DE102015207977A1 - Method for transmitting traffic-relevant information and cooperative vehicle - Google Patents

Abstract

Disclosed is a method for transmitting traffic-related information in a cooperative driving system, which offers increased flexibility in terms of the information to be transmitted in the event of channel overload. For this purpose object property of at least one first traffic participant and at least one further traffic participant is detected, at least one relevance of the at least one object property of the at least one further traffic participant with respect to the at least one object property of the at least one first traffic participant determines relevance value, at least one object property of the at least one further Traffic participant selected for inclusion in a traffic-relevant information as a function of the at least one relevance value and transmitted the traffic-relevant information to the at least one first road user.

Description

The present invention relates to a method for transmitting traffic-relevant information from a cooperative vehicle and to a cooperative vehicle.

Vehicle systems are known which enable cooperative behavior on the road by exchanging information between the road users and / or the traffic infrastructure. In this way, more information can be available to a particular vehicle than it could detect using its own sensors. For example, a vehicle may be warned prematurely of events (e.g., traffic accidents) or conditions (e.g., black ice) that are out of sight of the vehicle (i.e., out of range of the vehicle's sensors). Such cooperative driving systems provide, for example, to send periodic or event-related messages. Such messages are usually sent by broadcast, i. they are not addressed to a specific receiver, but are receivable for all suitably equipped vehicles in reception range. It can also be provided that messages are sent in the unicast method, i. they are addressed to a specific recipient. In general, the exchange of information between vehicles and / or infrastructure objects and / or mobile devices (e.g., smartphones) is known by the keyword Car2x, which includes, for example, car-to-car communication and car-to-infrastructure communication.

The exchange of information in cooperative driving systems is usually wireless. For this purpose, vehicles can form mobile ad hoc networks in which data can be exchanged via WLAN connections. Such networks are known by the abbreviation VANET (English: Vehicular Ad Hoc Network). You can, for example, the Standard IEEE 802.11p to use for data transmission. In addition, mobile networks (eg UMTS / HSPA, LTE and the like) can be used for data transmission.

Modern motor vehicles have a large number of sensors for detecting their surroundings. These include camera, radar sensors, lidar sensors, laser sensors and ultrasonic sensors. This allows a lot of information to be collected. A consequent difficulty is that the amount of information to be exchanged of a cooperative driving system grows. Since the information is wirelessly exchanged, the amount of maximum exchangeable information is limited by the channel capacity of the air interface. Because of the ever increasing amount of information, it may therefore happen that more information is sent than can be transmitted over the channel. This is particularly the case in traffic situations where many vehicles are involved, for example in dense city traffic, at intersections or in traffic congestion. The many transmitted information can then lead to an overload of the channel, so that the information throughput, ie the amount of successfully transmitted (i.e., interference-free) transmitted information decreases or even breaks.

EP 2 299 190 A1 Proposes to equip a node of a VANET with a layer for congestion control layer. For messages to be sent, a priority value can be assigned. For example, messages of the type "accident" are assigned a high priority, whereas messages of the type "general information" (eg weather information, congestion information) receive a low priority. When the channel is overloaded, it is intended to preferentially transmit high priority messages, while low priority messages will be transmitted later or not at all.

This in EP 2 299 190 A1 Although proposed method makes it possible to relieve the channel in a channel overload by less important messages are not transmitted. However, one disadvantage is that all messages of one type are treated the same. In other words, either all or no messages of a certain type are transmitted.

Based on the prior art, therefore, the object is to provide a method for transmitting traffic-related information in a cooperative driving system, which offers increased flexibility in terms of the information to be transmitted with a channel overload.

The object is achieved in a method and a vehicle having the features of the independent claims. Advantageous developments of the invention are subject matter of the dependent claims.

