DE102018003756A1 - Securing participants in autonomous traffic - Google Patents

Abstract

A method for securing a plurality of objects moving on trajectories, wherein each object is assigned a communication device suitable for a location determination, comprises: forming an ad hoc network between the communication devices assigned to the objects; Determining an expected trajectory of each object; mutual communication between the communication means for mutually transmitting the determined trajectories of the objects; Determining a possible collision between at least two objects; Issuing a signal and / or initiate a protective measure.

Description

Technical area

The present invention relates to the field of securing subscribers in autonomous traffic.

In view of the increase in traffic, measures are increasingly required that automatically support the safety of road users and the environment.

One example is the so-called autonomous driving of vehicles on the road, wherein the vehicle, or a vehicle component therein, helps to reach the destination, to keep the vehicle in the lane and not endanger other road users.

In the following, only the grammatically male forms, for example, by road users, cyclists, etc. are used to maintain readability, with content, of course, female road users, cyclists, etc ,. should be included.

It is known to detect and signal a possibly imminent collision between two autonomous vehicles by means of a central computer.

It is also known to determine a location of an autonomously driving vehicle or a relative instantaneous arrangement between two autonomously driving vehicles by means of optical sensors.

To remedy disadvantages of the prior art, the invention described in more detail below was created.

Summary

The problem underlying the invention is solved by the features of the independent claims. The dependent claims describe embodiments.

According to a first aspect, embodiments relate to a method for securing a plurality of objects moving on trajectories. This can have an advantage that mutual contact or even collision between the objects can be avoided, so that damage of at least one of the objects can be avoided.

The object or all objects can be assigned a suitable communication device for a location determination. This can have the advantage that each object has information regarding its current position. For example, a memory area for holding the current location coordinates, for example GPS coordinates, may be provided in the communication device. Of course, other mechanisms are considered for location, such as aGPS, GLONASS, wireless-based location determination, or relative distances to other objects whose coordinates are known. This position information can be available to the communication device as a data record for further processing and / or communication directly, in particular without the interposition of a central server.

In the following, "object" may mean any entity that can move spatially or is stationary. In particular, an object may be a participant in a traffic. In particular, an object may be an autonomous vehicle or autonomous vehicle, or a human such as a pedestrian, jogger, wheelchair user or the like, or a cyclist or even a pet such as a dog.

Embodiments may provide for forming an ad hoc network between the communication devices associated with the objects. This may have an advantage of not having to interpose a server, which would have the disadvantage of requiring multiple links which would entail a time delay and a reduction in reliability. In other words, an ad hoc network between the objects is able, due to the immediate and spatially close expression between the spatially close objects, to be reliable and to enable a fast data exchange.

The ad hoc network can be set up using the known methods, for example by radio, for example using a WLAN method or using a Bluetooth method. The protocol that accomplishes this can be set up to quickly set up and clear down connections, for example, to respond quickly to changing traffic situations.

In the following, the terms "the objects communicate with each other""the objects communicate with each other via the ad hoc network" are equivalent and equivalent to the terms "the communication devices communicate with each other" and "the communication devices communicate with each other" via the ad hoc Network. This is not misleading and not ambiguous, as in the following It is assumed that exactly one communication device is assigned to each object.

It will be understood by those skilled in the art that an ad hoc network may be constructed in a more localized space, which in embodiments may, for example, have a diameter of up to 10 meters, in embodiments, for example up to 100 meters or up to 200 meters but does not include long ranges of more than 1 kilometer.

Embodiments may provide for determining an expected trajectory of each object. This can have the advantage that information can be available for each object as to which subsequent times the objects are at which location coordinates. It can be provided to create a linear trajectory, at temporally-sequentially successive points in time, respectively associated location coordinates. It may additionally or alternatively be provided to create several location coordinates per time. This would have the advantage that a short deviation in the direction of the object can be detected as a possibility. Furthermore, provision can be made for the plurality of location coordinates to be evaluated with different probabilities per given point in time: For example, location coordinates on the linear trajectory with the highest probability and the distance location coordinates with an increasingly low probability can be evaluated. In this way, a bandwidth or a corridor of possible locations can be determined at possible times. It is considered to interpolate the whereabouts. In this way, not every possible location needs to be calculated, which can allow a faster calculation and thus a faster response in traffic situations, especially in risky traffic situations. Determining expected trajectories of objects or corridors thereof may have an advantage in that the trajectories of different objects are compared to detect a potential collision and / or touch at a future time.

