CN112119433A - Safeguarding and taking safety measures against dangerous points by vehicle warning - Google Patents
Safeguarding and taking safety measures against dangerous points by vehicle warning Download PDFInfo
- Publication number
- CN112119433A CN112119433A CN201980034450.3A CN201980034450A CN112119433A CN 112119433 A CN112119433 A CN 112119433A CN 201980034450 A CN201980034450 A CN 201980034450A CN 112119433 A CN112119433 A CN 112119433A
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- vehicle
- autonomous vehicle
- hazard
- point
- control unit
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/006—Portable traffic signalling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
- G08G1/0955—Traffic lights transportable
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
Abstract
The invention relates to a method for taking safety measures for a hazard point by means of a control unit of at least one first autonomous vehicle or by means of an external control unit and for warning traffic participants in the surroundings of the hazard point, wherein measurement data are received, analyzed and the hazard point is identified by the at least one first autonomous vehicle on the basis of the analyzed measurement data, a situation-dependent parking trajectory is determined in the surroundings of the hazard point and/or the autonomous vehicle is operated for driving on the parking trajectory, and wherein further traffic participants are warned of the hazard point by means of the at least one first autonomous vehicle by means of an optical warning signal. A vehicle is also disclosed.
Description
Technical Field
The invention relates to a method for taking safety measures for a hazard point by means of a control unit of at least one first autonomous vehicle or by means of an external control unit and for warning traffic participants in the surroundings of the hazard point. The invention furthermore relates to a computer program, a machine-readable storage medium and a control unit.
Background
Different methods for providing information are already known. In particular, traffic participants or vehicles are informed of the existence of dynamic danger points, such as, for example, the end of congestion (Stauenden), traffic density or construction site. Such information exchange is often based on so-called Car-to-Car (Car-to-Car) or C2C communication solutions.
Furthermore, methods are known in which damage to the infrastructure can be detected by means of a vehicle-side sensor and transmitted to a backend system or an external server for further analysis. For example, such infrastructure damage may be potholes.
Methods of enabling autonomous vehicles, such as for example so-called shuttle vehicles (Shuttles) or intelligent taxi vehicles (Robotaxis), to identify static hazard points and to park so as to alert other traffic participants to these hazard points and reduce the risk of accidents are currently unknown.
Disclosure of Invention
In particular, it may be seen as an object of the present invention to provide a method for increasing the safety in street traffic.
This object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the respective dependent claims.
According to one aspect of the invention, a method is provided for taking safety measures (absicher) for a hazard point by means of a control unit of at least one first autonomous vehicle or by means of an external control unit and for alerting traffic participants in the surroundings of the hazard point. In one step, a danger point is identified. To this end, measurement data are received from at least one ambient sensor system and are analyzed. In the case of an analysis of the measurement data, the danger point can then be identified. Subsequently, a situation-dependent parking trajectory is determined in the surroundings of the hazard point and/or the first autonomous vehicle is operated to travel on this trajectory. The corresponding control commands can preferably be generated by the control unit and transmitted to the vehicle control device. Subsequently, the other traffic participants are warned of the danger points by means of the optical warning signals by means of the at least one first autonomous vehicle.
According to another aspect of the present invention, there is provided a computer program comprising instructions which, when executed by a computer or control unit, cause it to perform a method according to the present invention.
According to another aspect of the invention, a machine-readable storage medium is provided, on which a computer program according to the invention is stored.
Furthermore, according to one aspect of the invention, a control unit is provided, which is set up to carry out all the steps of the method according to the invention. To this end, the control unit may be connected with an internal or external machine-readable storage medium.
In this connection, unbalances of the road infrastructure for the vehicle, which may lead to dangerous vehicle instabilities, for example, may be regarded as a hazard. Such danger points may be, for example, lost cargo (ladong) or harvested goods (Ernteprodukte), so-called explosions (Blow-Ups) or severe damage to the road surface, missing sewage drain covers, parked vehicles, accident sites, etc.