In the method according to the invention for transmitting traffic-relevant information from a cooperative vehicle to at least one first road user, at least one object property of the at least one first road user and at least one object property of at least one further road user are first detected. An object property can be in this Be any property of a road user. For the invention, any object property can be of use that is traffic-relevant, that is, which is suitable for influencing the participation of the corresponding road user in the traffic situation. An object property can be detected by means of its own vehicle sensors. An object property may also be detected by being received by wireless communication (eg, Car2X) or by being derived from information received via wireless communication. An object property can be, for example, an object property, as is transmitted in a manner known per se in cooperative driving systems, eg position, speed, size of a vehicle. Also features such as a set volume of a car radio can be traffic relevant (for example, in the assessment of whether the driver can perceive a siren). An object property may also relate to a state of a driving system, for example a driver assistance system (eg proximity control cruise control), a direction indicator or a steering system. The steps of detecting the object property may also include further processing an object property. This will be explained by means of an example. In this example, the step of detecting the object property of the first road user comprises the first road user transmitting his position, his current speed, and his steering angle to the cooperating vehicle by car-to-car communication. The cooperating vehicle can further process these object properties and thereby determine an anticipated driving course (trajectory) of the first road user. The trajectory determined in this way can likewise be a detected object property within the meaning of the invention. Overall, four object properties of the first traffic participant would thus have been detected in this example, namely position, instantaneous speed, steering angle and trajectory of the first traffic participant.

The at least one first road user and the at least one further road user may be motor vehicles. It may also be other road users, e.g. pedestrians or cyclists, provided they have the means to receive the traffic information. Such means may include, for example, a mobile device such as a mobile device. include a smartphone or a smartwatch.

In a further step according to the invention, at least one relevance value relating to the relevance of the at least one object property of the at least one further traffic participant with respect to the at least one object property of the at least one first traffic participant is determined. In other words, at least one relevance value is determined, which specifies how relevant the at least one object property of the at least one further traffic participant is with respect to the at least one object property of the at least one first traffic participant.

• – mehrere (d.h. mindestens zwei) Objekteigenschaften eines Verkehrsteilnehmers erfasst werden,
• – mehrere (d.h. mindestens zwei) erste Verkehrsteilnehmer vorhanden sind und / oder
• – mehrere (d.h. mindestens zwei) weitere Verkehrsteilnehmer vorhanden sind.

In the simplest case, exactly one relevance value is determined in this step, which relates to the relevance of exactly one object property of exactly one further road user with respect to exactly one object property of precisely one first road user. However, numerous other combinations are conceivable, which result from the fact that

• - several (ie at least two) object properties of a road user are detected,
• - Several (ie at least two) first road users are present and / or
• - Several (ie at least two) other road users are present.

Thus, for example, precisely one relevance value concerning the relevance of one or more object properties of one or more other road users with regard to one or more object properties of one or more first road users can be determined. According to another example, a plurality of relevance values may be determined, wherein each of the plurality of relevance values relates to an object property of each one (of a plurality) other road users with respect to one or more object properties of one or more first road users. According to another example, a plurality of relevance values may be determined, wherein each of the plurality of relevance values relates to one (of a plurality of) object properties of exactly one other road user with respect to one or more object properties of one or more first road users.

The above step involves two major aspects of the invention. On the one hand, it is possible to assign relevance values to individual road users (objects) or individual object properties of these objects. It thus becomes possible to take into account that different objects in a given traffic situation may be of different relevance. For example, a vehicle may be more relevant in a given situation than another vehicle of the same generic type. On the other hand, the relevance of the objects or object properties is no longer absolutely determined, but with reference to other road users, namely with respect to at least one object property of the at least one first road user. By these two core aspects, the relevance of the objects in the environment of the cooperative vehicle can be assessed much more accurately and finely graduated, which makes it possible in the further course of the method according to the invention to make the most relevant information selection possible for transmission.

For this purpose, in a further step according to the invention, at least one object property of the at least one further road user is selected for inclusion in the traffic-relevant information as a function of the at least one relevance value. In other words, the traffic-relevant information comprises at least one, but possibly also several object properties. If it allows the prevailing transmission conditions, for example a currently transferable data rate, to transmit all detected object properties, it is of course possible to include all object properties in the traffic-relevant information. However, if it is necessary to make a selection among all object properties on the basis of the prevailing transfer conditions because not all object properties can be transmitted, then the invention makes it possible to select the most relevant object properties for this by making the selection as a function of the at least one relevance value.

The traffic-relevant information thus formed is then transmitted to the at least one first road user. This could be done in the unicast method, which means that the traffic-related information is purposefully transmitted to a specific first road user. However, it is advantageous to transmit the traffic-relevant information in the broadcast method. The amount of data sent (which should be as small as possible due to the limited capacity of the air interface) is not increased by the broadcast method, since the content of the transmitted information remains the same. In other words, the broadcast method does not burden the channel more than the unicast method. The broadcast method is advantageous because the traffic-relevant information can then be received by all road users located in the vicinity of the cooperative vehicle. Although the traffic-related information could then be received by road users, for which it is meaningless. In such a case, however, the road user could simply discard the received information. By contrast, all road users for whom the information is not meaningless can receive and utilize the information.

