CN116568579A - 用于操作自动驾驶车辆的方法 - Google Patents
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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
- 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
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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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
- B60Q1/46—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 giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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Abstract
本发明涉及一种用于操作自动驾驶车辆(1)的方法,其中,本发明规定,在测知车辆(1)前方的拥堵时查明在其车道(F1)上尾随在该车辆(1)后的车辆(2)的警示闪光器(2.1)是否被接通,并且与警示闪光器(2.1)关断的情况相比,在尾随车辆(2)的警示闪光器(2.1)接通的情况下追尾危险被认为更低。
Description
技术领域
本发明涉及一种用于操作自动驾驶车辆的方法。
背景技术
DE 10 2009 017 431 A1公开一种车辆用驾驶辅助系统。驾驶辅助系统包括用于前行车辆的信息采集装置以探测关于前行车辆的信息。驾驶辅助系统还包括用于尾随车辆的信息采集装置以探测关于尾随车辆的信息。此外,设有用于前侧碰撞危险的计算装置,以在考虑前行车辆和本车之间相对速度的至少一个参数的情况下计算相对于前行车辆的前侧碰撞危险。此外,驾驶辅助系统包括用于尾侧碰撞危险的计算装置,用以在按照比之在相对于前行车辆的前侧碰撞危险时的相对速度的参数的权重更大的权重将尾随车辆与本车之间相对速度的至少一个参数纳入考虑的情况下计算被尾随车辆追尾的危险。驾驶辅助系统还具有用于依据相对于前行车辆的前侧碰撞危险和被尾随车辆追尾的危险来执行驾驶控制的控制单元。
发明内容
因此本发明的目的是,指出一种用于操作自动驾驶车辆的方法。
根据本发明,该目的通过一种具有权利要求1所述的特征的方法来实现。
本发明的有利设计是从属权利要求的主题。
根据本发明,一种用于操作自动驾驶车辆的方法规定,在测知该车辆前方的拥堵时查明在其车道上尾随在该车辆后的车辆的警示闪光器是否被接通,并且与该警示闪光器关断的情况相比,在尾随车辆的警示闪光器接通的情况下追尾危险被认为更低。
该方法是一种用于以自动驾驶方式驶向拥堵末端的车辆的优化解决方案,由此交通安全性提高并可估算碰撞危险。在此,依据接通的警示闪光器所识别的尾随车辆刹车准备被用来降低与形成拥堵末端的前行车辆相关的碰撞危险。
因为该车辆识别前方拥堵,故可以相应前瞻性促成车辆减速,使得车辆乘客的舒适性可被提升。
在该方法的一个实施方式中,拥堵依据前行车辆的启动的刹车灯和/或接通的警示闪光器被探测,由此能基本上可靠地识别出拥堵,从而下一步骤中将查明尾随车辆是否启动其警示闪光器且与此相应地评价碰撞危险。替代地或附加地,拥堵、尤其是拥堵末端也可以依据其它合适的信息、例如依据相对速度和/或距离变化而被探测。
在尾随车辆的警示闪光器接通的情况下,在该方法的一个改进方案中,该车辆与前行车辆的距离被增大,使得该车辆的前侧与前行车辆碰撞的碰撞危险可被最大程度地排除。
此外,该方法规定,尾随车辆的警示闪光器未接通情况下,该车辆缩小其与前行车辆的距离,使得在被尾随车辆追尾情况下的车辆加速度尽量小并且产生的碰撞力通过变形被吸收。
