DE102018207823A1 - System for automated longitudinal driving in, through and from multi-lane roundabouts - Google Patents

Abstract

The invention relates to a method for automated driver assistance in a passage of a roundabout. According to the invention, it is possible that the driver also experiences a continuous automation experience in the roundabout and does not have to regulate this situation himself. Furthermore, the present invention relates to a suitably established system arrangement. In addition, a computer program product with control commands is proposed which implement the method or operate the proposed system arrangement.

Description

The invention relates to a method for automated driver assistance in a passage of a roundabout. According to the invention, it is possible that the driver also experiences a continuous automation experience in the roundabout and does not have to regulate this situation himself. Furthermore, the present invention relates to a suitably established system arrangement. In addition, a computer program product with control commands is proposed which implement the method or operate the proposed system arrangement.

WO 2017 054 956 A1 shows a method and a corresponding system for determining road users with interaction potential and in particular for directly or indirectly providing corresponding service data for use in a vehicle function.

DE 10 2015 218 970 A1 shows a traffic situation in a roundabout. The sensor of an external unit can be arranged, for example, on a pole in the middle of the roundabout, so that road users can be detected in the entire roundabout. The vehicle can be provided via the external unit information regarding a preceding road user (eg a motorcycle).

EP 2 578 465 A2 shows a method for operating a motor vehicle, comprising a control device for automatic and driver-independent switching on or off at least one drive unit of the motor vehicle in the state, which control device in response to at least one of the actual position of the motor vehicle on a guideway position-related path information and in dependence of the presence at least one further boundary condition causes a switching off of the drive unit.

The known systems for automated longitudinal guidance can keep the target speed, delay in front vehicles and keep distance and based on map data before roundabouts reduce the speed to comfortably allow the passage through the usually small radius of the roundabout.

The prior art has the disadvantage that a fully automated entrance, passage and exit from a multi-lane roundabout can not be satisfactorily performed. In general, there is support for this, the decision as to whether a collision-free entrance to the roundabout is possible, but the driver has to hit himself. That is, he must check whether the roundabout or its lane is free or whether the gap between two vehicles is sufficiently large to thread. Often, human error can lead to accidents. In addition, a support provides a comfort function, according to which there is a general need.

It is an object of the present invention to propose an improved, in particular a more reliable and safer, method for automated driver assistance when passing through a roundabout. Furthermore, it is an object of the present invention to provide a correspondingly set up system arrangement and to propose a computer program product with control commands which implement the method or at least partially operate the proposed system arrangement.

The object is achieved by a method having the features according to claim 1. Further advantageous embodiments are specified in the subclaims.

Accordingly, a method for safe and automatic longitudinal guidance of a motor vehicle in a multi-lane roundabout is proposed, comprising bringing the motor vehicle to the multi-lane roundabout; a recognition of moving in the roundabout motor vehicles, wherein an association of recognized motor vehicles is provided in each case one lane; a collision detection for the evaluation of the planned longitudinal guidance of the own motor vehicle and a probable passage of itself in the roundabout of moving motor vehicles is provided; and an automated retraction of the motor vehicle is only provided if the collision detection positively evaluates the planned longitudinal guidance.

The proposed method combines conventional systems for longitudinal guidance with specific techniques for handling characteristics of a roundabout, which are configured in multiple lanes. A multi-lane roundabout contains at least two lanes, the outer lane being suitable for entry and for extension, and the inner lane or, if appropriate, the middle lane being intended for overtaking. Conventional methods refer either to a longitudinal guide on a straight line or refer to a longitudinal guide through a curve. In a multi-lane roundabout, however, specific characteristics emerge, namely that both characteristics of a curve and the flow of traffic are taken into account.

According to the invention, the motor vehicle is brought to the multi-lane roundabout, whereby in this approach a conventional cruise control can be controlled in such a way that that the speed is reduced and, for example, by means of an optical system, a roundabout is detected. Then the vehicle approaches the roundabout and checks at a slow approach the road traffic participants. For detecting motor vehicles moving in the roundabout, for example, a front camera, radar or lidar (abbreviation for "light detection and ranging") can be used. By means of imaging and image processing methods, the roundabout can be analyzed.

The analysis of the roundabout can be carried out such that the lane marking is optically detected and also an optical detection of other road users takes place. For this purpose, other data can be used, which can be read from a navigation device. Thus, roundabouts are typically noted in navigation data and in particular can also be read there that the roundabout is multi-lane or how many tracks are available.