In the following, "trajectory" means any representation that describes a location of an object as a function of time. It should be noted that even a stationary object may have a trajectory, one in which the location is constant. It may be provided to describe a trajectory, for example, by a straight line or parabola equation or the like. Alternatively or additionally, it may be provided to mark a trajectory by an n-coordinate tuple, with consecutive times as an independent coordinate of the tuple and the location coordinates as dependent coordinates of the tuple.

In embodiments, mutual communication may be provided between the communication devices for mutually transmitting the particular trajectories of the objects. This can have the advantage that all objects have a knowledge about their own expected trajectory and the expected trajectories of the other objects, so that a possible collision and / or touch can be determined.

In embodiments, determining a potential collision and / or contact between at least two objects may be provided. This can have an advantage that a knowledge about a possible risky state, for example in traffic, can be obtained. The determination of a possible collision and / or touch can be performed on each communication device of each object. Alternatively, it can be provided that the objects divide up the determination of a possible collision and / or touch in order to arrive more quickly in this way, which can be advantageous if, for example, in a fast traffic, for example a situation with itself quickly relatively moving objects, a quick reaction should be possible. It is contemplated that the communication device of the faster object checks the near points of the expected trajectories for a possible collision and / or touch, and the communication device of the slower object checks the further points of the expected trajectories for a possible collision and / or touch.

Alternatively, it may be provided that the respectively faster communication device checks the near points of the expected trajectories for a possible collision and / or contact and the slower communication device checks the further points of the expected trajectories for a possible collision and / or contact.

By "fast communication device" and "slow communication device" may be meant in the following, in particular a distinction of the computing power of the communication devices. The slow or fast communication device information may be distributed over the ad hoc network as part of a protocol set describing a capability set.

In embodiments, outputting a signal and / or initiating a protective measure may be provided. This can be an advantage such that, for example, upon determining that a potential collision and / or contact could occur between two or more objects, one of the objects receives the output signal and then initiates a deceleration and / or an evasive maneuver. For example, after determining a potential collision, an autonomously traveling road vehicle could perform an evasive maneuver and / or braking. Additionally or alternatively, a communication device of a cyclist, for example a smartphone, could output a signal to the cyclist so that he can turn his attention to the traffic in order to detect the current situation, in order to avoid or brake. It is also contemplated to equip a pet on the harness with a communication device so that it receives, for example, a click signal to which it - after previous training - can respond in a secure manner.

By "securing from multiple objects" or "securing from multiple road users" may be meant in particular to avoid collisions and / or touches. At a touch of a stronger road user with a weaker road user, such as a car touches a cyclist, the weaker road users, in this example the cyclist, cause great damage, while the stronger road users may not even register the touch even.

It goes without saying that the objects not only have to mean autonomously driving vehicles: the idea described here includes the possibility of being able to represent an assistance for securing exclusively vehicles operated by humans.

By "road user" may mean any entity that participates in road traffic: for example, in a non-exhaustive list, autonomous or non-autonomous powered vehicles, pedestrians, wheelchair users, skaters, pets.

By "communication device" may in particular be meant a smartphone that is able to make a location determination, for example by GPS, GLONASS, aGPS, WLAN, etc., which is also able to set up an ad hoc network and / or to participate in or sign up to it, and that is able or prepared to determine an expected trajectory.

By "assigned" here may be meant in particular that the communication device is fixed to the road user, for example, attached to a vehicle or installed, or by a road user, such as a human or dog - then for example on a collar - or in a backpack or worn in a bag or garment on the human body.

In embodiments, determining the location of each object may be provided. This can have the advantage of knowing all objects within range of the ad hoc network.

In embodiments, it may be provided that each object is a traffic participant on the road.

In embodiments it can be provided that the determination of the location and / or determination of the trajectory is performed by the communication device.

In embodiments, it may be provided that at least a first of the objects is an autonomously driving vehicle.

In embodiments, it can be provided that at least a second of the objects is not an autonomously driving vehicle.

In embodiments, it may be provided that the second object is a cyclist, a pedestrian or a pet.

In embodiments, it may be provided that the communication device is a smartphone.

According to another aspect, embodiments relate to a computer program product for securing a plurality of objects moving on trajectories. In this case, each object can be assigned a suitable communication device for a location determination. Further, the computer program product may comprise a computer readable storage medium having computer executable code thereon, said code being adapted to execute, when executed on the computer, the method described above.

In another aspect, embodiments relate to a communication device having a computer program product as described above.

In another aspect, embodiments relate to a vehicle having a vehicle Communication device or with a computer program product as described above.

Embodiments may be advantageous because recognition of persons in otherwise autonomous traffic may be possible.

In summary, an autonomous driving associated with an ad hoc network for the detection of persons proposed.