By the method according to the invention, it is possible to use vehicles which can be operated automatically or autonomously to protect other traffic participants from points of danger. In this case, the method is not limited to autonomous vehicles and can be used in the context of a driving assistance system even in the case of semi-autonomous vehicles in order to at least temporarily warn other traffic participants of danger points. In particular, the vehicle can be constructed as partially automatic, highly automatic, fully automatic or unmanned according to the SAE J3016 specification.
Due to the automatic vehicle warning, especially for manually controlled vehicles, the risk of accidents due to such dangerous points can be reduced. In addition to warning other traffic participants, automated vehicles can also be used to take safety measures for the danger points, whereby an additional reduction in the risk of accidents can be achieved.
The at least one first vehicle can preferably detect the blocking of the drivable open space (Blockade) by means of a so-called on-board perception or a vehicle sensor system. The identification is carried out by evaluating measurement data determined by the vehicle sensor system by the vehicle interior control device. The vehicle sensor system may have, for example, a camera sensor, a lidar sensor, a radar sensor, etc., for spatially detecting the vehicle environment.
The at least one first autonomous vehicle may calculate a parking trajectory based on the location and size of the localized hazard points or blockages. Here, the parking trajectory may be determined such that the automated vehicle is parked in front of the dangerous point, and the subsequent traffic flow is no longer likely to collide with or be affected by the dangerous point by bypassing the automated vehicle parked at the stop position.
The first autonomous vehicle may preferably activate the flashing warning light already when driving on the parking trajectory or at the stopping position. Additionally, low beam or high beam lights may be activated to illuminate the hazard. Advantageously, a message can be issued (abges setzt) by means of the vehicle interior control device to an incorporated remote operating center, which can delegate further labour (Dienstleistungen) for example for cleaning up a lane. The autonomous vehicle may be operated by a vehicle interior or vehicle exterior control unit. Furthermore, different vehicle interior control units or control devices may govern the operation of the vehicle.
According to one embodiment, the hazard point is identified by at least one first autonomous vehicle, by at least one other vehicle or by an infrastructure sensor system. In this way, a comprehensive (fl ä Chendeckend) danger point identification can be achieved, which is carried out by the different traffic participants and by the infrastructure itself.
According to one embodiment of the method, the hazard points are classified according to the potential hazard by a control unit of the at least one first autonomous vehicle, by a control unit of the at least one further vehicle or by a server unit external to the vehicle. The autonomous vehicle predictably determines whether a dangerous spot is disposed on a drivable air space. The risk points or blockages may be ranked, for example, according to their potential risk. This may be done, for example, depending on the size of the hazard point or based on the location of the hazard point. For example, in a curve, a higher potential hazard can be assigned to the hazard point by the control unit than in a straight-ahead lane.
According to a further embodiment of the method, the danger points are classified by a control unit of the autonomous vehicle according to the object triggering the blocking. Alternatively, the hazard points may be classified based on object type. In particular, it can be checked by the control unit which object blocks the traffic lane and which potential hazard is due to the object. For example, a lost box may have a higher risk than a crossly lying metal sheet on a roadway. The respective category may be stored in a memory of the vehicle-side control unit.
According to a further embodiment of the method, a danger point is identified on the traffic lane or on an adjacent traffic lane of the at least one first autonomous vehicle. The autonomous vehicle can thus continuously and during its driving task scan the vehicle environment with respect to possible danger points. Thus, an additional hazard detection function can be integrated into the control unit of the autonomous vehicle.
According to a further embodiment of the method, a warning light and/or a dipped headlight is used as the optical warning signal. Since there is an increased risk of accidents, in particular in dark situations, other traffic participants can be brought to early notice of the danger point by illuminating the danger point and activating a warning light or flashing a warning light.
If the danger point is located on the opposite lane, the autonomous vehicle can be stopped in such a case, so that the danger point is illuminated at least locally.
