step 103 that the at least partially automated guidance does not have to be adapted, then this is not adjusted according to a step 105.
  • the vehicle thus continues unchanged. This means, in particular, that the guide device continues to carry the vehicle at least partially automatically, in particular fully automatically, without having made a change.
  • step 107 the guidance of the vehicle is adapted to the detected threading situation as a function of the test.
  • 2 shows a device 201 for operating a vehicle (not shown), which has a guide device for at least partially automated guidance, preferably for fully automated guidance, of the vehicle.
  • the device 201 comprises a recognition device 203 for recognizing a threading situation in which another vehicle intends to thread traffic into a traffic lane of the vehicle.
  • the device 201 further comprises a test device 205 for checking whether or not a guide of the vehicle must be adapted to the detected threading situation in order to enable the further vehicle to be threaded.
  • the device 201 further includes a guide device 207 for at least partially automated, in particular fully automated, guiding the vehicle, which is designed to adapt the guidance of the vehicle to the detected threading situation in a detected threading situation depending on the test.
  • Fig. 3 shows a threading situation.
  • a road 301 is shown that includes two lanes 303 and 305.
  • two vehicles 307 and 309 travel, with vehicle 309 driving in front of vehicle 307.
  • the lane 303 is provided on which a vehicle 31 1 drives.
  • the vehicle 307 will be referred to as the vehicle.
  • the vehicle 309 is referred to as the other vehicle.
  • the vehicle 31 1 is referred to as the further vehicle.
  • a direction of travel of the three vehicles 307, 309, 31 1 is shown with an arrow with the reference numeral 313.
  • the further vehicle 31 1 must therefore change from its lane 303 to the lane 305. It must therefore thread itself into the traffic, which drives on the lane 305. This change request indicates the further vehicle 31 1 with an activated direction indicator 317.
  • the vehicle 307 comprises a device according to the invention, for example the device 201 according to FIG. 2, the device being for the sake of clarity not shown.
  • the vehicle 307 can recognize that there is a threading situation in which the further vehicle 31 1 wants to change to traffic on the lane 305. That such a Einfädelsituation is present, but can be recognized, for example, instead of or in addition by means of a digital map.
  • the further vehicle 31 1 sends to the vehicle 307 the message that its lane 303 ends.
  • the vehicle 307 can thus check whether a partially automated guidance, in particular a fully automated guidance, has to be adapted by means of its guidance device. In particular, it can be provided that it is checked whether a distance between the vehicle 307 and the other vehicle 309 is sufficiently large, so that the vehicle 31 1 between the two
  • Thread vehicles 307 and 309 In particular, a comparison of the actual distance between the two vehicles 307 and 309 is carried out with a predetermined or predetermined distance threshold value. If the distance is sufficient, ie if the actual distance is greater than the distance threshold, then the guidance of the vehicle will not be adjusted.
  • the vehicle 307 reduces its vehicle speed, for example by braking. In one embodiment, it may be provided that a message from the vehicle 307 to the other
  • Vehicle 309 is sent, this message includes the instruction that the other vehicle 309 should accelerate, so that due to the acceleration, a distance between the two vehicles 307 and 309 increases to allow the other vehicle 31 1 threading.
  • the other vehicle 31 1 is signaled that he is granted threading.
  • the vehicle 307 transmits a threading signal to the further vehicle 31 1.
  • an optical signal which by means of a Vehicle lighting is provided, are sent to the other vehicle 31 1.
  • a threading signal is sent to a driver assistance system of the further vehicle 31 1.
  • the further vehicle 31 1 sends a feedback signal to the vehicle 307.
  • the feedback signal may include the information as to whether the further vehicle 31 1 still wants to make further lane changes or not.
  • the feedback signal may include the information that a threading operation by the other vehicle 31 1 is aborted.
  • a residual red time is sent from the vehicle 307 to the further vehicle 31 1.
  • a traffic signal colloquially referred to as traffic lights
  • information can be provided to the other vehicle 31 1 based on which it can decide whether a lane change is necessary or not.
  • the presence of a red phase on the lane 305 may, for example, influence the decision of the vehicle 307 not to prompt the vehicle 31 1 to thread (ie to signal that the vehicle 31 1 is being threaded), as this will cause even more deceleration of the vehicle Vehicle 307 would require, and a threading of the vehicle 31 1 can also be carried out from the state after the end of the red phase. This in particular according to a zipper principle when starting.
  • a driver is assisted in a threading situation in which another vehicle wants to thread into traffic on its own lane.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé servant à faire fonctionner un véhicule (307), qui comporte un dispositif de guidage servant à guider au moins en partie de manière automatisée le véhicule (307). Le procédé comprend les étapes suivantes consistant à : • identifier (101) une situation d'insertion, dans laquelle un autre véhicule (311) souhaite s'insérer dans un trafic sur une voie de circulation (305) du véhicule (307) ; • examiner (103) si un guidage au moins en partie automatisé du véhicule (307) doit être adapté ou pas à la situation d'insertion au moyen du dispositif de guidage afin de permettre à l'autre véhicule (311) de s'insérer ; • adapter (107) le guidage du véhicule (307) à la situation d'insertion identifiée en fonction de l'examen. L'invention concerne en outre un dispositif correspondant ainsi qu'un programme informatique correspondant.
PCT/EP2015/050958 2014-03-10 2015-01-20 Procédé et dispositif servant à faire fonctionner un véhicule Ceased WO2015135668A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014204333.6 2014-03-10
DE102014204333.6A DE102014204333A1 (de) 2014-03-10 2014-03-10 Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs

Publications (1)

Publication Number Publication Date
WO2015135668A1 true WO2015135668A1 (fr) 2015-09-17

Family

ID=52395062

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/050958 Ceased WO2015135668A1 (fr) 2014-03-10 2015-01-20 Procédé et dispositif servant à faire fonctionner un véhicule

Country Status (2)

Country Link
DE (1) DE102014204333A1 (fr)
WO (1) WO2015135668A1 (fr)

Cited By (1)

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US20220081006A1 (en) * 2020-09-15 2022-03-17 Hyundai Motor Company Vehicle and autonomous driving control method therefor

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DE102016205142A1 (de) 2016-03-29 2017-10-05 Volkswagen Aktiengesellschaft Verfahren, Vorrichtungen und Computerprogramm zum Initiieren oder Durchführen eines kooperativen Fahrmanövers
DE102017203739A1 (de) 2017-03-07 2018-09-13 Continental Teves Ag & Co. Ohg Automatisches Notbremssystem
DE102018200863A1 (de) 2018-01-19 2019-07-25 Robert Bosch Gmbh Verfahren zum Betreiben eines automatisierten Kraftfahrzeugpulks
FR3114066B1 (fr) * 2020-09-17 2023-11-10 Renault Sas Procédé d’assistance à la conduite d’un véhicule.
DE102021129606A1 (de) 2021-11-12 2023-05-17 Bayerische Motoren Werke Aktiengesellschaft Verfahren und vorrichtung zur steuerung und/oder regelung einer geschwindigkeit eines automatisierten kraftfahrzeugs

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