DE102019004931A1 - Method of operating a vehicle - Google Patents

Abstract

The invention relates to a method for operating a vehicle (F1 to Fn), whereby a vehicle environment is detected, a traffic situation in the vehicle environment is recognized and when a traffic situation is recognized that would require the formation of an emergency lane (RG) for emergency vehicles (EF). between several lanes (FS1 to FS4) requires the vehicle (F1 to Fn) to be automatically steered longitudinally and transversely in such a way that an emergency lane (RG) is formed. According to the invention, in the event of a traffic volume that exceeds a predetermined limit value and a vehicle speed that falls below a predetermined limit value, depending on the vehicle dimensions and / or the structure of a vehicle combination, a distance (A1) to a road user traveling ahead is set in such a way that a Immediate standstill of the road user driving ahead with a trajectory (TR1 to TRn) a vehicle position is reached which is outside the rescue alley (RG).

Description

The invention relates to a method for operating a vehicle according to the preamble of claim 1.

From the DE 10 2013 004 271 A1 A method is known for assisting a driver in driving a vehicle, optical and acoustic information about the surroundings being recorded and classified. Depending on the classification results, a vehicle parameter is set variably, the vehicle parameter relating to an autonomous or partially autonomous longitudinal vehicle control, an autonomous or partially autonomous transverse vehicle control or driving instructions issued to the driver depending on the situation. A classification unit is designed to recognize and classify traffic situations in which it is necessary to form an emergency lane between several lanes in order to enable emergency vehicles to pass between waiting vehicles. When the vehicle is traveling at low speed, the vehicle is automatically steered longitudinally and transversely in such a way that an emergency lane is formed for emergency vehicles. When the vehicle is stationary and an emergency vehicle with warning lights approaching from behind is detected, the vehicle is steered longitudinally and transversely in such a way that it deviates, for example onto an emergency lane next to the lane. Furthermore, the automatic longitudinal and lateral control takes place in such a way that the vehicle waits in the evaded position until the corresponding emergency vehicle has passed the vehicle. In built-up areas, a sidewalk is used if this is necessary to form the rescue alley.

The invention is based on the object of specifying a method for operating a vehicle which is improved over the prior art.

The object is achieved according to the invention with a method which has the features specified in claim 1.

Advantageous embodiments of the invention are the subject of the subclaims.

In a method for operating a vehicle, a vehicle environment is detected, a traffic situation in the vehicle environment is recognized and, when a traffic situation is recognized that requires the creation of an emergency lane for emergency vehicles between several lanes, the vehicle is automatically controlled longitudinally and transversely in such a way that a Rescue alley is formed.

According to the invention, in the event of a traffic volume that exceeds a predetermined limit value and a vehicle speed that falls below a predetermined limit value, depending on the vehicle dimensions and / or the structure of a vehicle combination, a distance to a road user ahead is set in such a way that if the vehicle comes to a standstill immediately A vehicle position is always reached with a trajectory for the road user driving ahead, which is located outside the emergency lane.

The method enables intelligent trajectory planning taking into account the vehicle dimensions and / or, if the vehicle is designed as a vehicle combination, taking into account the structure of the vehicle combination and ensures that an emergency lane can always be formed, especially when traffic is slow and stationary.

Embodiments of the invention are explained in more detail below with reference to drawings.