According to a further embodiment of the method, a stop position is determined and occupied by at least one first autonomous vehicle for illuminating and/or warning of a hazard point. Thus, the autonomous vehicle may determine a parking trajectory that positions the autonomous vehicle in front of the hazard point such that subsequent traffic by bypassing the autonomous vehicle no longer has a chance to collide with the hazard point. The other traffic participants can be warned of the danger points early by the vehicle lighting and protected from the danger-affected points by the optimally parked automatic vehicle.
According to another embodiment of the method, the message is sent to the external unit by at least one first autonomous vehicle. The external unit may be, for example, an external server, a remote operation center, a clearing service station, a police station, a fire brigade, or a rescue and relief service. By generating a message, professional assistance can be called by the automated vehicle so that the danger point can be cleared as quickly as possible.
According to a further embodiment of the method, the passenger is connected with the external unit via at least one technical device of the first automatic vehicle in a bidirectional communication. The presence of passengers in the motor vehicle can be taken into account by this measure. The passenger can wait, for example, in an automotive vehicle until the guidance point or the external unit again releases the drive after clearing the danger point.
Alternatively, the passenger may be included (eingebunden) if it relates to an object that the passenger can remove himself. For this purpose, the automatic vehicle may have technical means, for example in the form of a communication unit, for carrying out a bidirectional interaction between the brake point (Leitstelle) and the passenger.
A command for cleaning the object may be issued to the passenger via the vehicle interior communication unit. This can be carried out quickly and without complications, in particular in the case of small objects. Furthermore, communication units or technical means can be used for estimating the situation and for discussing with the passengers.
According to a further embodiment of the method, the hazard point is armed by at least one second autonomous vehicle and takes over at least one first autonomous vehicle. For example, a guidance point contacted by a first autonomous vehicle may send a second autonomous vehicle to a danger point. To this end, the guidance point may, for example, order a neighboring intelligent taxi (Robotaxi) as a second autonomous vehicle, which is in an unoccupied state and can take over for the taxi occupied by the passenger or the first autonomous vehicle.
According to a further embodiment of the method, the at least one second autonomous vehicle occupies a parking position behind, in front of or beside the first autonomous vehicle and takes safety measures and/or illuminates the hazard point after the at least one first autonomous vehicle has driven out. A handshake method may thereby be performed which enables a controlled transfer of the arming task to the second autonomous vehicle. For example, the first autonomous vehicle can continue its travel as soon as the second autonomous vehicle is located immediately behind the first vehicle and can fill up the gap formed in the direction of the danger point.
According to a further embodiment of the method, the taking of safety measures of the hazard point and the alignment of the stopping trajectory are coordinated by at least two autonomous vehicles via a C2C communication connection. This may preferably be done if two adjacent autonomous vehicles are in the immediate vicinity of the hazard point. Based on the C2C communication connection, possible arming steps can be exchanged between the vehicles and, for example, an arming strategy can be determined. Especially in the case of large danger points, such as fallen trees, two autonomous vehicles can simultaneously warn of the danger point and, for example, completely block the impassable road until the fire brigade arrives for clearing the trees. By using a plurality of vehicles, redundancy can be created when identifying a hazard point and when taking safety measures for the hazard point.
According to another aspect of the invention, a vehicle for carrying out the method according to the invention is provided. The vehicle has a control unit for evaluating the vehicle sensor system and a communication unit for establishing a communication connection with an external unit or with another vehicle.
The vehicle may in particular be an automatic or at least partially automatic vehicle, which may carry out the method according to the invention for warning of a hazard point. This can improve traffic safety in particular by warning traffic hazard points. Safety measures are taken in an extended manner for the danger point, so that from the point of view of driving dynamics, subsequent traffic cannot produce a collision with the danger point. The danger point and its position can be communicated to a traffic guidance center by the vehicle, wherein further services for clearing the danger point can be provided by the traffic guidance center. It is particularly advantageous if the vehicle can be used to block the danger point during an empty journey, so that no waiting time is created for the passengers.