If the roundabout has been recognized and the motor vehicles contained therein, it is possible to perform an association of recognized motor vehicles to each one lane. This can be done in such a way that the lane markings are taken into account and then the motor vehicles are observed. In badly recognizable lane markings or bad weather, the movement of objects in the roundabout can be evaluated relative to each other. By this observation, the movement of the motor vehicle can be analyzed and also a speed can be calculated.

Then there is a collision detection for the evaluation of the planned longitudinal guidance, both the own motor vehicle and the moving in the roundabout motor vehicles are taken into account. The planned longitudinal guidance is the automated acceleration used to drive through the roundabout. In general, it is possible here to use a conventional method, which, however, according to the invention is integrated into collision detection. Thus, it is possible to control a conventional cruise control, which is particularly cleverly controlled by the proposed method.

According to the invention, it has surprisingly been found that the analysis of the roundabout or the collision detection can already take place when the motor vehicle is brought to the roundabout. According to the collision detection is therefore possible because only the entrance lane for the motor vehicle must be considered. Consequently, it is therefore also possible to detect by means of an optical sensor or the front camera, as moving in the roundabout vehicles move. Thus, in the collision detection in particular that track can be considered, which serves the entrance to the roundabout. Thus, it is therefore advantageous not to consider motor vehicles, which are already passed by the entrance.

In addition, motor vehicles are to be evaluated, which perform, for example, a lane change. This is also possible according to the invention, since, as already described, only the track which serves to retract is taken into account. Consequently, only those vehicles are to be considered, which are already on this track or want to einhereren in this lane. A shearing is recognizable by crossing the lane boundary and consequently it is possible according to the invention to perform a collision detection.

Collision detection takes into account that the vehicles in the roundabout have an airspeed and this is taken into account with regard to the utilization of the roundabout. Thus, it can be recognized if vehicles unlock or if there are recognized motor vehicles, which drive at a constant distance from each other and thereby leave a gap which is so large that a motor vehicle can enter the roundabout. If such a gap is detected, it is possible according to the invention to estimate their own possible speed and then just to be able to give a rating to whether the guided motor vehicle can drive safely into the roundabout. Consequently, an automated entry into the roundabout takes place only if the collision detection positively evaluates the planned longitudinal guidance.

The planned longitudinal guide is in turn the longitudinal guide with which the motor vehicle would be accelerated, for example, according to a conventional method for longitudinal guidance through the roundabout. A positive evaluation of this longitudinal guidance means in general terms that no collision of the guided motor vehicle with motor vehicles within the roundabout is imminent. A positive rating is therefore exactly if a sufficiently large gap is found within the roundabout or even the track for retracting the motor vehicle is free. Then there is actually an automatic retraction according to a planned longitudinal guidance.

If the planned longitudinal guidance is evaluated negatively, a collision is imminent and the vehicle does not enter the roundabout to avoid this collision. In this case, that can Waiting for the motor vehicle at the entrance to the roundabout or greatly reducing the speed and thus carrying out the method according to the invention until a gap or a free track is identified. As soon as the planned longitudinal guidance is evaluated positively, it enters the roundabout.

While the system, as in the current state of the art, reduces the speed of approaching the roundabout, it must simultaneously measure the other vehicles and road users in the roundabout in terms of their position and dynamics. On the basis of this, it can be evaluated whether the current speed and the acceleration potential allow collision-free entry into the roundabout. If not, stop at the entrance to the roundabout. Once a driveway is possible, this is carried out automatically. After leaving the roundabout is accelerated again to target speed. An extension here is still a multi-lane roundabout dar. Here, it must be assessed on which tracks the road users are and which lane the use of the ego vehicle. This interpretation is possible through navigation data as well as sign recognition and interpretation of a lane marker. In addition, an interpretation of the traffic flow may be made, i. an analysis of how the objects move. As a result, an interpretation of the tracks can take place by means of a formation of a collective driving tube.

According to one aspect of the present invention, after the retraction, the longitudinal guidance takes place as a function of the other motor vehicles within the roundabout and a curve radius. This has the advantage that the other motor vehicles are taken into account and thus the current speed can be adapted to the other motor vehicles. In addition, the curve radius must be taken into account, as the lateral acceleration must not exceed a certain degree. Consequently, therefore, the motor vehicle is safely passed through the roundabout.

