CN108819952A - 自动化车辆控制系统 - Google Patents

自动化车辆控制系统 Download PDF

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CN108819952A
CN108819952A CN201810342452.6A CN201810342452A CN108819952A CN 108819952 A CN108819952 A CN 108819952A CN 201810342452 A CN201810342452 A CN 201810342452A CN 108819952 A CN108819952 A CN 108819952A
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vehicle
controller
lane
main vehicle
main
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CN108819952B (zh
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R·J·卡什勒
M·I·贾
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Delphi Technologies Inc
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Delphi Technologies Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
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    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
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    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
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    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0072—Controller asks driver to take over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data

Abstract

公开了一种适合于在自动化车辆上使用的车辆控制系统(10)，其包括人机界面(32)和控制器(28)。人机界面(32)接受来自主车辆(12)的驾驶员(16)的输入。控制器(28)与人机界面(32)通信。驾驶员(16)向人机界面(32)输入通知(40)。通知(40)指示驾驶员(16)检测到暗示道路(36)上存在尚未被系统(10)检测到的紧急服务车辆(34)的状况。控制器(28)可以根据支配与停在道路(36)旁边的紧急服务车辆(34)邻近的车辆的操作的各种规则来驾驶主车辆(12)。

Description

自动化车辆控制系统
技术领域
本公开总体上涉及适合于在自动化车辆上使用的车辆控制系统，并且更具体而言，涉及对紧急服务车辆的存在做出响应的车辆控制系统。
背景技术
已知自动化车辆在紧急服务车辆变得能够被视觉传感器看见时使用视觉传感器检测紧急服务车辆。在紧急服务车辆在视觉传感器的范围极限处未被立即检测到的情况下，自动化车辆可能没有足够多时间做出反应并采取适当措施以遵守保护紧急服务车辆人员安全的规则。
发明内容
本文描述了一种车辆控制系统，其允许自动化车辆的驾驶员经由通过人机界面(HMI)的输入向自动化车辆提供信息。该信息使得自动化车辆能够在没有传感器数据或云数据的情况下及时采取行动。利用驾驶员提供的信息，自动化车辆可以执行针对适当动作的预定义搜索。在自动化车辆进入紧急服务车辆的传感器范围时，本地传感器可以检测到紧急服务车辆并可以恢复自动驾驶。
根据一个实施例，提供了一种适合于在自动化车辆上使用的车辆控制系统。车辆控制系统包括人机界面和控制器。人机界面接受来自主车辆的驾驶员的输入。控制器与人机界面通信。在驾驶员向人机界面输入通知时，控制器根据支配与停在主车辆所行驶的道路旁边的紧急服务车辆邻近的车辆的操作的规则来驾驶主车辆。该通知指示驾驶员检测到暗示主车辆前方的道路上存在尚未被系统检测到的紧急服务车辆的状况。
在阅读了优选实施例的以下具体实施方式之后，其它特征和优点将变得更加显而易见，优选实施例的具体实施方式仅通过非限制性示例的方式并参考附图给出。
附图说明
现在将参考附图通过示例的方式描述本发明，在附图中：
图1是根据一个实施例的车辆控制系统的示图；
图2是根据一个实施例的在行驶车道上行驶的装备有图1的车辆控制系统的主车辆的图示；
图3是根据一个实施例的装备有图1的车辆控制系统的主车辆的图示；以及
图4是执行变道的图2的主车辆的图示。
具体实施方式
可能会发生这样的情况：安装于自动化车辆上的传感器可能未检测到停在自动化车辆所行驶的道路旁边的紧急服务车辆(例如，警车、救护车、拖车)的存在。例如，道路上的山丘可能暂时遮挡紧急服务车辆，使其不在传感器的视场内，只有在到达山顶时传感器才能被检测到。以每小时112千米的速度行驶的传感器范围为100米的主车辆会有大约3.2秒来对这种状况做出响应，该响应时间可能不足以保证紧急服务车辆人员的安全以及主车辆的乘员的舒适性。
图1示出了车辆控制系统10的非限制性示例，车辆控制系统10在下文被称为系统10，其适合于在下文被称为主车辆12的自动化车辆上使用。通常，系统10被配置为以自动化模式14操作(即，驾驶)主车辆12，由此主车辆12的驾驶员16几乎与乘客无差别。亦即，驾驶员16不会大量牵涉到主车辆12的转向18或者加速器20和制动器22的操作中。可以构想，也可以在人工模式24或者在部分模式(未示出)下对主车辆12进行操作，在人工模式24下，驾驶员16完全负责对主车辆控制26进行操作，在部分模式(未示出)下，驾驶员16和系统10的控制器28分担对主车辆12的控制。
