CN117545673A - 运行车辆的方法 - Google Patents
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- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
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- 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
- B60Q1/503—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 using luminous text or symbol displays in or on the vehicle, e.g. static text
- B60Q1/5035—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 using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays
- B60Q1/5037—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 using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays the display content changing automatically, e.g. depending on traffic situation
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- 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
- B60Q1/535—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 to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
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- G08G1/00—Traffic control systems for road vehicles
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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
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Abstract
本发明涉及一种在自动驾驶模式下运行车辆(1)的方法。根据本发明规定,‑持续监控所述车辆(1)的车后方空间;‑在探测到后车(2)以有风险的方式接近所述车辆(1)的情况下,向所述后车(2)发送警告提示(W),以及‑在所述后车(2)经过能预设定的时长后仍继续以有风险的方式接近所述车辆(1)的情况下,向所述车辆(1)的车辆用户发送关于驾驶任务的接管请求。
Description
技术领域
本发明涉及一种在自动驾驶模式下运行车辆的方法。
背景技术
DE 10 2018 204 572 A1公开了一种车辆控制单元和一种避免车辆发生追尾事故的方法。车辆具有一项紧急制动功能,该功能可以自动对车辆进行紧急制动。该方法设计为,借助控制单元能够确保提高自动触发紧急制动的概率。作为响应,会至少生成一个警告信号,以便令后车和该车辆保持足够大的安全距离。
除此以外,DE 103 28 755A1描述了一种防止后车和前车,尤其是和机动车之间距离过近的系统。为此,设计为前车有一个装置,用于确定与后车的距离并且确定与后车的相对速度,并且根据已确定的距离和相对速度确定一个最小间距,如果实际间距低于该最小间距,则采取措施防止间距进一步缩短,以避免可能发生的追尾事故。
发明内容
本发明的目的是提供一种在自动驾驶模式下运行车辆的方法。
根据本发明,该目的通过一种具有权利要求1所述特征的方法来实现。
本发明的有利的设计方案是从属权利要求的主题。
根据本发明,一种在自动驾驶模式下运行车辆的方法设计为可以持续监控车辆的车后方空间。如果探测到后车以有风险的方式接近该车辆,则向后车发出警告提示,并且如果后车在一个可预设定的时长后进一步以有风险的方式接近,则会向该车辆用户发出关于驾驶任务的接管请求。
通过应用本方法,可以降低车辆与后车之间发生事故的风险。
本方法示出了一种预防性地提示后车与该车辆保持足够间距的方式,从而可以增大与该车辆之间的距离,并且由此后车的驾驶员就有机会对该车辆的意外制动动作作出反应,例如由于错误探测到的障碍物,即所谓的误判物体或者虚幻物体。也就是说,本方法示出了一种额外的保险措施,能够避免在自动驾驶模式下行驶的车辆由于错误制动而与后车发生碰撞。