Drawings
In the following, preferred embodiments of the invention are explained in more detail on the basis of a greatly simplified schematic drawing. In this case
FIG. 1 shows a schematic top view of a section of road with a danger point which has been detected by an automatic vehicle to illustrate the method according to the invention, and
fig. 2 shows a schematic top view of an autonomous vehicle which warns of danger points (schern).
Detailed Description
In the figures, identical structural elements have identical reference numerals, respectively.
Fig. 1 shows a schematic top view of a road section. The first autonomous vehicle 1 identifies a danger point 4 on the traffic lane 2, which is arranged along the trajectory of the vehicle 1. According to this embodiment, the hazard point 4 is a damaged traffic lane, which may cause damage to the vehicle or instability of the vehicle while driving.
Alternatively, the vehicle 1 may also be a semi-automatic vehicle and have a control unit 8 or a control device 8. The control unit 8 serves to implement the driving and auxiliary functions of the vehicle 1 and is coupled with the vehicle sensor system 10 and the communication unit 12 in the form of guidance data.
The vehicle sensor system 10 may have, for example, a camera, a laser radar (LIDAR) sensor and/or a radar sensor and is designed to scan and monitor the vehicle environment, so that the vehicle 1 can be autonomously or semi-autonomously controlled by the control unit 8.
The communication unit 12 may preferably be capable of establishing a wireless communication connection. The communication connection can be based on a transmission standard such as, for example, WLAN, GSM, UMTS, LTE, etc.
After identifying the hazard point 4, the control unit 8 calculates a parking trajectory 6 to a stop position for warning the hazard point 4 and warning the environment against the hazard point 4.
Fig. 2 illustrates a schematic top view of an autonomous vehicle 1 which is armed with a danger point 4. The first autonomous vehicle 1 is arranged in the stop position and has activated its hazard warning lamp 14 to warn other traffic participants 16 against the hazard point 4. Furthermore, the stop position of the autonomous vehicle 1 is selected such that the other road users 16 do not pass the danger point 4 in the case of the executed avoidance maneuver or in the case of their newly calculated trajectory 7. As a result, the subsequent traffic 16 can no longer travel on the danger point 4 or collide with the danger point 4.
After occupying the stop position, the autonomous vehicle 1 establishes a communication connection to the external unit 18 by means of the communication unit 12. The communication connections are illustrated by means of arrows shown.
According to this embodiment, the external unit 18 is a guidance centre 18, which can analyse the data transmitted by the vehicle 1. The data may for example have the position and size of the hazard point 4. Depending on whether the passenger is located in the vehicle 1, a voice interface or a video telephony interface can be realized on the basis of the communication connection, and exchange of information with the passenger can be realized.
Subsequently, the control point 18 can delegate cleaning or repair services and dispatch to the hazard point 4 so that the automated vehicle 1 is taken over as soon as possible.
Alternatively, the control point 18 may in a first step dispatch other automatic vehicles, not shown, which are otherwise not required and which may take over the first automatic vehicle 1 from its arming task, to the hazard point 4.
Claims (15)
1. Method for taking safety measures for a hazard point (4) and warning traffic participants (16) in the surroundings of the hazard point (4) by means of a control unit (8) of at least one first autonomous vehicle (1) or by means of an external control unit, wherein
-receiving, analyzing measurement data, and identifying the hazard point (4) from the analyzed measurement data,
-determining a situation-dependent parking trajectory (6) in the surroundings of the hazard point (4) and/or maneuvering the first autonomous vehicle (1) for driving on the parking trajectory (6), and
-warning other traffic participants (16) against the hazard point (4) by means of an optical warning signal (14) by means of the at least one first autonomous vehicle (1).
2. The method according to claim 1, wherein the hazard point (4) is identified by the at least one first autonomous vehicle (1), by at least one other vehicle or infrastructure sensor system.
3. Method according to claim 1 or 2, wherein the hazard points (4) are classified according to potential hazard by a control unit (8) of the at least one first autonomous vehicle (1), by a control unit of the at least one further vehicle or by a vehicle external server unit (18).