In the context of autonomous traffic, automobiles will set up an adhoc network to tell other road users where they are, with what speed they are going where. So far, humans have to be detected in autonomous driving by sensors (video, radar).

Embodiments described herein make it possible to perceive the human being as a road user as part of the autonomous traffic in the ad hoc network. For this purpose, the human being is equipped with a mobile device, for example a suitable for a location communication device or a smartphone or a smartwatch, which logs on the ad hoc network of the autonomous world and all road users at least its position, so fewer accidents happen.

One possible implementation would be an application on the SmartPhone, SmartWatch, which uses GPS and WIFI positioning to visualize humans as objects in the virtual world of autonomous traffic.

Thus, it may be possible to achieve fewer accidents related to autonomous traffic. Furthermore, human visibility in autonomous traffic can be achieved.

list of figures

• 1: eine beispielhafte Kommunikationseinrichtung;
• 2: ein beispielhaftes Verfahren zur Sicherung von mehreren sich auf Trajektorien bewegenden Objekten;
• 3: ein beispielhaftes Nachrichtenflussdiagramm wie es mehreren sich bewegenden Objekten jeweils zugeordnete Kommunikationseinrichtungen realisieren können; und 4: eine beispielhafte schematische Anordnung zur Veranschaulichung des beschriebenen Verfahrens in einer möglichen Benutzung.

Hereinafter, embodiments of the invention will be explained with reference to the figures of the accompanying drawings. It shows:

• 1 an exemplary communication device;
• 2 an exemplary method for securing multiple objects moving on trajectories;
• 3 an exemplary message flow diagram of how to implement a plurality of communication devices associated with each moving object; and 4 FIG. 2: an exemplary schematic arrangement for illustrating the described method in a possible use.

description

The 1 shows an exemplary communication device.

A communication device 101 can be an input-output component 105 which is adapted to be able to interact with a user, so that this the communication device 101 can service and feedback or messages from the communication device 101 to obtain.

The input-output component 105 If, for example, it can be designed as a touch screen, additional operating elements, such as one or more of buttons, buttons, switches, rotary or sliding elements and / or a loudspeaker and / or additional illuminated displays, such as one or more single-color LEDs or multi-colored, for example RGB, LEDs include.

The input-output component 105 can over a bus 103 , which are the components of the communication device 101 connects to each other, with a processor 113 be connected. The processor 113 can be configured as a general purpose processor. It is additionally contemplated a graphics processor for operating the input-output component 105 and / or a signal processor for operating a transceiver component 109 provided.

Directly to the transceiver component 109 can be an antenna component 111 be connected. At the antenna component 111 it can be a conventional antenna for communication under GSM or LTE. The antenna component 111 may be more complex, for example designed as a MIMO. Furthermore, the antenna component 111 switchable be configured for different wireless communication interfaces such as mobile, WiFi (WiFi), Bluetooth, NFC and other wireless protocols.

The communication device 101 may also have a memory 107 , in particular have a data and / or program memory. The memory 107 can be understood as a computer readable medium. The program memory of the memory 107 may be adapted to comprise a code executable by a computer or processor, which code may be adapted when placed on or in the communication device 101 is executed to carry out a method, for example one or more of the methods described herein.

The person skilled in the art will understand that the communication device 101 for example, may be configured as a smartphone.

It is contemplated to provide a computer program product for securing a plurality of trajectory moving objects, each object being associated with a communication device suitable for location, the computer program product comprising a computer readable storage medium having computer executable code thereon, the code when executed on the computer, perform examples of the methods described herein. The computer program product can be stored, for example, in a memory of a smartphone and installed executable, as a so-called "app".

Furthermore, a communication device is considered which has a computer program product as described above.

The 2 shows an exemplary method for securing multiple trajectory moving objects.

The method for securing a plurality of objects moving on trajectories, 201 , begins at reference numeral 203 , It can be a method for securing a plurality of objects moving on trajectories, wherein each object is assigned a communication device suitable for location determination, for example a communication device as described above.

In one step 205 an ad hoc network may be provided between the communication devices associated with the objects. In a subsequent step 207 it may be provided to determine an expected trajectory of each object. In one step 209 For example, mutual communication may take place between the communication devices for mutually transmitting the particular trajectories of the objects. In one step 211 determining a possible collision between at least two objects may take place. In one step 213 a comparison can be made as to whether or not there is a risk of collision or contact between two objects. In the event that there is a risk of collision or contact, in an output step 215 outputting a signal and / or initiating a protective measure. For example, a communication device implemented as a smartphone could give clearly visible visual signals on a display of the smartphone or emit clearly perceptible alarm signals via the loudspeaker or a vibration mechanism. For example, a communication device installed in a vehicle, for example an autonomous vehicle, could deliver a signal to the control computer of the autonomously driving vehicle in order to initiate an immediate braking process and / or an evasive maneuver, if the latter is possible. The procedure ends at 217 , The skilled person understands that the method can be repeated as often as desired.