两辆车之间的距离,尤其是能够让后车对该车辆的紧急制动作出反应的安全距离取决于车速,因为后车的制动距离随着行驶速度的增加而增加。
如果应用本方法,就能提高人们对于可能存在缺陷的车辆的自动驾驶模式的接受度。
在本方法的一个实施例中,如果在可预设定的另一时长后驾驶任务仍未被接管,则该车辆的当前行驶速度以可预设定的数值降低,直至后车与该车辆之间不再存在靠的很紧的问题。例如,不接管是因为该车辆处于无人驾驶状态,或者该车辆用户由于诸如发生事故的原因而不能手动执行驾驶任务。
该车辆降低行驶速度,主要是为了借此向后车发出信号让其超车,或者再次提示后车正在以有风险的方式靠近该车辆,这将无法对该车辆突然的制动操作作出反应。特别地,通过降低车速,还可以降低探测到虚幻物体的风险。
在本方法的另外一种可能的实施例中,在另一时长过后,该车辆将以如下方式被操控:在右行交通条件下,该车辆将驶入其车道内的右侧边缘区域中;或者在左行交通条件下,该车辆将驶入其车道内的左侧边缘区域中。特别地,在此过程中,该车辆会在降低行驶速度的情况下继续进行自动驾驶操作。也就是说,如果未响应接管请求,并且该车辆将其行驶速度降低至预设的数值,就将执行上述程序。具体来说,该车辆会驶至右侧或者左侧车道标线,并且降低其行驶速度,以便向后车发出信号让其超车,从而使后车无法再以有风险的方式靠近该车辆。也就是说,在该车辆(尤其是在误判物体的情况下)启动紧急制动的情况下,后车就不会再对该车辆构成碰撞风险。
在车辆的改进方案中,向后车发出的警告提示可以作为文本信息发送到布置在该车辆尾部的显示单元上。特别地,文本信息中包括如下请求,即,要求增大后车与该车辆之间的距离。
在备选的或者附加的实施例中,警告提示是借助车对车通信的方式向后车发出的。由此,可以直接警告后车驾驶员,即,将警告提示直接发送给后车的驾驶员。因此,警告提示直接针对后车的驾驶员。
在本方法的另外一个实施例中,在该车辆的接管请求发出前,至少要有间隔30秒的时长。也就是说,在向后车发送警告提示或者在后车中输出警告提示后,最早要等到30秒之后才会发出接管请求。因此,会给后车提供至少30秒的时长,从而有充裕的时长对车辆的警告提示作出反应,并与自动行驶车辆之间拉大距离。
附图说明
下面参考附图更详细地解释本发明的实施例。其中:
图1示意性地示出了一段带有两条相向车道的路段,以及一辆自动行驶的车辆、一辆后车、一辆相向而行的车辆和一个虚幻物体,并且
图2在应用一种减少追尾碰撞的方法的情况下,示意性地示出了一段带有两条相向车道的路段,以及上述自动行驶的车辆、后车和虚幻物体。
在所有附图中相互对应的部分都用相同的附图标记标示。
具体实施方式
图1示出了带有两条相向车道F1、F2的路段F。在右侧车道F1上,行驶着处于自动驾驶模式下的车辆1,以及跟随着车辆1的车辆2。在左侧车道F2上,有一辆相向而行的车辆3。
车辆1采用了一种自动驾驶辅助系统,此时,车辆1,尤其是该辅助系统,可全权负责执行驾驶任务,使得车辆用户在自动驾驶期间可以开展其他活动。
该辅助系统包括一套环境传感系统,其具有一定数量安装在车辆1内和/或其上的检测单元,其中至少有一个被设计为传感器系统4,并且包括摄像头4.1。以摄像头4.1为形式的传感器系统4安装在车辆1内或者其上,这样一来,就能使未详细示出的探测区域指向车辆1前方,从而能检测到位于车辆1前方路段F的区域。
根据环境传感系统所检测到的信号,也即包括摄像头4.1所检测到的信号,可以探测到车辆1周围环境中的障碍物。借助环境传感系统的控制单元,可以确定某个特定情况的危险程度,尤其是与检测到的障碍物有关的情况。根据所确定的危险程度,尤其是当其超出预设定的阈值时,会触发车辆1的制动过程,以降低诸如车辆1与障碍物的碰撞风险。
有时会出现这样的情况,即借助传感器系统4探测到一个误判物体5,即所谓的虚幻物体。这样的误判物体属于传感器系统4所检测到、但实际并不存在的物体,因而属于障碍物。这样的误判物体5会使车辆1在自动驾驶模式下触发一次错误的制动过程。也就是说,车辆1会在外界无法理解其原因的情况下触发一次制动过程,例如一次紧急制动。
像这样对于误判物体5所触发的制动过程,即所谓的假阳性错误,可能导致车辆1与后车2之间发生追尾事故。特别地,如果后车未与车辆1保持足够大的间距,即以有风险的方式接近,则存在发生追尾事故的风险。
而如果车辆1与后车2保持足够大的间距,则可以避免这样的追尾事故。对于在自动驾驶模式下行驶的车辆1而言,无法直接设置与后车2之间足够大的间距,因为距离控制是通过后车2实现的。
尽管如此,为了显著降低由于车辆1与后车2之间的距离不足而导致追尾事故的风险,设计了下文所述的一种方法。
图2示出了带有两条相向车道F1、F2的路段F,其中,车辆1在自动驾驶模式下行驶在右侧车道F1上,后车2行驶在车辆1后面并且从后方以有风险的方式接近车辆1。