4. The method according to any one of claims 1 to 3, wherein the hazard points (4) are classified by a control unit (8) of the automatic vehicle (1) according to the object triggering the blockage.
5. The method according to any one of claims 1 to 4, wherein the hazard point (4) is identified on a traffic lane (2) or an adjacent traffic lane of the at least one first autonomous vehicle (1).
6. The method according to any one of claims 1 to 5, wherein a warning light and or a dipped headlight is used as the optical warning signal (14).
7. Method according to any one of claims 1 to 6, wherein a stop position is determined and occupied by said at least one first autonomous vehicle (1) for illuminating and/or warning said hazard point (4).
8. Method according to any one of claims 1 to 7, wherein the message is sent to an external unit (18) by means of said at least one first autonomous vehicle (1).
9. Method according to any one of claims 1 to 8, wherein the passenger is connected with said external unit (18) in bidirectional communication via a technical device of said at least one first automatic vehicle (1).
10. Method according to any one of claims 1 to 9, wherein the hazard point (4) is armed by at least one second autonomous vehicle and takes over for the at least one first autonomous vehicle (1).
11. Method according to claim 10, wherein the at least one second autonomous vehicle occupies a parking position behind, in front of or beside the first autonomous vehicle (1) and after the at least one first autonomous vehicle has driven out, takes safety measures for the hazard point (4) and/or illuminates the hazard point (4).
12. The method according to any one of claims 1 to 11, wherein the taking of safety measures of the hazard point (4) and the alignment of the stopping trajectory (6) are coordinated by at least two autonomous vehicles (1) via a vehicle-to-vehicle communication connection.
13. A computer program comprising instructions which, when executed by a computer or control unit (8), cause it to carry out the method according to any one of claims 1 to 12.
14. A machine readable storage medium (9) having stored thereon a computer program according to claim 13.
15. A control unit (8) which is set up for carrying out all the steps of the method according to any one of claims 1 to 12.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
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| DE102018112520.8 | 2018-05-24 | ||
| DE102018112520 | 2018-05-24 | ||
| DE102018115556.5 | 2018-06-28 | ||
| DE102018115556.5A DE102018115556A1 (en) | 2018-05-24 | 2018-06-28 | Warning and safeguarding of danger spots by vehicles |
| PCT/EP2019/063356 WO2019224316A1 (en) | 2018-05-24 | 2019-05-23 | Warning and securing of danger points by vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112119433A true CN112119433A (en) | 2020-12-22 |
| CN112119433B CN112119433B (en) | 2023-03-14 |
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| CN201980034450.3A Active CN112119433B (en) | 2018-05-24 | 2019-05-23 | Safeguarding and taking safety measures against dangerous points by vehicle warning |
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| CN (1) | CN112119433B (en) |
| DE (2) | DE102018115556A1 (en) |
| WO (1) | WO2019224316A1 (en) |
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| DE102021000966A1 (en) | 2021-02-23 | 2022-08-25 | Daimler Truck AG | Method for operating an automated vehicle |
| DE102021001035A1 (en) | 2021-02-26 | 2021-04-29 | Daimler Ag | Procedure for securing a danger zone |
| DE102021002371A1 (en) | 2021-05-04 | 2021-07-08 | Daimler Ag | Method for operating an at least partially automated controllable vehicle |
| DE102022212869B3 (en) | 2022-11-30 | 2024-03-28 | Volkswagen Aktiengesellschaft | Method for operating at least one autonomously operated vehicle, vehicle guidance system, and vehicle |
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- 2019-05-23 WO PCT/EP2019/063356 patent/WO2019224316A1/en active Application Filing
- 2019-05-23 DE DE112019002645.3T patent/DE112019002645A5/en active Pending
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102018115556A1 (en) | 2019-11-28 |
| WO2019224316A1 (en) | 2019-11-28 |
| DE112019002645A5 (en) | 2021-04-08 |
| CN112119433B (en) | 2023-03-14 |
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