• 1 schematisch eine Draufsicht eines Fahrbahnabschnitts mit zwei Fahrspuren und eine Verkehrssituation während einer Bildung einer Rettungsgasse,
• 2 schematisch eine Draufsicht eines Fahrbahnabschnitts mit zwei Fahrspuren und eine Verkehrssituation nach einer Bildung einer Rettungsgasse,
• 3 schematisch eine Draufsicht eines Fahrbahnabschnitts mit drei Fahrspuren und eine Verkehrssituation nach einer Bildung einer Rettungsgasse,
• 4 schematisch eine Draufsicht eines Fahrbahnabschnitts mit vier Fahrspuren und eine Verkehrssituation nach einer Bildung einer Rettungsgasse,
• 5 schematisch eine Draufsicht eines Fahrbahnabschnitts mit drei Fahrspuren und eine Verkehrssituation bei zusätzlicher Nutzung einer Standspur nach einer Bildung einer Rettungsgasse,
• 6 schematisch eine Draufsicht eines Fahrbahnabschnitts mit vier Fahrspuren zu einem Zeitpunkt vor einer Bildung einer Rettungsgasse und einen die zu bildende Rettungsgasse markierenden Bereich,
• 7 schematisch eine Draufsicht eines Fahrbahnabschnitts mit zwei Fahrspuren und Verkehrssituationen zu unterschiedlichen Zeitpunkten vor, während und nach Bildung einer Rettungsgasse,
• 8 schematisch eine Draufsicht eines Ausschnitts des Fahrbahnabschnitts gemäß 7 zu einem Zeitpunkt vor der Bildung der Rettungsgasse und einen die zu bildende Rettungsgasse markierenden Bereich,
• 9 schematisch eine Draufsicht eines Ausschnitts des Fahrbahnabschnitts gemäß 7 zu einem Zeitpunkt während der Bildung der Rettungsgasse, einen die zu bildende Rettungsgasse markierenden Bereich und Trajektorien auf der Fahrbahn befindlicher Fahrzeuge,
• 10 schematisch eine Draufsicht eines Ausschnitts des Fahrbahnabschnitts gemäß 7 mit einem Vergleich von Positionen eines Fahrzeugs zu Zeitpunkten während der Bildung der Rettungsgasse und nach der Bildung der Rettungsgasse, einen die zu bildende Rettungsgasse markierenden Bereich und eine zwischen den beiden Positionen zurückgelegte Trajektorie des Fahrzeugs,
• 11 schematisch eine Draufsicht eines Fahrbahnabschnitts mit drei Fahrspuren, einen eine zu bildende Rettungsgasse markierenden Bereich sowie Erfassungsbereiche einer Fahrzeugsensorik eines Fahrzeugs,
• 12 schematisch eine Draufsicht eines Ausschnitts des Fahrbahnabschnitts gemäß 11,
• 13 schematisch ein Blockschaltbild einer Vorrichtung zum Betrieb eines Fahrzeugs und
• 14 schematisch ein Blockschaltbild eines Moduls der Vorrichtung gemäß 13.

Show:

• 1 schematically a top view of a roadway section with two lanes and a traffic situation during the formation of an emergency alley,
• 2 schematically a top view of a roadway section with two lanes and a traffic situation after the formation of an emergency alley,
• 3 schematically a top view of a lane section with three lanes and a traffic situation after the formation of an emergency lane,
• 4th schematically a top view of a road section with four lanes and a traffic situation after the formation of an emergency lane,
• 5 schematically a top view of a lane section with three lanes and a traffic situation with additional use of a hard shoulder after the formation of an emergency lane,
• 6th schematically a top view of a roadway section with four lanes at a point in time before a rescue lane is formed and an area marking the rescue lane to be formed,
• 7th schematically a plan view of a roadway section with two lanes and traffic situations to different Times before, during and after the formation of an emergency lane,
• 8th schematically a top view of a section of the roadway section according to FIG 7th at a point in time before the rescue lane is formed and an area marking the rescue lane to be formed,
• 9 schematically a top view of a section of the roadway section according to FIG 7th at a point in time during the formation of the rescue lane, an area marking the rescue lane to be formed and trajectories of vehicles on the roadway,
• 10 schematically a top view of a section of the roadway section according to FIG 7th with a comparison of positions of a vehicle at times during the formation of the rescue lane and after the formation of the rescue lane, an area marking the rescue lane to be formed and a trajectory of the vehicle covered between the two positions,
• 11 schematically a top view of a roadway section with three lanes, an area marking an emergency lane to be formed and detection areas of a vehicle sensor system of a vehicle,
• 12 schematically a top view of a section of the roadway section according to FIG 11 ,
• 13th schematically a block diagram of a device for operating a vehicle and
• 14th schematically a block diagram of a module of the device according to FIG 13th .

Corresponding parts are provided with the same reference symbols in all figures.

In 1 Figure 3 is a plan view of a two-lane roadway section FS1 , FS2 and a hard shoulder S. as well as a traffic situation with several vehicles F1 to Fn during formation of a rescue lane RG shown.

Especially on lanes with several lanes FS1 , FS2 For one direction of travel, an emergency lane is required when traffic is slow or stationary RG to form to one in 2 emergency vehicle shown in more detail EF , for example, to enable a police vehicle, fire engine, ambulance and / or other auxiliary vehicle to quickly pass through to a place of use. The formation of a rescue alley RG is also for automated, especially highly automated or autonomously driving vehicles F1 to Fn , required.