环境传感系统包括至少一个检测单元,例如一个基于雷达的检测单元,该单元至少在车辆1自动驾驶期间监控车后方空间,即车辆1外部后面的区域。
如果根据环境传感系统所检测到的信号探测到后车2,则可以确定距离a1,从而确定时间差t1,如果车辆1由于检测到误判物体5而触发错误制动,那么后车2通常需要该时间差来避免追尾事故。该距离a1及时间差t1尤其可能取决于速度。
如果后车2已以有风险的方式靠近车辆1,以至于如果车辆1在检测到误判物体5、继而触发一次错误制动时,另一个距离a2和另一个时间差t2不足以使车辆1避免与后车2之间的追尾事故,那么车辆1会向后车2发出警告提示。
在一个实施例中,车辆的警告提示W是通过显示文本信息W的方式向后车2发出的。为此,在车辆1的车尾区域安装了一个显示单元6。特别地,如果距离a1不足,继而时间差t1也不足,那么文本信息中将包含一条要求拉大后车2与车辆1之间的当前距离a2的请求。
作为备选或者附加地,也可以借助车对车通信的方式将警告提示W发送给后车2,并且在后车2中输出。因此,特别是通过一种主动安全辅助系统,可以直接向后车2的驾驶员发出警告。
如果后车2进一步以有风险的方式接近车辆1,且达不到距离a1和时间差t1,那么在预设的时长(例如30秒)后,在车辆1中会发出一条接管请求,从而使车辆1的用户手动执行车辆1的驾驶任务。
如果由于诸如车辆1中没有用户或者用户由于事故无法执行驾驶任务之类的原因,导致驾驶任务在另一时长过后仍未被接管,则车辆1会将其当前行驶速度降低一个预设的数值。由此,将提示后车2在至少考虑到迎面车流的情况下超过车辆1。
此外,可以规定,车辆1在该另一时长结束后,可以驶入其车道F1内右侧车道标线M的区域中,并且以降低的行驶速度在该区域内继续进行自动驾驶操作。通过驶入右侧车道标线M的区域中并且降低行驶速度,可以实现后车2在不危及其他行车人员的情况下进行超车操作。
如果后车2超越了车辆1,或者至少将距离a2拉大至距离a1,那么车辆1就会移动到其所在的右侧车道F1中相对居中的位置,并且将当前行驶速度提高到自动驾驶允许的行驶速度,特别是提高到适用于该车道路段的行驶速度。
Claims (6)
1.一种在自动驾驶模式下运行车辆(1)的方法,
其特征在于,
-持续监控所述车辆(1)的车后方空间,
-在探测到后车(2)以有风险的方式接近所述车辆(1)的情况下,
向所述后车(2)发送警告提示(W),以及
-在后车(2)经过能预设定的时长后仍继续以有风险的方式接近所述车辆(1)的情况下,向所述车辆(1)的车辆用户发出关于驾驶任务的接管请求。
2.根据权利要求1所述的方法,
其特征在于,如果在能预设定的另一时长后驾驶任务仍未被接管,则所述车辆(1)的当前行驶速度以能预设定的数值降低,直至后车(2)不再以有风险的方式接近所述车辆(1)。
3.根据权利要求2所述的方法,
其特征在于,在所述另一时长过后,所述车辆(1)将以如下方式被操控:在右行交通条件下,所述车辆将驶入其车道(F1)内的右侧边缘区域中;或者在左行交通条件下,所述车辆将驶入其车道(F2)内的左侧边缘区域中。
4.根据前述权利要求中任一项所述的方法,
其特征在于,所述警告提示(W)在布置于所述车辆(1)尾部的显示单元(6)上以文本信息的形式向后车(2)发送。
5.根据前述权利要求中任一项所述的方法,
其特征在于,借助车对车通信的方式将所述警告提示(W)向后车(2)传播。
6.根据前述权利要求中任一项所述的方法,
其特征在于,在所述车辆(1)中发送接管请求之前,至少要等待30秒的时长。
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DE102021003284.5 | 2021-06-25 | ||
PCT/EP2022/063939 WO2022268425A1 (de) | 2021-06-25 | 2022-05-23 | Verfahren zum betrieb eines fahrzeuges |
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DE102018204572A1 (de) | 2018-03-26 | 2019-09-26 | Bayerische Motoren Werke Aktiengesellschaft | Steuereinheit und Verfahren zur Vermeidung von Auffahrunfällen |
EP3552901A3 (en) * | 2018-04-11 | 2020-04-29 | Hyundai Motor Company | Apparatus and method for providing safety strategy in vehicle |
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