控制器28可以包括诸如微处理器的处理器(未示出)或者诸如模拟和/或数字控制电路的其它控制电路，所述其它控制电路包括用于处理数据的专用集成电路(ASIC)，这对于本领域技术人员而言是显然的。控制器28可以包括存储器30，其包括非易失性存储器，例如用于存储一个或多个例程、阈值和采集的数据的电可擦可编程只读存储器(EEPROM)。一个或多个例程可以由处理器执行，以执行如文中所述的用于基于控制器28所接收的信号来对主车辆12进行操作的步骤。
系统10包括接受来自主车辆12的驾驶员16的输入的人机界面32(HMI32)。如本领域技术人员将理解的，HMI 32可以是适合于在汽车中使用的任何HMI 32，包括但不限于语音用户界面、触摸屏界面、手势界面、运动跟踪界面和硬件界面。对本领域的技术人员将显而易见的是，驾驶员16的输入方法将由HMI 32的类型来确定，如上所述。优选地，驾驶员16可以使用语音用户界面(未示出)作为HMI 32的输入。
系统10还包括与HMI 32通信的控制器28。控制器28可以根据支配与停在主车辆12所行驶的道路36旁边的紧急服务车辆34邻近的车辆的操作的各种规则来驾驶主车辆12。典型地，这些规则要求主车辆12在经过紧急服务车辆34时移动到距紧急服务车辆34更远的相邻车道38中。驾驶员16可以向HMI 32输入通知40，通知40指示驾驶员16检测到(即看到)暗示(即，向驾驶员16指示或指示出)在主车辆12前方的道路36上存在尚未被系统10检测到的紧急服务车辆34的状况(即，交通场景、情形)。例如，驾驶员16可以看到道路36前方来自其它车辆42的刹车灯(未示出)，和/或可以看到其它车辆42移动到同一车道，作为存在紧急服务车辆34的暗示。作为另一个非限制性示例，驾驶员16可能在该距离中看到戴着帽子的人，该帽子与执法人员、消防员或紧急道路维修人员通常戴的帽子差不多，但系统10可能并未装备有适当表征各种帽子的图像处理。例如，在主车辆12超出可能本来会检测到紧急服务车辆34的闪烁灯光(图2)的传感器范围44时，或者在道路坡度46或其它障碍物遮挡了紧急服务车辆34使其不在可以用于检测紧急服务车辆34的相机50(图3)的视场48内时，系统10可能不会检测到紧急服务车辆34的存在。
图4示出，在主车辆12行驶于与紧急服务车辆34相邻的行驶车道52中时，控制器28可以判断何时允许变道54并驾驶主车辆12进入与紧急服务车辆34相距更远的相邻车道38。如下文更详细所述，控制器28可以使用主车辆12上安装的传感器来判断何时允许变道54。在不允许变道54时，控制器28可以降低主车辆速度56(图1)并使主车辆12保持在当前行驶车道52中，并且根据支配与停在道路36旁边的紧急服务车辆34邻近的车辆的操作的规则来驾驶主车辆12。
在控制器28驾驶主车辆12进入与紧急服务车辆34相距更远的相邻车道38中并经过紧急服务车辆34之后，控制器28可以在控制器28确定允许变道54时驾驶主车辆12返回到在通知40之前主车辆12所行驶的行驶车道52中。如前所述，控制器28可以使用主车辆12上安装的传感器来判断何时允许变道54。
系统10还可以包括与控制器28通信的测距传感器58。测距传感器58可以检测邻近主车辆12的其它车辆42(见图2)。控制器28还可以基于测距传感器58判断何时允许变道54(参见图4)。如本领域技术人员将理解的，测距传感器58可以包括雷达传感器和/或光达传感器。适合于检测其它车辆42的雷达传感器的示例为可从美国Michigan,Troy的DelphiInc.获得的电子扫描雷达(ESR)或后侧检测系统(RSDS)或短距雷达(SRR)。
系统10还可以包括与控制器28通信的相机50。相机50可以检测行驶车道52的车道标记60。控制器28还可以基于车道标记60判断何时允许变道54。相机50还可以检测行驶车道52的左侧和右侧上的车道标记60。相机50可以检测虚线(未具体示出)的车道标记60，并且可以检测实线(未具体示出)的车道标记60。典型地，虚线指示允许变道54，而实线指示不允许变道54。如本领域的技术人员将认识到的，适合于主车辆12上使用的相机50的示例是市场上可买到的，一个这种示例是来自美国Idaho,Boise的Micron Technology,Inc.的APTINA MT9V023。相机50可以安装在主车辆12前方，或者安装在主车辆12内部的适合相机50通过主车辆12的风挡查看主车辆12周围的区域的位置处。相机50优选为视频型相机50或能够以例如每秒十帧的足够的帧速率拍摄道路36和周围区域的图像(未具体示出)的相机50。控制器28还可以被配置(例如，编程或硬连线)为基于相机50所检测到的车道标记60来为主车辆12确定道路36上的中线(未示出)。亦即，可以由控制器28使用已知的用于图像分析的技术来处理相机50所检测或拍摄到的图像，以确定应当沿道路36的何处对主车辆12进行操作或转向。可以使用诸如来自以色列耶稣撒冷的Moblieye Vision Technologies,Ltd.的平台或其它适当装置之类的视觉处理技术。例如而非限制，中线优选在道路36的车道标记60所界定的行驶车道52的中间。
系统10还可以包括与控制器28通信的数字地图62。数字地图62可以界定主车辆12向目的地行驶的行驶路线64(图1)。控制器28还可以基于数字地图62判断何时允许变道54。数字地图62可以位于主车辆12上并且可以集成到控制器28中。数字地图62可以存储在“云”中，并且经由收发器(例如，Wi-Fi、蜂窝或卫星——未示出)来访问。数字地图62和收发器也可以是定位装置(例如，GPS——未示出)的部分。数字地图62可以指示主车辆12在道路36上的位置，并且指示相邻车道38是否可用于变道54。
因此，提供了一种车辆控制系统10和一种用于车辆控制系统10的控制器28。车辆控制系统10允许主车辆12的驾驶员16经由通过HMI 32的输入向主车辆12提供信息，该信息使得主车辆12能够在紧急服务车辆34停在道路36旁边并且未被主车辆12上安装的传感器检测到时及时采取措施。
尽管已经依据本发明的优选实施例描述了本发明，但是这并非旨在使本发明受到这样的限制，相反本发明仅受到在下述权利要求中阐述的范围的限制。此外，术语第一、第二等的使用并非表示任何重要性次序，相反术语第一、第二等只是用于将一个要素与另一个要素区分开。此外，单数冠词的使用并不表示数量的限制，而是表示存在所提及的项目的至少其中之一。此外，诸如上方、下方等的方向性术语不表示任何特定取向，相反术语上方、下方等用于将一个要素与另一个要素区分开，并且在位置上建立各种要素之间的关系。