According to another aspect of the present invention, the approach of the motor vehicle to the roundabout occurs at a reduced speed. This has the advantage that the monitoring of the roundabout and in particular the recognition of the tracks and the other road users can be carried out and thus no delay arises. Thus, it is not necessary to stop in front of the roundabout, but rather the driver experiences that the vehicle is intuitively approached to the roundabout and, in the case of a possible entry, it is actually used immediately. As a result, liquid entry into the roundabout occurs, if possible.

According to a further aspect of the present invention, recognized motor vehicles are assigned to one lane on the basis of a driving trajectory and a lane course. This has the advantage that the course of the passage of the other vehicles can be predicted and then each motor vehicle can be assigned to a track. It is advantageous that only those vehicles must be considered, which approach the entrance of the roundabout. If vehicles already depart from the entrance to be selected, these motor vehicles are no longer to be considered. Consequently, it can also be determined by means of the movement, whether a motor vehicle changes lane and optionally cuts the lane, which is required for entry.

According to a further aspect of the present invention, the collision detection intersects the own driving trajectory with the driving trajectory of all motor vehicles located in the roundabout. This has the advantage that the planned passage of the own motor vehicle can be calculated and then it can be detected whether a collision with another vehicle is imminent or not. Thus, the further course of transit through the roundabout can be considered.

According to a further aspect of the present invention, the collision detection takes account of its own acceleration potential in the evaluation of the planned longitudinal guidance. This has the advantage that the proposed method recognizes its own driving profile and thus takes into account how fast the vehicle can accelerate. The acceleration does not depend on the maximum acceleration, but rather an acceleration is already provided in the longitudinal guide and this is taken into account according to the invention. It is also possible to adjust the acceleration, so that even narrower gaps in the roundabout can be used.

According to a further aspect of the present invention, the collision detection takes into account a speed change of the motor vehicles moving in the roundabout. This has the advantage that overtaking maneuvers can be taken into account within the multi-lane roundabout and, moreover, it is often observed that motor vehicles accelerate when leaving the roundabout, which should also be taken into account. Thus, the proposed method makes it possible to create an overall picture of the roundabout and to safely find a gap to the entrance.

According to a further aspect of the present invention, the longitudinal guide for extending from the roundabout controls a Set speed of a straight line. This has the advantage that when driving out of the guided motor vehicle from the roundabout occurs an increase in speed, which is often so desired by the driver. Thus, it corresponds to accelerate human behavior when leaving the roundabout and this is the longitudinal guide used according to the invention, which is used on a straight line use. For example, can be switched back according to the invention in this process step in a conventional cruise control, which then adjusts the speed. This speed may be, for example, the speed with which the motor vehicle has moved towards the roundabout before it has been brought to the roundabout.

The object is also achieved by a system arrangement for the safe and automatic longitudinal guidance of a motor vehicle in a multi-lane roundabout, comprising a cruise control unit arranged to bring the motor vehicle to the multi-lane roundabout; a sensor unit configured to detect motor vehicles moving in the roundabout, wherein a computing unit is provided for associating recognized motor vehicles with one lane each; a further computing unit is provided for collision detection for evaluating the planned longitudinal guidance of the own motor vehicle and an anticipated passage of itself in the roundabout of moving motor vehicles is provided; and a further cruise control unit configured for automated retraction of the motor vehicle, which is provided only if the collision detection positively evaluates the planned longitudinal guidance.

The sensor unit may be an optical sensor, for example in the front camera. The arithmetic units can be provided individually or as two separate arithmetic units. In this case, it is preferable for a combined arithmetic unit to be provided. The cruise control unit can be configured in accordance with a conventional cruise control, which, however, is controlled particularly advantageously according to the invention.

The object is also achieved by a computer program product with control commands that perform the method and operate the proposed arrangement when executed on a computer.

According to the invention, it is particularly advantageous that the method can be used for operating the proposed devices and units or the system arrangement. Furthermore, the proposed devices and devices for carrying out the method according to the invention are suitable. Thus, the device implements structural features that are suitable for carrying out the corresponding method. However, the structural features can also be configured as method steps. Also, the proposed method provides steps to implement the function of the structural features.

• 1: ein schematisches Ablaufdiagramm eines Verfahrens zur längsgeführten Fahrt in, durch und aus Kreisverkehren gemäß einem Aspekt der vorliegenden Erfindung.

