DE102016225855A1 - Method for operating at least one motor vehicle, congestion assistance system - Google Patents

Abstract

The invention relates to a method for operating at least one motor vehicle (F1-F4), wherein the motor vehicle (F1-F4) is given a driving speed as a function of at least one foreign vehicle (F2-F4) located in the travel path of the motor vehicle. It is envisaged that a driving behavior of a plurality of foreign vehicles (F2-F3) in the vicinity of the motor vehicle (F1) is detected in order to detect a traffic jam, and that the driving speed of the motor vehicle (F1) in the event of a detected traffic jam as a function of the detected driving behavior the foreign vehicles (F2-F4) is limited to a maximum speed.

Description

The invention relates to a method for operating at least one motor vehicle, wherein the motor vehicle is given a driving speed depending on at least one foreign vehicle located in the travel path of the motor vehicle.

Furthermore, the invention relates to a traffic jam assistance system for motor vehicles, with a plurality of control devices, which are assigned to the motor vehicles / assigned and adapted to specify the respective motor vehicle, a driving speed in dependence on a foreign vehicle located in the respective track.

State of the art

Methods and assistance systems of the type mentioned are known from the prior art. By means of an environmental sensor system, it is possible, for example, to detect a foreign vehicle in the path of the own (ego) motor vehicle, to determine the distance to the other vehicle and, for example, to detect a relative speed. By so-called follow-up assistant, it is possible depending on the detected actual distance and the driving speed of the own and / or the Femdfahrzeugs the vehicle to specify a driving speed, for example, to maintain a minimum distance to the vehicle in front while driving. In this case, the driving speed of the motor vehicle is set automatically, so that the driver does not have to actively initiate a braking process or acceleration process itself.

However, if the motor vehicle gets stuck in a traffic jam, such a follow-up assistant causes the motor vehicle to accelerate and brake again with all other motor vehicles until the traffic jam has finally dissolved. This is because the driving speed of the motor vehicle is specified only as a function of the directly preceding vehicle. The overall situation and the other vehicles in the same traffic jam are not taken into account.

Disclosure of the invention

The inventive method with the features of claim 1 has the advantage that a congestion is detected in a simple manner, and that the congestion is resolved in an advantageous manner. In particular, this results in the advantage that when the method is performed by more than one motor vehicle, but for example, by the other motor vehicles or foreign vehicles, the traffic jam dissolves optimally without further unnecessary delays. According to the invention this is achieved in that a driving behavior of several foreign vehicles in the vicinity of the motor vehicle is detected, so not only the driving behavior of the vehicle located directly in the driveway to detect a traffic jam, and that the driving speed of the (ego) motor vehicle at a detected congestion depending on the detected driving behavior of the foreign vehicles is limited to a maximum speed. The invention thus provides that not only the driving behavior of the directly preceding vehicle is examined, but also the behavior of other nearby vehicles, in particular the vehicles, which are in the direction of travel of the motor vehicle on the same or another, especially adjacent lane , In particular, not only the driving behavior of the directly preceding vehicle but also, for example, the driving behavior of the motor vehicle is taken into account, which precedes the preceding vehicle. As a result, an overall picture of the traffic situation is determined, from which it can be seen whether the motor vehicle is in a traffic jam. This is determined, for example, when it is detected that the travel speed of all motor vehicles in the vicinity of the motor vehicle is within a predefinable period of time below a predefinable limit value. Preferably also traffic management conditions, such as traffic lights, traffic signs, congestion messages or the like are taken into account in order to clearly classify the situation as a traffic jam.

Furthermore, it is preferably provided that an actual driving speed of the respective other vehicle and / or an actual distance of the respective other vehicle to the own motor vehicle or to another adjacent other vehicle are detected as driving behavior. From the actual speed and the actual distance, the traffic situation is particularly clearly visible and the maximum speed can be set to an advantageous value. By limiting the maximum speed of the (ego) vehicle as a function of the driving behavior of the foreign vehicles and the ego motor vehicle or the detected actual speeds and / or actual distances of all vehicles involved in the congestion to one another, as described above, it is achieved that a optimal congestion resolution is made possible, in which a renewed braking and excessive acceleration is avoided. This leads to a reduced wear and an improved fuel consumption. The maximum speed is therefore limited not only as a function of the driving behavior of the directly preceding foreign vehicle, but depending on all other vehicles involved in the congestion and detectable, including those that are in / at the end of the jam / Stauendbereich, so a coordinated behavior of the motor vehicles on the current traffic jam situation is ensured, which allows optimal congestion resolution.