优选地,与前行车辆的距离被定义为时隙。时隙在此是指如下时间段,在该时间段内,两台前后相继的车辆经过某个点。尤其是,该时隙对应于如下时间段,车辆需要该时间段以驶过距前行车辆的空闲距离。因此,与前行车辆3的距离是时间差。
在另一个实施方式中,在拥堵方面以光学和/或声学的方式通知车辆乘客,从而使他们了解到或许出现的危险状况和/或可能有的旅行延时。关于危险状况和由于乘客被通知当前状况,乘客可以采取笔直姿势,使得乘客保护机构在出现追尾和/或正面碰撞时的约束作用得以预先准备。
此外,在一个可能改进方案中,以光学和/或声学的方式通知乘客车辆或许进行急刹动作,使得乘客能采取与乘客保护机构相关被优化的坐姿。
优选在测知拥堵的情况下接通该车辆的警示闪光器。由此,尾随的交通者被通知或许出现的车辆急刹动作。
附图说明
下面结合图来详细解释本发明的实施例,其中:
图1示意性示出驶向拥堵末端的车辆和尾随其后的车辆,
图2示意性示出用于在前方拥堵情况下操作自动驾驶车辆的方法的过程。
彼此对应的部分在所有图中带有相同的附图标记。
具体实施方式
图1示出一个具有两条同向延伸的车道F1、F2的公路段F,其中,一台车辆1在左侧车道F1上驶向拥堵末端并且在同一车道F1上在车辆1后有尾随车辆2。
两台前行车辆3形成拥堵末端,所述车辆已经分别接通其警示闪光器3.1以指明拥堵点。
驶向拥堵末端的车辆1按自动驾驶方式行驶,其中,驾驶任务完全由车辆1本身执行。例如车辆1是所谓的自动出租车或所谓的自动卡车。
为了基本上保证自主行驶的车辆1以与手动驾驶的驶向拥堵末端的车辆相同的方式作出反应并且至少减轻关于尾随车辆1和前行车辆3的已有的碰撞危险或至少碰撞严重性,规定如下的依据图2所示过程的所述方法。
在这种如图1所示的也可称为危险状况的交通状况下,目的是不仅避免尾随车辆2追尾、也避免车辆1与在其车道F1上前行的车辆3之间的正面碰撞。
这可能导致在避免被尾随车辆2追尾的同时选择车辆1距前行车辆3的较短目标距离。
该方法规定,在第一方法步骤S1中依据车辆1的环境传感器系统的传感器的采集信号来识别在其前方的拥堵。
尤其是,该环境传感器系统具有至少一个基于雷达的传感器,其在车辆1驾驶操作中连续采集信号,依据该信号例如查明前行车辆3以及道路几何形状的参数。
此外,环境传感器系统可以具有至少一个基于激光雷达的传感器,其也设置用于至少探测前行车辆3和道路几何形状参数。
此外,环境传感器系统包括至少一个摄像头,其在车辆1的行驶操作中连续采集图像信号,这些信号被如下评估,即,前行车辆3和道路几何形状的参数被确定,其中,还依据图像信号来查明两台前行车辆3已分别启动其警示闪光器3.1。
借助环境传感器系统的至少一个合适的传感器和/或借助合适的摄像头,依据相应采集的信号和/或图像数据来查明在车辆1后方有尾随车辆2。
传感器以及摄像头采集的信号和图像信号在第二方法步骤S2中被融合,其中,依据所述融合来查明在车辆1后方是否有警示闪光器2.1已接通的尾随车辆2和在车辆1前方是否有警示闪光器3.1已接通的前行车辆3。
另外,依据融合来确定车辆1周围的道路几何形状并且借助数字道路地图考虑公路段F的道路形貌的当前数据。
在第三方法步骤S3中创建将车辆1-3与公路段F之间关系纳入考虑的环境模型。
第四方法步骤S4涉及计划并判断,其中,依据前行车辆3且尤其是依据接通的警示闪光器3.1查明车辆1所驶向的拥堵状况。
另外,关于第四方法步骤S4而规定,有目的性地将当前拥堵状况和可能的急刹动作通知车辆1的乘客。由此,乘客可以对这种刹车动作做好准备并且或许笔直坐立以优化乘客保护机构的约束作用。
还会计划接通车辆1的警示闪光器,以使后随交通者注意到拥堵状况、尤其是拥堵末端。
此外,计划确定尾随车辆2是否已接通其警示闪光器2.1,因此尾随车辆2的车辆使用者很有可能已知晓前方拥堵。另外,如果尾随车辆2已接通其警示闪光器2.1,则当警示闪光器2.1已接通时,尾随车辆2也很有可能以更高减速度降低其当前行驶速度而不存在尾随车辆2与车辆1之间撞车事故的危险。
在第五方法步骤S5中,车辆1的乘客如在第四方法步骤S4中已计划的那样借助输出声学信号和/或光学信号而被通知:车辆1改变了、尤其是显著降低其当前行驶速度。