The method may further include determining the location of each object. In examples, it is contemplated that each object is a road user.

The determination of the location and / or determination of the trajectory can be carried out by the communication device already described.

In embodiments, it may be provided that at least a first of the objects is an autonomously driving vehicle. In embodiments, it may further be provided that a second of the objects is not an autonomously driving vehicle. An example would be an autonomous motor vehicle, which is located near a bicycle with cyclists, or the like. It is conceivable that the second object is a cyclist, a pedestrian or a pet.

The 3 FIG. 3 shows an exemplary message flow diagram of how to implement multiple communication devices associated with each moving object when performing one or more examples of the methods as described above.

In this example, for the sake of simplicity, there are only two objects, object 1 and object 2 shown performing the described method. One skilled in the art will understand how to extend this method to any number of objects. If it is said that two or more objects together form an ad hoc network, this is to be understood as a shorthand expression that the communication devices associated with the objects form the ad hoc network.

In one step 303 can the object 1 , at 303.1 , and the object 2 , at 303.2 , each determine its own current position and its own expected trajectory. This step can be done anytime and should be cycled.

In one step 305 can the object 1 , at 305.1 , and the object 2 , at 305.2 , find that they are setting up an ad hoc network with each other can. This may be the case when the objects are located close enough to each other or move at a small, relative distance from each other.

In one step 307 build the objects object 1 and object 2 the ad hoc network. It is contemplated that the associated communication devices in this step exchange the respective capabilities, ie, for example, the resources such as free available memory, processor power, battery state, etc., in order to be able to advantageously carry out the load distribution of the computing task in a later step. It is considered that in this step the objects additionally exchange the current positions and the expected trajectories.

In one step 309 become the objects, object 1 , at 309.1 , and object 2 , at 309.2 to plan and organize the arithmetic tasks arising on the basis of the knowledge of the respective capabilities.

In one step 311 the objects will exchange the distribution of computational tasks and, if necessary, correct such that no redundant calculations are made to allow a quick result, so that a collision warning can be issued sufficiently timely.

Afterwards the objects are added 313 , Object 1 , at 313.2 , Object 2 , at 313.2 who take and perform split calculations for themselves. The calculations or computational tasks relate to calculations that are required to detect whether the trajectories to be expected could result in a collision or a touch. The trajectories can be modeled as more linear paths. Advantageously, the spatial extent of each individual object is included in the trajectories. Further advantageously, in addition to trajectory, a corridor is determined which comprises a multiplicity of probable trajectories. Instead of or in addition to a simple interface search between multiple linear trajectories, planar interface searches would then be made between the associated area corridors.

In one step 315 then the objects can exchange the result or the results.

In one step 317 can the objects, object 1 at 317.1 and object 2 at 317.2 then take each necessary action.

The 4 shows an exemplary schematic arrangement for illustrating the described method in a possible use.

The dashed line at 401 symbolizes a spatial area within which an ad hoc network as described above can be set up. For a first object 403 it may, for example, be a motor vehicle that can be operated autonomously. As an example like another object 405 to be a pedestrian. The first object 403 can be a suitable for a location communication component 407 exhibit. It may be a built in a motor vehicle communication component or communication device. Alternatively, it is considered to provide a smartphone which is coupled to the motor vehicle, more precisely to a vehicle computer associated with the motor vehicle. The motor vehicle can be unmanned, ie drive autonomously. Alternatively, it is considered that the motor vehicle is controlled by a human driver. In this case, the present disclosure is to be understood as a proposal for an assistance system for collision prevention.

The further object 405 can a communication component assigned to this 409 exhibit.

A symbolically represented ad hoc network 408 between the first object 403 associated communication device 407 and the other object 405 associated communication device 409 can be built. In this regard, the methods and message flow diagrams already described and presented herein are suggested for implementation.

The reference number 411 Refers to a side of a street, on which side of the street is the first object 403 moved according to an expected trajectory of the first object 403 , The reference numbers refer to this 411.a and 411.b Limits of the road.

With the reference number 412 becomes a corridor of the expected trajectory 411 of the first object 403 illustrated.