According to a preferred embodiment of the invention, it is provided that the maximum speed is limited such that no braking operation of the motor vehicle is necessary during a resolution phase of the congestion. The traffic situation is thus investigated as a function of the above-mentioned data in such a way that when starting the motor vehicle the maximum speed is predetermined so that braking of the motor vehicle before the jam has dissolved is avoided. For this purpose, the acceleration behavior of the other foreign vehicles is estimated and taken into account, in particular to detect a jam end and a traffic jam resolution area. Assuming that also the foreign vehicles participate optimally in the congestion resolution, for example by performing the same procedure, the driving speed of the (ego) motor vehicle is limited to a maximum speed, which meets the above requirement.

According to a preferred embodiment of the invention, it is provided that a desired driving speed desired by a driver of the motor vehicle is limited to the maximum speed. Thus, the driving speed of the motor vehicle is limited to the maximum speed, even if the driver requires a higher driving speed or a torque that would lead to a higher driving speed. As a result, it is automatically achieved that an optimal congestion resolution takes place. Alternatively, the maximum speed is merely displayed to the driver, for example visually or acoustically, so that the driver can follow the recommendation of the maximum speed himself, but this need not.

According to a further embodiment of the invention, it is preferably provided that the driving speed is set to the maximum speed. In this case, it is ensured that the motor vehicle is operated at an optimum speed, which ensures that it is neither too fast nor too slow to optimally dissolve the congestion. Such a procedure can be carried out in particular in a fully or partially autonomous driving operation of the motor vehicle without much additional effort.

Particularly preferably, it is provided that the actual driving speed and the distance of the vehicles from one another or the driving behavior of the other vehicles are detected by a vehicle-to-vehicle communication and / or a central data system. For example, traffic information available online, which results from the driving behavior of the vehicles, can be evaluated in order to detect the congestion and to determine the maximum speed. Alternatively or additionally, information exchange between the vehicles in the traffic jam is carried out by the direct vehicle-to-vehicle communication, so that each motor vehicle for itself or each dedicated control unit of a motor vehicle assesses for itself the current traffic situation, detects the traffic jam and possibly the maximum speed limited.

For detecting a congestion resolution range within which the maximum speed is to be limited, in particular the actual speeds of the foreign vehicles are compared with a predefinable first limit value. Exceeds the respective actual speed of the first limit, it can be recognized that the vehicles are no longer in the storage area, but already in the congestion resolution area in which already higher speeds can be achieved. In particular, a detected congestion is divided into three areas, namely, the real jam area, the jam disintegration area, and the jam end. At the end of the traffic jam, limiting the maximum speed is no longer necessary because the traffic jam has dissolved. Restricting the maximum speed in the congestion resolution area is of great advantage, as it avoids congestion of the traffic situation and concomitant new congestion. In the actual storage area, in which in particular occur phases in which a short-term driving occurs and only short distances can be driven (stop-and-go operation), a limitation of the maximum speed is advantageous, but not absolutely necessary because at one Such a situation is recognized anyway that a resolution of the congestion currently not possible and thus an optimal driving speed (yet) could not lead to congestion resolution. The algorithm used to perform the method recognizes these phases themselves.

For detecting the end of the traffic jam, the actual driving speeds of the motor vehicles are compared, in particular within a predefinable time period, with a second limit value. The second limit value is expediently greater or higher than the first limit value. For example, via a determination of the detected actual driving speeds or a number of evaluations, in which the number of motor vehicles is counted, which exceed the second threshold, the determination of the tail end can be done in a simple manner. The predefinable time period preferably corresponds to a minimum Observation length, which is necessary so that the process does not respond to short-term purely locally achieved increased speeds, but do not lead to an optimal congestion resolution.

The method is preferably carried out by a control unit of the motor vehicle under consideration so that it determines, as described above, an optimal or limited maximum speed from the recorded data of the foreign vehicles located in the surroundings.

Alternatively, the method is preferably carried out centrally by a data processing or data processing center, which detects the driving behavior of the motor vehicles and predefines or at least notifies the motor vehicles of the optimum driving speed or the limited maximum speed. In this case, the computational effort for the respective motor vehicle is reduced and determined by the central consideration of the traffic situation one for all motor vehicles, which are involved in the traffic situation, and in particular in the traffic jam, optimal solution for congestion resolution.

The congestion assist system according to the invention with the features of claim 11 is characterized in that it is specially adapted to perform the inventive method when used as intended. Expediently, the traffic jam assistance system comprises a plurality of control devices assigned to the motor vehicles, which carry out the method. In addition, the congestion assistance system requires communication means for vehicle-to-vehicle communication or central data processing and / or database. Furthermore, the congestion assistance system preferably also includes the database or the data processing and corresponding communication means for transmitting the detected and determined information, as described above.

