DE102018003572A1 - Method for controlling an assistance system of a vehicle designed for an autonomous driving operation - Google Patents

Abstract

The invention relates to a method for controlling an assistance system (A) of a vehicle (1) designed for an autonomous driving operation, wherein an instantaneous position of the vehicle (1) is determined and the assistance system (A) is released or blocked as a function of the determined instantaneous position , wherein the release and blocking takes place as a function of information provided by means of a central computer unit (2). According to the invention, it is provided that
- a criterion of criticality representing criticality information (f _i ) for a current stretch (S1 to S4) in relation to an autonomous driving operation by the central computer unit (2) are retrieved and
a hazard index (f _risk ) of the section (S1 to S4) is determined from the criticality information (f _i ) by means of a weighted summation,
- wherein the determined hazard index (f _risk ) is compared with a predetermined threshold, and
- The assistance system (A) is released when the determined hazard index (f _risk ) is less than the predetermined threshold, and wherein
- An activation of the autonomous driving operation is maintained as long as the determined hazard index (f _risk ) is less than the predetermined threshold.

Description

The invention relates to a method for controlling a trained for an autonomous driving assistance system of a vehicle, wherein a current position of the vehicle is determined and the assistance system is enabled or disabled depending on the determined instantaneous position, wherein the release and blocking depending on by means of a central Computer provided information is provided.

From the DE 10 2014 013 672 A1 For example, a method and system for securing autonomous or semi-autonomous operation of vehicles on a traffic route network is known. In this case, one or more vehicles travel the traffic route network and the vehicles each have sensors for detecting an environment, a digital road map of the traffic route network, a communication unit for communication with an external server and an evaluation unit. By means of the evaluation unit, information about the suitability of this route for autonomous or semi-autonomous operation of vehicles is determined on the basis of the detected environment and the digital road map for a distance traveled by the respective vehicle. The evaluation unit transmits, by means of the communication unit, the information to the external server, which determines permission information about the admissibility of the route for the autonomous or semi-autonomous operation of vehicles depending on the information and transmits the permission information to the vehicles.

The invention has for its object to provide a comparison with the prior art improved method for controlling a trained for an autonomous driving assistance system of a vehicle.

The object is achieved by the features specified in claim 1.

Advantageous embodiments of the invention are the subject of the dependent claims.

A method for controlling an assistance system of a vehicle designed for an autonomous driving operation provides that a current position of the vehicle is determined and the assistance system is enabled or disabled in dependence on the determined current position, the release and blocking being dependent on by means of a central computer unit provided information. According to the invention, criticality information representing a measure of criticality for a current route section is retrieved from the central processing unit with respect to an autonomous driving operation and a hazard index of the route section is determined from the criticality information by means of a weighted summation, the determined hazard index being compared with a predefined threshold value and the assistance system being released is when the determined hazard index is less than the predetermined threshold and wherein an activation of the autonomous driving operation is maintained as long as the determined hazard index is less than the predetermined threshold value.

By applying the method, the safety of the autonomous driving operation can be considerably increased since the vehicle has a road condition of the corresponding road section.

In addition to static information of a digital map, by applying the method dynamic information relating to a traffic condition and traffic impairments are taken into account, wherein the autonomous driving operation of the vehicle remains activated only when the hazard index of the route section is relatively low.

If the hazard index exceeds the predefined threshold value, a request to take over a driving task is output at least in the vehicle.

Embodiments of the invention will be explained in more detail below with reference to a drawing.

• 1 schematisch ein Fahrzeug auf einer in vier Streckenabschnitte unterteilten Fahrbahn mit zwei Fahrspuren.

It shows:

• 1 schematically a vehicle on a subdivided into four sections roadway with two lanes.

The only figure shows a vehicle 1 on one in four sections S1 to S4 subdivided roadway F which includes two lanes.

The vehicle 1 has a simplified outside the same represented assistance system A by means of which the vehicle 1 in the activated state of the assistance system A is autonomously movable. When activated, the vehicle takes over 1 ie the assistance system A the driving task of the vehicle 1 full.

The assistance system A can be localized with a position determination unit, ie that by means of the position determination unit a current position of the vehicle 1 can be determined.

In addition, the assistance system A by means of a communication unit via a radio link with a central computer unit 2 , a so-called backend connected. By means of the communication unit, information is sent to the central computer unit 2 transmit, wherein by means of the communication unit information from the central computer unit 2 can be retrieved.

For a safe autonomous driving operation, it is a prerequisite that the autonomously driving vehicle 1 a road condition of the vehicle 1 knows the route ahead exactly enough. In addition to static information of a digital map, dynamic information about a traffic condition and traffic impairments are essential.