Claims (7)

1.一种适合于在自动化车辆上使用的车辆控制系统(10)，所述系统(10)包括：
人机界面(32)，其接受来自主车辆(12)的驾驶员(16)的输入；以及
与所述人机界面(32)通信的控制器(28)，其中，在所述驾驶员(16)向所述人机界面(32)输入通知(40)时，所述控制器(28)根据支配与停在所述主车辆(12)所行驶的道路(36)旁边的紧急服务车辆(34)邻近的车辆的操作的规则来驾驶所述主车辆(12)，所述通知(40)指示所述驾驶员(16)检测到暗示所述主车辆(12)前方的所述道路(36)上存在尚未被所述系统(10)检测到的所述紧急服务车辆(34)的状况。
2.根据权利要求1所述的系统(10)，其中，所述控制器(28)判断何时允许变道(54)，其中，在所述主车辆(12)处在与所述紧急服务车辆(34)相邻的行驶车道(52)中时，所述控制器(28)在允许所述变道(54)时驾驶所述主车辆(12)进入相邻车道(38)，并且在不允许所述变道(54)时，所述控制器(28)根据支配与停在所述道路(36)旁边的所述紧急服务车辆(34)邻近的车辆的操作的规则来降低主车辆速度(56)。
3.根据权利要求2所述的系统(10)，其中，在所述控制器(28)驾驶所述主车辆(12)进入所述相邻车道(38)之后，并且其中，在所述主车辆(12)经过所述紧急服务车辆(34)之后，并且其中，在允许所述变道(54)时，所述控制器(28)驾驶所述主车辆(12)返回到在所述通知(40)之前所述主车辆(12)所行驶的行驶车道(52)中。
4.根据权利要求3所述的系统(10)，其中，所述系统(10)还包括与所述控制器(28)通信的测距传感器(58)，所述测距传感器(58)检测与所述主车辆(12)邻近的车辆，其中，所述控制器(28)还基于所述测距传感器(58)判断何时允许所述变道(54)。
5.根据权利要求3所述的系统(10)，其中，所述系统(10)还包括与所述控制器(28)通信的相机(50)，所述相机(50)检测所述行驶车道(52)的车道标记(60)，其中，所述控制器(28)还基于所述车道标记(60)判断何时允许所述变道(54)。
6.根据权利要求3所述的系统(10)，其中，所述系统(10)还包括与所述控制器(28)通信的数字地图(62)，所述数字地图(62)定义所述主车辆(12)向目的地行驶的行驶路线(64)，其中，所述控制器(28)还基于所述数字地图(62)判断何时允许所述变道(54)。
7.根据权利要求3所述的系统(10)，其中，所述系统(10)还包括与所述控制器(28)通信的测距传感器(58)、相机(50)和数字地图(62)，所述测距传感器(58)检测与所述主车辆(12)相邻的车辆，所述相机(50)检测所述行驶车道(52)的车道标记(60)，所述数字地图(62)定义所述主车辆(12)向目的地行驶的行驶路线(64)，其中，所述控制器(28)还基于所述测距传感器(58)、所述车道标记(60)和所述数字地图(62)判断何时允许所述变道(54)。
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