• Figur eine Skizze zur Erläuterung eines vorteilhaften Verfahrens zur Stauauflösung.

In the following, the invention will be explained in more detail with reference to an embodiment. The only one shows

• FIG. 2 shows a sketch to explain an advantageous method for congestion resolution.

The single figure shows a sketch for explaining an advantageous method for triggering a jam, which is formed by several motor vehicles. The figure shows plotted over a route s the vehicle speed v. The presently considered total distance s _{g of} the traffic jam is defined by motor vehicles which move on the same route and, because of their actual distance from one another and their actual driving speed, can be seen to be in a traffic jam. For this purpose, for example, the respective actual speeds are compared with a predeterminable first limit speed v ₁ .

The motor vehicles are all part of a traffic jam assistance system, which consists of control units of motor vehicles and optionally of central data processing and / or a central database. The motor vehicles F1, F2, F3 and F4, which are shown here by way of example, are preferably linked or networked with one another by vehicle-to-vehicle communication. Due to this networking, it is possible for the motor vehicles to obtain information about the preceding traffic, that is, about one or more preceding vehicles from outside (or standing). Alternatively, this information can also be acquired via the central database, which is connected, for example, to each of the motor vehicles F1 to F4, and determines the position and driving speed of the motor vehicles and, for example, compares with one another in order to determine the distances between the motor vehicles. The central data processing can then send the ascertained information to all vehicles F1 to F4 which cooperate with the congestion assistance system. This communication takes place, for example, via conventional means of communication, such as radio, mobile or the like. The database can be, for example, an already existing database which determines the traffic information from the current data of vehicles, as already used, for example, for detecting congestion or traffic situations.

The advantageous method, which is performed by the congestion assistance system, evaluates the determined traffic information, ie the driving behavior of the motor vehicles F1 to F4, and calculates which maximum speed the motor vehicles F1 to F4 are allowed to optimally dissolve the detected congestion, so that no further braking operation more is necessary.

It is provided that either a cooperative approach is performed, in which the control of the congestion resolution is taken over by each motor vehicle individually, or a global approach, in which a central instance, such as the aforementioned data processing, the congestion resolution for the congested vehicles F1 to F4 is centrally coordinated.

First, the total distance s _{g is} divided into a congestion area s _s and into a congestion resolution area s _A as a function of the detected information or the driving behavior of the vehicles F1 to F4. For the classification of the areas in particular the driving speed of the Considered motor vehicles. For this purpose, the driving speed of the motor vehicles F1 to F4 is compared with the predetermined first limit speed v ₁ , which is chosen such that it can be assumed that vehicles that travel slower than the stowage speed are in a traffic jam. In particular, the travel speed of the respective motor vehicle F1 to F4 is determined and averaged within a predetermined period, so that short-term accelerations in stop-and-go operation are compensated.

If the detected travel speed is above the first limit speed and below a second limit speed that is higher than the first limit speed, it is recognized that the motor vehicle is in the congestion resolution area, in which the stop-and-go operation in the congestion resolution operation is passed.

In the figure, the four vehicles are exemplified for this purpose, wherein the vehicle F1 is still standing, and the vehicles F2, F3 and F4 are already in motion, with different speeds and at different positions or with different distances to each other. Because the vehicle F1 is still standing, it is the limit to the traffic jam resolution area.

In the cooperative approach, each individual motor vehicle F1 to F4 calculates the congestion resolution using the networked data, for example by means of a corresponding control device. As a favorable input for the process, the location-dependent current driving speed of other vehicles (other vehicles) is taken into account.

For example, the information "at distance x, a vehicle at speed v (x)" is used.

The transition from the storage area s _s in the congestion resolution area s _A is best determined from the own driving speed, as previously described. Optionally, the driving speeds of the preceding or stationary vehicles are included and, for example, only the congestion resolution recognized when within a predetermined distance to the considered (eg) motor vehicle, for example F1, no further force or foreign vehicle F2 to F4 is present, the is moved at a speed below the first limit speed v ₁ .

The end of the jam, which is at the end of the jam resolution, is calculated by obtaining a defined continuous distance, for example 3 to 5 km, of a speed above the second limit speed v ₂ characteristic of an achieved one among the preceding vehicles F 2 to F ₄ traffic jam. Thus, for this purpose, the detected driving speeds are compared with the second limit value v _{2 in} order to detect the jam end. The determination can be made, for example, via a notification of the vehicle speeds or via a number of evaluations, in which the number of vehicles that exceed the second limit value is compared with a predefinable minimum number in order to detect the tail end.