其前提是车辆1计算用于接近由两台前行车辆3形成的拥堵末端的既定运动轨迹,在此,假设尾随车辆2对车辆1的较高减速度作出反应而没有针对车辆1的追尾危险。
此外,车辆1接通其未被详细示出的警示闪光器并且开始改变其当前行驶速度。为此,乘客被通知:所启动的刹车动作可能比所谓的舒适刹车更急促。
因此如果依据尾随车辆2的所接通的警示闪光器2.1来查明其准备刹车,则车辆1可以增大其距在其车道F1上的前行车辆3的目标距离,以降低与前行车辆3的碰撞危险。因此,尾随车辆2的煞车准备被用来降低与前行车辆3的碰撞危险。目标距离在此是车辆2应遵守的相对于前行车辆3的理想距离。目标距离的遵守例如借助距离控制器来实现,其将车辆1距前行车辆3的距离控制到目标距离。有利地,目标距离被定义为理想时隙。时隙在此是指车辆1为了驶过车辆1与前行车辆3之间的当前空闲距离而需要的时间段。因此在尾随车辆2的警示闪光器2.1接通或未接通的情况下,相对于前行车辆3的时隙被增大或缩小。
Claims (8)
1.一种用于操作自动驾驶车辆(1)的方法,其特征在于,
-在测知该车辆(1)前方的拥堵时,查明在其车道(F1)上尾随在该车辆(1)后的车辆(2)的警示闪光器(2.1)是否被接通,并且
-与警示闪光器(2.1)关断的情况相比,在该尾随车辆(2)的警示闪光器(2.1)接通的情况下追尾危险被认为更低。
2.根据权利要求1所述的方法,其特征在于,依据前行车辆(3)的已启动的刹车灯和/或已接通的警示闪光器(3.1)来探测拥堵。
3.根据权利要求1或2所述的方法,其特征在于,在该尾随车辆(2)的警示闪光器(2.1)接通的情况下,该车辆(1)增大其与前行车辆(3)的距离。
4.根据前述权利要求中任一项所述的方法,其特征在于,在该尾随车辆(2)的警示闪光器(2.1)未接通的情况下,该车辆(1)缩小其与前行车辆(3)的距离。
5.根据权利要求3或4所述的方法,其特征在于,与所述前行车辆(3)的距离被定义为时隙。
6.根据前述权利要求中任一项所述的方法,其特征在于,在拥堵方面以光学和/或声学方式通知该车辆(1)的乘客。
7.根据前述权利要求中任一项所述的方法,其特征在于,以光学和/或声学的方式通知该车辆(1)的乘客该车辆(1)或许进行急刹动作。
8.根据前述权利要求中任一项所述的方法,其特征在于,在测知该车辆(1)前方的拥堵时接通该车辆(1)的警示闪光器。
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PCT/EP2021/078189 WO2022122223A1 (de) | 2020-12-07 | 2021-10-12 | Verfahren zum betrieb eines automatisiert fahrenden fahrzeuges |
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DE19624116C1 (de) | 1996-04-19 | 1997-08-28 | Hanusch Johannes Dipl Fachl | Elektronisches Stauwarn- und Sicherungssystem für Kraftfahrzeuge |
DE102005062275A1 (de) * | 2005-12-24 | 2007-06-28 | Daimlerchrysler Ag | Verfahren zur Erkennung eines drohenden Heckaufpralls |
JP5066478B2 (ja) | 2008-04-22 | 2012-11-07 | 富士重工業株式会社 | 車両の運転支援装置 |
DE102010001304A1 (de) | 2010-01-28 | 2011-09-15 | Robert Bosch Gmbh | Verfahren zum Kontrollieren einer Verkehrssituation |
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