To form the rescue lane RG the vehicles move F1 to Fn in each case to opposite edges of the lanes FS1 , FS2 so that between side by side in the lanes FS1 , FS2 existing vehicles F1 to Fn the rescue alley RG is trained.

2 FIG. 13 shows a plan view of the roadway section according to FIG 1 after the rescue lane was formed RG , which an emergency vehicle EF a passage between the vehicles F1 to Fn allowed.

In 3 Fig. 13 is a plan view of a three-lane roadway section FS1 to FS3 and a traffic situation after the formation of an emergency lane RG shown, with the emergency lane RG between the two left lanes FS1 and FS2 is formed.

4th shows a plan view of a road section with four lanes FS1 to FS4 and a traffic situation after the formation of an emergency lane RG , being the emergency lane RG between the two left lanes FS1 and FS2 is formed. In 5 Fig. 13 is a plan view of a three-lane roadway section FS1 to FS3 and a traffic situation after the formation of an emergency lane RG shown, with the emergency lane RG between the two left lanes FS1 and FS2 is formed. At the same time there is one next to the right lane FS3 located hard shoulder S. released for driving.

6th shows a plan view of a road section with four lanes FS1 to FS4 at a point in time before an escape lane is formed RG and one the evacuation lane to be formed RG marking area B. . The area B. is in the facing edge sections of the two left lanes FS1 and FS2 intended. The vehicle is there F1 left and adjacent to the emergency lane to be formed RG , the vehicle F2 right and adjacent to the emergency lane to be formed RG and the vehicles F3 and F4 not adjacent to the rescue alley to be formed RG .

In 7th Figure 3 is a plan view of a two-lane roadway section FS1 , FS2 and traffic situations at different times t1 to t4 before, during and after the formation of an escape route RG shown.

At the time t1 the flow of traffic slows down and the formation of an emergency alley slows down RG must be initiated.

All vehicles are at time t2 F1 to Fn just about to come to a standstill and try the rescue alley RG to build.

At the time t3 are all vehicles F2 to Fn , which are passenger cars, in positions outside the rescue alley RG . The vehicle trained as a semitrailer F1 However, due to a long towing curve of a trailer with this protrudes into the area B. the rescue alley RG into it and could thus allow an emergency vehicle to drive through EF hinder.

At a time t4 is also the vehicle F1 in a position out of range B. the rescue alley RG . This was the vehicle F1 for example, by slowly driving the other vehicles F2 enables. To reach this position, the vehicle needs F1 a distance d1 .

8th FIG. 11 shows a top view of a section of the roadway section according to FIG 7th at the time t1 before the rescue lane is formed RG and the rescue alley to be formed RG marking area B. .

In 9 FIG. 13 is a plan view of a section of the roadway section according to FIG 7th at the time t3 during the formation of the emergency lane RG and the emergency lane to be formed RG marking area B. shown. Furthermore, starting from the point in time t1 until the time t3 covered trajectories TR1 to TRn of the vehicles F1 to Fn shown. To reach a position that is out of range B. the rescue alley RG is located, requires a vehicle designed as a passenger car F2 to Fn a distance d2 .

10 FIG. 11 shows a top view of a section of the roadway section according to FIG 7th with the vehicle F1 at the time t1 and at the time t4 after the rescue lane was formed RG as well as those between these times t1 , t4 covered trajectory TR1 and the required distance d1 to transfer the vehicle F1 from one position at a time t1 to the position out of range B. the rescue alley RG at the time t4 . This shows that the required distance d1 for the vehicle designed as a vehicle combination with a towing vehicle and a trailer F1 significantly greater than the required distance d2 for a vehicle designed as a passenger car F2 to Fn is.

When driving a vehicle automatically F1 to Fn It must therefore be ensured that there is always a freely navigable route with sufficient distance d1 , d2 to reach a position outside the rescue alley RG for the corresponding vehicle F1 to Fn is available. An in 11 the distance required for this, shown in more detail A1 to a vehicle in front F1 to Fn and / or a also in 11 required distance shown in more detail A2 to the side of the respective vehicle F1 to Fn located object, for example another vehicle F1 to Fn , however, is dependent on the vehicle dimensions and / or on the structure of a vehicle combination, for example a tractor with a semi-trailer, and the associated drag curves.