A certain minimum observation length is advantageous in order not to consider purely locally achieved increased speeds for the jam resolution, which, however, do not stand for a jam resolution. Averaged measured values are simplified in the figure by crosses. The beginning of the jam end s _E is recognized when the detected and / or average vehicle speed is above v ₂ .

Within the congestion resolution range, starting from the location of the considered motor vehicle F1 and its driving speed, the congestion end point and a congestion end speed, which corresponds, for example, to the second limit speed v ₂ , for the considered motor vehicle 1 as a goal. From the relative speed and the distance an aimed speed course is calculated, which limits the driving speed of the considered motor vehicle F1 to a maximum speed, which enables an optimal congestion resolution. Preferably, the speed profile is given linearly, because then each motor vehicle performing this method behaves optimally cooperatively with the other motor vehicles to resolve the congestion, because if, for all distances of the motor vehicles F1 to F4 to the tail end s _E consistent for all motor vehicles the same driving speeds are chosen. The calculation of the congestion end s _E and the optimal speed curve or the maximum permissible driving speed is preferably carried out dynamically. In the figure, this is shown by way of example for the four motor vehicles F1 to F4.

In the global approach, the information about the tail end s _E and optionally also on the tail end speed or the second limit v _{2 is} not determined by the individual motor vehicles or control devices themselves, but calculated centrally by the data processing and the motor vehicles F1 to F4 made available. The motor vehicles F1 to F4 or their control units then behave within the congestion formation area as described above in order to ensure the optimal congestion resolution.

The specification of the maximum speed can be effected by the fact that the driver of the respective motor vehicle F1 to F4 the recommendation for the maximum driving speed or the driving speed via a display or a separate device is acoustically or visually displayed. Alternatively, the driving speed is automatically set or limited so that at least a partially autonomous operation of the respective motor vehicle takes place. Then the motor vehicle automatically follows the optimum maximum speed as the target speed.

The advantageous method ensures that a congestion is efficiently dissolved, which leads to a gain in time, reduced emissions and reduced consumption. In addition, the driving safety is increased because the driving behavior of motor vehicles is coordinated.

Claims (11)

Method for operating at least one motor vehicle (F1-F4), wherein the motor vehicle (F1-F4) is preset as a function of at least one foreign vehicle (F2-F4) in the travel path of the motor vehicle, characterized in that a driving behavior of several foreign vehicles ( F2-F3) is detected in the vicinity of the motor vehicle (F1) to detect a congestion, and that the driving speed of the motor vehicle (F1) at a detected congestion in dependence on the detected driving behavior of the foreign vehicles (F2-F4) to a maximum speed is limited. Method according to Claim 1 , characterized in that an actual driving speed of the respective other vehicle (F2-F4) and / or an actual distance other vehicles (F2-F4) to the motor vehicle (F1) and / or another foreign vehicle (F2-F4) detected as driving behavior become. Method according to one of the preceding claims, characterized in that the maximum speed is set such that during a phase of resolution of the congestion no braking operation of the motor vehicle (F1) is necessary. Method according to one of the preceding claims, characterized in that a desired driving speed desired by a driver of the motor vehicle (F1) is limited to the maximum speed. Method according to one of the preceding claims, characterized in that the driving speed of the motor vehicle (F1) is set to the maximum speed. Method according to one of the preceding claims, characterized in that the actual driving speed and the distance of the motor vehicles (F1-F4) to each other by a vehicle-to-vehicle communication and / or a central data system are detected. Method according to one of the preceding claims, characterized in that for detecting a congestion resolution range, the actual speed of the motor vehicle with a predetermined first limit value (v ₁ ) is compared. Method according to one of the preceding claims, characterized in that for detecting a jam end, the actual driving speed of the motor vehicles (F1-F4), in particular within a predetermined time period, with a second limit value (v ₂ ) are compared. Method according to one of the preceding claims, characterized in that the method by a control device of the respective motor vehicle (F1-F4) is performed. Method according to one of the preceding claims, characterized in that the method is carried out by a central data processing by - or with. Traffic jam assistance system for motor vehicles (F1-F4), with a plurality of control devices associated with the motor vehicles (F1-F4) and designed to give the respective motor vehicle (F1-F4) a driving speed as a function of a foreign vehicle in the respective travel path , characterized in that the congestion assist system is specially adapted to, when used as intended, the method according to one of Claims 1 to 10 perform.

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