A first advantageous development of the method provides that at least one object property of at least one object of the traffic infrastructure is detected. An object of the traffic infrastructure may be, for example, a traffic signal system (traffic light) or a traffic sign or a traffic control system. A detection of an object property of an object of the traffic infrastructure can take place by means of a method known per se in the prior art under the keyword car-to-infrastructure communication in that the object of the traffic infrastructure transmits the at least one object property wirelessly. The embodiment further provides that, in the step of determining the at least one relevance value, the relevance of the at least one object property of the at least one further traffic participant is also evaluated with respect to the at least one object property of the object of the traffic infrastructure. As a result, the meaningfulness of the at least one relevance value can be increased even further, since an additional source of information is taken into account in its determination.

Particularly advantageously, the object property or the object properties of the at least one first and / or the at least one further road user comprises an action intention of the respective road user. An intention to act may comprise a travel speed, a direction of travel, a travel route (trajectory) and / or further properties relating to the future movement of the road user. An intention to act can be detected directly, for example, by being transmitted by a road user by means of car-to-car communication. An intention to act can also be detected indirectly by deducing it from object properties transmitted by a road user by means of car-to-car communication. By way of example, a road user can transmit the status of a driving direction indicator by means of car-to-car communication. If, for example, the road user has activated the right-hand direction indicator and this object property is transmitted to the cooperating vehicle, the intention to act can be derived from this and from the additional information that the road user is at a road intersection that the road user wishes to turn right.

In an advantageous embodiment, the relevance value comprises a criticality value and / or an urgency value and / or an actuality value. A criticality value can map the level of criticality of the at least one object property, which relates to the relevance value. For example, a high criticality value may relate to an object property that indicates an impending collision of road users includes. For example, a high criticality value may be determined due to an object characteristic having a high instantaneous speed and a position near an intersection at which a traffic light is turned red. An urgency value may represent the level of urgency of the at least one object property related to the relevance value. For example, a high urgency value may relate to an object property whose transmission should take place as quickly as possible, for example to prevent an imminent collision. On the other hand, a low urgency value may relate to an object property that may be important but could be transmitted at a later date. An actuality value can map the timeliness of the at least one object property, which relates to the relevance value. For example, an update value could include a timestamp that depicts the time of creation of the update value, and a measure that maps the timeliness loss of the update value. At a later point in time, the current actuality of the object property can be determined from these two values. By way of further example, an actuality value could also include a timestamp that depicts a future time when the object property is no longer valid. Such an update value could also be referred to as an "expiration date" or "expiration time".

The advantage of the mentioned embodiment is that in the step of selecting the at least one object property as a function of the at least one relevance value, the criticality and / or the urgency and / or the topicality of the at least one object property can be taken into account. For example, among two equally critical object properties, the more urgent ones could be selected, whereas the less urgent ones could be reset and transferred at a later time. By way of further example, a very critical object property could be discarded (that is, not selected) if its actuality value is very low, i. if the object property is no longer relevant or no longer valid.

In a further embodiment, it is provided that the at least one relevance value is a relevance value of the at least one further road user. In other words, one (and only one) particular relevance score is then determined to relate to a particular other road user. It is also possible to determine a plurality of relevance values that relate to a plurality of other road users, in which case a relevance value is determined for each further road user. In this refinement, the object properties of the road user or other road users are considered for determining the relevance value or the relevance values. However, the resulting relevance value does not relate to an object property, but to the entire object (ie the other road user). As a result, in the subsequent step of selecting the at least one object property of the at least one further road user, all object properties or no object properties of a specific further road user are selected, since the selection of the object properties of a specific further road user takes place as a function of the same relevance value. The advantage of this embodiment is a simple implementation, since only one relevance value is determined per further road user.

An alternative embodiment provides that the at least one relevance value is a relevance value of the at least one object property of the at least one further road user. In contrast to what has been described above, in the case of this refinement, a single relevance value can therefore be assigned to each individual object property. If we capture exactly one object property for a particular additional road user, the two alternative embodiments are identical. It is then determined per object (ie also per object property) exactly one relevance value. However, if multiple (i.e., at least two) object properties are detected for a particular other road user, then in the alternative embodiment, a separate relevance value may be determined for each of the plurality of object properties. This makes it possible that in the subsequent step of selecting the at least one object property some (and indeed the most relevant) object properties of a certain additional road user are selected. This offers the advantage that the most relevant object properties of all other road users can be selected for transmission, whereas less relevant object properties need not be selected.