For this reason, it is provided that, in the event of a traffic volume that exceeds a predetermined limit value, and a vehicle speed that falls below a predetermined limit value, a distance depending on the vehicle dimensions and / or the structure of a vehicle combination A1 to a road user driving ahead is set in such a way that in the event of an immediate standstill of a road user driving ahead, for example a vehicle driving ahead F1 to Fn , with a trajectory TR1 to TRn a vehicle position is reached which is outside the rescue alley RG is located. In order to make this possible, an environment detection for the respective vehicle is necessary F1 to Fn required.

In 11 Fig. 13 is a plan view of a three-lane roadway section FS1 to FS3 , an emergency lane to be formed RG marking area B. as well as detection areas E1 to E3 a vehicle sensor system SE1 to SE3 of a vehicle F1 shown.

Using the vehicle sensors SE1 to SE3 , which comprises a number of cameras, ultrasonic sensors, radar sensors, lidar sensors and / or other sensors, become a vehicle environment and objects located in it, in particular other road users, such as other vehicles F2 to Fn , detected.

On the basis of data recorded by the vehicle sensors SE1 to SE3 become a distance A1 to a road user ahead, here a vehicle F3 , and a lateral space A2 to at least one to the side of the vehicle F1 located object, here a vehicle F2 , determined.

12 FIG. 11 shows a top view of a section of the roadway section according to FIG 11 , based on the recorded data of the vehicle sensors SE1 to SE3 an offset of the vehicle F1 to a lane center as an offset O is determined.

In 13th Figure 3 is a block diagram of one possible embodiment of an apparatus 1 to operate a vehicle F1 to Fn shown.

The device 1 is to carry out a method for operating a vehicle F1 to Fn formed, by means of the vehicle sensors SE1 to SE3 , comprising for example a number of cameras, ultrasonic sensors, radar sensors, lidar sensors and / or further sensors, a vehicle environment is detected. Furthermore, a GPS sensor is used 2 a position of the respective vehicle F1 to Fn showing the GPS sensor 2 includes, ie its own position, recorded and further data, for example also from other road users in the vehicle environment, are from a backend server 3 provided. Furthermore, from other vehicle components 4th , such as speed sensors, acceleration sensors, yaw rate sensors, digital maps, etc. further data can be determined. All recorded data are combined into a fusion module 5 supplied, which merges the data and determines a vehicle position.

This vehicle position becomes a behavior planning module 6th fed, which a trajectory generator 7th and a module 8th to control the vehicle F1 to Fn in the event of slow or stationary traffic.

Based on the module 8th to control the vehicle F1 to Fn slow traffic or standstill is recognized when the volume of traffic exceeds a predetermined limit value and the vehicle speed is below a predetermined limit value. Used by the module 8th a traffic situation was recognized, which led to the formation of an emergency lane RG required, the trajectory generator generates 7th a corresponding trajectory TR1 to TRn , with which a vehicle position is reached, which is outside a rescue lane to be formed RG is located. This trajectory TR1 to TRn is connected to a vehicle actuator 9 transmitted which a longitudinal and / or lateral control of the corresponding vehicle F1 to Fn for the automated movement of the vehicle F1 to Fn executes in the vehicle position.

The module takes into account 8th always the vehicle dimensions and possibly a structure of a vehicle combination and gives the distance A1 to a road user driving ahead in such a way that in the event of an immediate standstill of the road user driving ahead with the trajectory TR1 to TRn the vehicle position is safely reached, which is outside a rescue lane to be formed RG is located.

14th shows a block diagram of a module 8th to control the vehicle F1 to Fn according to 13th and a program flow chart for controlling the trajectory generator 7th .

The first step here is V1 checks whether a vehicle speed of the vehicle F1 to Fn is lower than the vehicle speed which can be driven under normal circumstances as specified by a control system. If this is not the case (indicated by a NO branch N1), the module remains 8th passive.

However, if this is the case (indicated by a YES branch J1), in a second step V2 checks whether a traffic volume exceeds a specified limit value.

If this is not the case (indicated by a NO branch N2), the module remains 8th passive.

If this is the case (indicated by a YES branch J2), a third step V3 checks that the vehicle is F1 to Fn in a position adjacent to the area B. the rescue lane to be formed RG is located.

If this is not the case (indicated by a NO branch N3), the module remains 8th passive.