From today's perspective, such dynamic information with position information from with the central computer unit 2 and / or interconnected vehicles 1 be determined. In this case, minimum requirements for the position information, for example a determination interval, are predetermined, so that an achievable reliability can be determined. Additionally, from networked vehicles 1 and an infrastructure sensor as an external source 3 Further information is obtained for the decision-making of an autonomous driving on the respective stretch of road S1 to S4 can serve.

In particular, the infrastructure sensors are cameras, lidar- and / or radar-based sensors, road sensors and weather sensors, which by means of infrastructure sensors, so the external source 3 , detected signals and information to the central computer unit 2 be transmitted. Components of the infrastructure sensors are, for example, in street lamps 4 and not shown light signal systems integrated.

To control the assistance system A and in particular to optimize its release and activation, in particular in the traffic flow in a city, a method described below is provided.

That with the central computer unit 2 networked vehicle 1 receives information on the suitability of the autonomous driving operation of individual given sections of road S1 to S4 , z. B. also of crossing junctions of a priority control.

As described above, the vehicle becomes 1 located by means of the position determining unit, wherein the activation of the assistance system A for autonomous driving depending on the current position of the vehicle 1 is released or blocked. Ie. There is a route approval for autonomous driving as a sovereign default, the autonomous driving is also referred to as driverless driving and highly automated driving.

By means of the communication unit of the assistance system A be from the central computer unit 2 Criticality information f _i retrieved, which is a measure of criticality for the autonomous driving on the current section S1 of the vehicle 1 represent. From the retrieved criticality information f _i , a weighted summation results in a danger index f for the _danger of the vehicle 1 traveled current route section S1 determined.

wobei
a_i einen vorgegebenen, der jeweiligen Kritikalitätsinformation f_i zugeordneten Einflussfaktor, d. h. Gewichtungsfaktor, repräsentiert. Gemäß dem vorliegenden Ausführungsbeispiel wird der Gefahrenindex f_Gefahr in dem Assistenzsystem A ermittelt, wobei zusätzlich oder alternativ vorgesehen sein kann, dass dieser in der zentralen Rechnereinheit 2 ermittelt und an das Fahrzeug 1, insbesondere an das Assistenzsystem A übermittelt wird.The hazard index f _risk is determined as follows: $${\text{f}}_{\text{danger}}={\displaystyle {\Sigma }_{i=1}^n{\text{a}}_{\text{i}}{f}_{\text{i}}.}$$

in which
a _{i represents} a predetermined influencing factor assigned to the respective criticality information f _i , ie weighting factor. According to the present embodiment, the risk index f _danger in the assistance system A determined, which may additionally or alternatively be provided that this in the central computer unit 2 determined and to the vehicle 1 , in particular to the assistance system A is transmitted.

The determined hazard index f _danger is determined by a predetermined threshold, which in the central computer unit 2 and / or in the assistance system A deposited, compared. It is envisaged that the assistance system A is released only if the determined hazard index f _{risk is} less than the predetermined threshold value.

In addition, the activation of the assistance system A maintained only as long as the hazard index f _{danger is} less than the predetermined threshold value.

• - kritische Witterungsbedingungen, wie z. B. starker Regen- und Schneefall, starker Wind und Straßenglätte,
• - kritische Verkehrssituationen, wie z. B. eine hohe Verkehrsbelastung, haltende Schulbusse und/oder eine Anzahl von Fußgängern und/oder Radfahrern,
• - kritische Objekte, wie z. B. Spezialtransporte und/oder Lastkraftwagen auf oder neben der Fahrbahn F, die eine Sicht behindern oder die Fahrspur verengen, und/oder
• - hoheitliche Vorgaben, insbesondere eine Zulassung oder ein Verbot eines autonomen Fahrbetriebes durch einen Verwaltungsakt,

von der zentralen Rechnereinheit 2 abgerufen.In particular, as information, that is to say as criticality information f _i ,

• - critical weather conditions, such. Heavy rain and snow, strong wind and slippery roads,
• - critical traffic situations, such as B. heavy traffic, school buses and / or a number of pedestrians and / or cyclists,
• - critical objects, such as B. Special transports and / or trucks on or near the carriageway F, which obstruct a view or narrow the lane, and / or
• - statutory requirements, in particular an authorization or prohibition of autonomous driving by an administrative act,

from the central computer unit 2 accessed.

In particular, rain and snow in an opening road can be dangerous for the vehicle 1 increase in autonomous driving. Road conditions such as ice or aquaplaning from crossing junctions or roads are a source of danger, and automatic driving functions need to be adapted to the prevailing road conditions.

In traffic situations with a comparatively high traffic load in entering roads, a lane change in autonomous driving operation may no longer be safely carried out. In particular, such a traffic situation can not be carried out safely, since a communication between autonomous vehicles 1 and non-networked conventional vehicles is not reliable and thus a manual intervention of a vehicle user of the vehicle 1 may be required. In particular, this is due to a necessary interpretation of the behavior of human vehicle users and thus makes autonomous driving difficult.