Further advantages, features and details of the invention will become apparent from the following description in which, with reference to the drawings, aspects of the invention are described in detail. The features mentioned in the claims and in the description may each be essential to the invention individually or in any desired combination. Likewise, the features mentioned above and further explained here can be used individually or in combination in any combination. The embodiments shown and described are not to be understood as exhaustive, but have exemplary character for explaining the invention. The detailed description is for the information of the person skilled in the art, therefore, in the description of known circuits, structures and methods are not shown or explained in detail in order not to complicate the understanding of the present description. In the figure shows:

• 1 FIG. 3 is a schematic flow diagram of a method for longitudinally driving in, through and out of roundabouts according to one aspect of the present invention.

1 shows in a schematic flow diagram a method for safe and automatic longitudinal guidance of a motor vehicle in a multi-lane roundabout, comprising a lead 100 the motor vehicle to the multi-lane roundabout; a recognition 101 in the roundabout of moving motor vehicles, wherein an associate 102 recognized 101 motor vehicles is provided in each case one lane; a collision detection 103 is provided for the evaluation of the planned longitudinal guidance of the own motor vehicle and a probable passage of itself in the roundabout of moving motor vehicles; and automated retraction 104 of the motor vehicle is only provided if the collision detection 102 the planned longitudinal guidance is positively assessed.

The person skilled in the art recognizes that the steps may have further sub-steps and in particular that the method steps can each be carried out iteratively and / or in a different order.

The driver experienced according to the invention in the roundabout a continuous Automation experience and does not have to regulate this situation itself. An inattentive or inexperienced driver may not intervene in such situations either too late or too late, which is why this system expansion also critical situations can be avoided.

Not shown herein is a data storage or computer-readable medium having a computer program product comprising control instructions that implement the proposed method and operate the proposed system arrangement when executed on a computer.

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

• WO 2017054956 A1 [0002]
• DE 102015218970 A1 [0003]
• EP 2578465 A2 [0004]

Claims (10)

Method for the safe and automatic longitudinal guidance of a motor vehicle in a multi-lane roundabout, comprising: - bringing the motor vehicle into the multi-lane roundabout (100); - recognizing (101) motor vehicles moving in the roundabout, characterized by - associating (102) recognized (101) motor vehicles with one lane each; - A collision detection (103) for the evaluation of the planned longitudinal guidance of the own motor vehicle and a probable passage of itself in the roundabout moving motor vehicles; and - an automated retraction (104) of the motor vehicle only if the collision detection (102) positively evaluates the planned longitudinal guidance. Method according to Claim 1 , characterized in that after the retraction (104), the longitudinal guidance takes place in dependence of the other motor vehicles within the roundabout and a turning radius. Method according to Claim 1 or 2 , characterized in that the bringing (100) of the motor vehicle to the roundabout takes place at a reduced speed. Method according to one of the preceding claims, characterized in that the assignment (102) of recognized (101) motor vehicles to one lane each takes place on the basis of a driving trajectory and a lane course. Method according to one of the preceding claims, characterized in that the collision detection (103) intersects the own driving trajectory with the driving trajectory of all motor vehicles located in the roundabout. Method according to one of the preceding claims, characterized in that the collision detection (103) takes into account its own acceleration potential in the evaluation of the planned longitudinal guidance. Method according to one of the preceding claims, characterized in that the collision detection (103) takes into account a speed change of the motor vehicles moving in the roundabout. Method according to one of the preceding claims, characterized in that the longitudinal guide to extend out of the roundabout adjusts a desired speed of a straight line. System arrangement for the safe and automatic longitudinal guidance of a motor vehicle in a multi-lane roundabout, comprising: - a tempo unit configured to bring (100) the motor vehicle to the multi-lane roundabout; - A sensor unit configured to detect (101) of moving in the roundabout motor vehicles, characterized by - a computing unit configured for assigning (102) recognized (101) motor vehicles to one lane; - A further computer unit configured for collision detection (103) for the evaluation of the planned longitudinal guidance of the own motor vehicle and a probable passage of itself in the roundabout moving motor vehicles; and - a further tempo unit configured for automated retraction (104) of the motor vehicle only if the collision detection (102) positively evaluates the planned longitudinal guidance. Computer program product with control commands, which performs the method according to one of Claims 1 to 8th when executed on a computer.

Images