However, if this is the case (indicated by a YES branch J3), in a fourth step V4 checks that the vehicle is F1 to Fn in a position to the left of the area B. the rescue lane to be formed RG is located.

If this is the case (indicated by a YES branch J4), a command for the trajectory generator is issued in a fifth step V5 7th that this creates a trajectory TR1 to TRn of the vehicle F1 to Fn modified so that the vehicle F1 until Fn turn left into an area outside the emergency lane RG emotional.

However, if this is not the case (indicated by a NO branch N4), that is, the vehicle is located F1 to Fn in a position to the right of the area B. the rescue lane to be formed RG , in a sixth step V6 is a command for the trajectory generator 7th that this creates a trajectory TR1 to TRn of the vehicle F1 to Fn modified so that the vehicle F1 to Fn to the right into an area outside the escape alley RG emotional.

• - der Fahrzeuggeschwindigkeit,
• - des longitudinalen Abstands A1 zum vorausfahrenden Fahrzeug F1 bis Fn,
• - des lateralen Abstands A2 zu seitlichen Hindernissen, wie beispielsweise zu anderen Verkehrsteilnehmern oder baulichen Objekten,
• - eigener Fahrzeugabmessungen und gegebenenfalls einem Aufbau eines Fahrzeuggespanns, wenn das Fahrzeug F1 bis Fn als Fahrzeuggespann ausgebildet ist, und
• - der relativen Position des Fahrzeugs F1 bis Fn zur Fahrspurmitte (links oder rechts)

derart berechnet, dass beim Stillstand des vorausfahrenden Fahrzeugs F1 bis Fn ein rettungsgassenkonformes Anhalten des eigenen Fahrzeugs F1 bis Fn möglich ist.In steps V5 and V6, the in 12 lateral offset shown O depending on a lane center to be controlled

• - the vehicle speed,
• - the longitudinal distance A1 to the vehicle in front F1 to Fn ,
• - the lateral distance A2 to lateral obstacles, such as to other road users or structural objects,
• - own vehicle dimensions and possibly a structure of a vehicle combination, if the vehicle F1 to Fn is designed as a vehicle combination, and
• - the relative position of the vehicle F1 to Fn to the middle of the lane (left or right)

calculated in such a way that when the vehicle in front is stationary F1 to Fn stopping one's own vehicle in accordance with the emergency lane F1 to Fn is possible.

Using this lateral offset O is made using the trajectory generator 7th a corresponding trajectory TR1 to TRn determines which of the vehicle actuators 9 is fed. This controls your own vehicle F1 to Fn corresponding to the lateral offset O corresponding vehicle position to be reached, which is outside the emergency lane RG is located on.

List of reference symbols

1

contraption

2

GPS sensor

3

Backend server

4th

Vehicle component

5

Fusion module

6th

Behavior planning module

7th

Trajectory generator

8th

module

9

Vehicle actuators

A1, A2

distance

B.

Area

d1, d2

distance

E1 to E3

Detection area

EF

Emergency vehicle

F1 to fn

vehicle

FS1 to FS4

lane

J1 to J4

YES branch

N1 to N4

NO branch

O

Offset

RG

Rescue alley

S.

Hard shoulder

SE1 to SE3

Vehicle sensors

t1 to t4

time

TR1 to TRn

Trajectory

V1 to V6

step

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 102013004271 A1 [0002]

Claims (2)

Method for operating a vehicle (F1 to Fn), wherein - a vehicle environment is detected, - a traffic situation in the vehicle environment is recognized and - when a traffic situation is recognized which requires the formation of an emergency lane (RG) for emergency vehicles (EF) between requires several lanes (FS1 to FS4), the vehicle (F1 to Fn) is automatically steered longitudinally and transversely in such a way that a rescue lane (RG) is formed, characterized in that in the event of a traffic volume which exceeds a predetermined limit value and in the event of a Vehicle speed which falls below a predetermined limit value, depending on the vehicle dimensions and / or on the structure of a vehicle combination, a distance (A1) to a road user driving ahead is set in such a way that if the road user ahead comes to a standstill with a trajectory (TR1 to TRn) Vehicle position is reached, which is outside b the rescue lane (RG) is located. Procedure according to Claim 1 , characterized in that when determining the trajectory (TR1 to TRn) a lateral distance (A2) of the vehicle (F1 to Fn) to at least one object located laterally next to the vehicle (F1 to Fn) is taken into account.

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