Critical objects are detected on the infrastructure side, with events outside a sensor range of the vehicle 1 be detected. For example, by means of the infrastructure sensor a defective truck at the edge of the road is detected, the road F narrows and thus it is necessary to automatic driving functions in the corresponding section of the route S1 to S4 to disable.

In an infrastructure-side object recognition of a school bus in a merging road z. B. with possibly offending pedestrians can be expected, whereby an increased risk for autonomous driving is assumed.

In addition, in the case of an infrastructure-side object recognition of cyclists in an inflowing road can be expected with possibly offending cyclists, so that an increased risk for autonomous driving is assumed.

If no pedestrians and / or cyclists as well as a low traffic volume, in particular on the infrastructure side, are detected, it is assumed that a comparatively safe autonomous driving operation is possible.

The hazard index f _danger can have the following characteristics, for example: $$\begin{array}{l}{\text{f}}_{\text{danger}}=0.2*\left(\text{Number of pedestrians}\right)+0.2*\left(\text{Number of cyclists}\right)+5*\left(\text{Heavy rain}\right)+\\ 4*\left(\text{hurricanes}\right)+5\left(\text{black ice}\right)+0.05*\left(\text{Number of special transport}/\text{Lorry}\right)+\\ 10*\left(\text{Department of Transportation}\right)\end{array}$$

In this case, the criticality information f _i , ie the parameters heavy rainfall, gale gusts, black ice and traffic authority, in particular for sovereign requirements, the values 1 and accept 0.

In the ideal case, the determined hazard index f is _danger 0, whereby from an ascertained hazard index f _danger of 10 autonomous driving is prohibited, the assistance system A is not released anymore.

If, in particular, the parameter, ie the criticality information f _{i, is the} traffic authority 1 is, the hazard index f _{danger is} greater than 10 and autonomous driving is prohibited.

If the parameter heavy rain is comparatively high, the vehicle can 1 nevertheless be moved in autonomous driving, when the other criticality information f _i as a parameter are relatively small.

The national authority in relation to a road transport network, the transport authority is able to track sections S1 to S4 to block for autonomous driving.

Suitability by a corresponding classification of the parameters becomes in an embodiment of the method for each route section S1 to S4 determined separately to the vehicle 1 to move in safe autonomous driving.

In particular, the suitability as an estimate of the parameters from the various sources of information, such as the external source 3 and / or the networked vehicles 1 , Are defined.

A final decision on whether the autonomous driving on the respective stretch of road S1 to S4 can be performed automatically in the vehicle 1 ie by means of the assistance system A met.

According to the in 1 shown embodiment, a roadway F ie a road, on different sections S1 to S4 have different features that can be both dynamic and static.

The dynamic information is both from the vehicle 1 , in particular based on detected signals of an environmental sensor system and / or the infrastructure sensor as an external source 3 , which may also include other data sources provided. In the central computer unit 2 the various signals and information are aggregated, classified and the respective section of the route S1 to S4 assigned as well as the vehicle 1 again provided.

LIST OF REFERENCE NUMBERS

1

vehicle

2

central computer unit

3

external source

4

street lamp

A

assistance system

F

roadway

f _i

Kritikalitätsinformation

f _danger

danger Index

S1 to S4

stretch

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102014013672 A1 [0002]

Claims (4)

Method for controlling an assistance system (A) of a vehicle (1) designed for an autonomous driving operation, wherein an instantaneous position of the vehicle (1) is determined and the assistance system (A) is released or locked as a function of the ascertained instantaneous position, the release and blocking as a function of information provided by means of a central computer unit (2), characterized in that - a criticality measure representing criticality information (f _i ) for a current route section (S1 to S4) in relation to an autonomous driving operation from the central computer unit (2) be retrieved and - from the criticality information (f _i ) by means of a weighted summation a hazard index (f _risk ) of the section (S1 to S4) is determined, - the determined hazard index (f _hazard ) is compared with a predetermined threshold, and - release the assistance system (A) ben, if the determined hazard index (f _danger ) is less than the predetermined threshold, and wherein - an activation of the autonomous driving operation is maintained as long as the determined hazard index (f _danger ) is less than the predetermined threshold value. Method according to Claim 1 , characterized in that as criticality information (f _i ) for the section (S1 to S4) - critical weather conditions, - critical traffic situations, - critical objects on or next to a lane and / or - governmental requirements of the central computer unit (2) are retrieved , Method according to Claim 2 characterized in that - as critical weather conditions heavy rainfall, heavy snowfall, strong wind and snow, - as critical traffic situations a high traffic load, holding school buses and / or a number of pedestrians and cyclists, - as critical objects special transports and / or trucks, - as a governmental requirements a license and / or a ban on autonomous driving by an administrative act of the central computer unit (2) are called. Method according to one of the preceding claims, characterized in that the danger index (f _danger ) in the central computer unit (2) and / or in the assistance system (A) is determined.

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