The reference number 413 references an expected trajectory of the further object 405 , Reference is made to the reference numeral 414 a corridor of the expected trajectory 413 the further object 405 ,

The reference number 416 references an exchange of messages and information via an ad hoc network 408 ,

In particular, after performing any of the methods described herein and / or performing any of the message exchange protocols described herein, one of the two communication devices may output and / or output a signal in the event that a risk of collision and / or risk of contact has been determined Take action to prevent the collision.

Is the first of the two objects 403 For example, a manned motor vehicle is considered to be the object 403 associated communication device 407 gives the driver a warning signal. It will, regardless of whether the object 403 manned, or whether it is an autonomous vehicle, further considered that the communication device 407 an on-board computer of the motor vehicle 403 gives a signal to dodge or to initiate a braking immediately. It is also contemplated that a clearly audible signal, such as a horn, will be emitted to alert the surrounding road users.

In addition, it is considered that the communication device 409 the object 405 , which may be any road user, such as a pedestrian, a cyclist, a skater, a communications device-equipped pet such as a dog, emits a clear hazard signal. It can be a vibrating alert, a loud ringtone, or a flashing of the display.

LIST OF REFERENCE NUMBERS

101

Example of a communication device

103

Bus, which connects the components of the communication device together

105

Input-output component, for example touchscreen with loudspeaker

107

Memory, in particular data and / or program memory

109

Transceiver component

111

Antenna component

113

Processor or processors, in particular general-purpose processor, graphics processor, signal processor

115

Device for the secure storage of data, for example SIM card (SIM - Subscriber Identity Module) or HSM (Hardware Security Module) protected memory area

201

Method for securing a plurality of objects moving on trajectories

203

beginning

205

Form an ad hoc network

207

Determining an expected trajectory of an object

209

mutual communication between a first object and another object

211

Determining a possible collision between two objects

213

Determine if there is a risk of collision

215

If a collision risk has been identified, output a signal or initiate a procedure

217

The End

301

Message flowchart between two objects

303.1,

303.2

Determining a current position and an expected trajectory of the respective object

305.1,

305.2

Determine if another object is so close to its own object that an ad hoc network can be set up

307

Establishment of an ad-hoc network with exchange of the capability sets of the respective communication facilities

309.1,

309.2

Based on the capability sets: division of the computational tasks

311

Exchange of spatial coordinates and expected trajectories, can also be 307 , the ad hoc network, as well as confirmation of the split computational tasks

313.1,

313.2

Determine collision risks according to 309.1 and 309.2 division made

315

Exchange of results, if there is a risk of collision

317.1,

317.2

If a collision risk has been identified: Output of a signal to the assigned object and / or initiate a procedure on the assigned object

401

a spatial extension of an ad hoc network

403

a first object, in the example a motor vehicle, which can be operated autonomously

405

another object, in the example a pedestrian,

407

a suitable for a location determination communication component of the motor vehicle, such as a communication device, the first object 403 assigned

408

symbolic of the ad hoc network between the first object 403 associated communication device 407 and the other object 405 associated communication device 409

409

Communication device, the other object 405 assigned

411

Side of a street, on which street side is the first object 403 moved according to an expected trajectory of the first object 403

411.a,

411.b

Limits of the road

412

Corridor of the expected trajectory 411 of the first object 403

413

Expected trajectory of the other object 405

414

Corridor of the expected trajectory 413 the further object 405

416

Exchange of news and information via ad-hoc network 408

Claims (11)

Method for securing a plurality of objects moving on trajectories, wherein each object is assigned a communication device suitable for location determination, comprising: Forming an ad hoc network between the communication devices associated with the objects; Determining an expected trajectory of each object; - Mutual communication between the communication means for mutually transmitting the specific trajectories of the objects; Determining a possible collision between at least two objects; - Issuing a signal and / or initiate a protective measure. Method according to Claim 1 , further comprising: - determining the location of each object. Method according to one of the preceding claims, wherein each object is a road user in traffic. Method according to one of the preceding claims, wherein the determination of the location and / or determination of the trajectory is performed by the communication device. Method according to one of the preceding claims, wherein at least a first of the objects is an autonomously driving vehicle. Method according to one of the preceding claims, wherein at least a second of the objects is not an autonomously driving vehicle. Method according to Claim 6 , where the second object is a cyclist, a pedestrian or a pet. Method according to one of the preceding claims, wherein the communication device is a smartphone. A computer program product for securing a plurality of objects moving on trajectories, each object being associated with a communication device suitable for location, the computer program product comprising a computer readable storage medium having computer executable code thereon, the code being adapted as it is Running on the computer, the procedure according to one of Claims 1 to 8th perform. Communication device with a computer program product according to the preceding claim. Vehicle with a communication device after Claim 10 or with a computer program product Claim 9 ,

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