The difference between the two alternative embodiments explained above can be simplified in that in the first-mentioned embodiment all object properties of the most relevant further road users are selected (and subsequently transmitted), whereas in the second named embodiment the most relevant object properties of all other road users are selected (and subsequently transmitted). become.

In a further refinement of the method, the step of determining the at least one relevance value comprises determining at least two relevance values. In addition, precisely one relevance value concerning the relevance of the at least one object property of the at least one further traffic participant is then determined by determining the exactly one relevance value as the mean value of the at least two relevance values or by determining the exactly one relevance value as the largest value of the at least two relevance values. The exact relevance value can also be referred to as the resulting relevance value. If, for example, a relevance value is first determined for each of a plurality of object properties of another road user, then a single (resulting) relevance value of the further road user can subsequently be determined from the plurality of relevance values of the object properties determined in this way. It can be provided that for this purpose an average value (for example an arithmetic mean) is formed. It may alternatively be provided with particular advantage that the largest of the plurality of relevance values is used as the resulting relevance value. This offers the advantage that, for example, a single particularly relevant (eg particularly critical or particularly urgent) object property brings about a high relevance value of the further traffic participant, irrespective of how many further (possibly less relevant) object properties of this further traffic participant were still recorded.

With further advantage, the method comprises a further step of detecting a channel state information, wherein the selection of the at least one object property of the at least one further traffic participant for inclusion in the traffic-relevant information as a function of the at least one relevance value and additionally in dependence of the channel state information. Channel state information may describe how close the channel (eg, the mobile channel) is at its capacity limit. Channel state information thus allows conclusions to be drawn as to how much additional data can be successfully transmitted over the channel. Channel state information may include a signal-to-noise ratio (SNR). Channel state information may be "channel state information" of the "Decentralized Congestion Control (DCC)" protocol as used in co-operative driving systems after the Standard IEEE 802.11p is used. Channel state information may also be acquired by measuring the transmission time at an earlier time of transmitted and / or received data packets. The longer such a transmission time, the worse the channel state can be, ie the closer the channel can already be to its channel capacity limit.

A heavily loaded or overloaded channel, i. a channel over which so much data is already being transmitted that the channel capacity limit is almost reached or even exceeded is disadvantageous because a further increase in the data sent can no longer lead to a higher data throughput, but on the contrary to a reduced data throughput. This effect can be so strong that, at a certain transmitted data rate, no data is transmitted successfully at all. One reason for this effect, which is particularly noticeable in mobile radio channels, is that all transmitted data packets are superimposed. If the amount of data is too large (i.e., more than the channel capacity limit), the overlaid data packets can no longer be separated, so that readable information can no longer be received.

For this reason, it is advantageous to adjust the amount of transmitted data to the channel state. If the channel is already heavily loaded (which can be deduced from the acquired channel state information), it is advantageous to send less data. The invention makes it possible to reduce the amount of data such that the most relevant data is transmitted, whereas the less relevant data is not transmitted.

In a particularly advantageous embodiment, a relevance threshold is determined as a function of the channel state information. Subsequently, the at least one object property of the at least one further road user is selected for inclusion in the traffic-relevant information if the relevance value exceeds the relevance threshold value. For example, the worse the channel state, the higher the relevance threshold can be. A very high relevance threshold value is then determined in the case of a very bad channel state, so that only those object properties that have very high relevance values (i.e., above the relevance threshold value) are included in the traffic-relevant information to be transmitted.

As described above, it may be provided that the relevance value comprises a criticality value and / or an urgency value and / or an actuality value. In this case, it is particularly advantageous if the relevance threshold value is also formed in these categories, ie if the relevance threshold value comprises a criticality threshold value and / or an urgency threshold value and / or an actuality threshold value.

With further advantage, a user data rate of the traffic-relevant information can be determined. Depending on the user data rate, a code rate of an error-correcting code used to transmit the traffic-relevant information from the cooperative vehicle to the at least one first traffic participant can be set. If the channel is already heavily loaded, the probability of errors in the transmission of data increases. This can be counteracted by the use of an error-correcting code. The lower the code rate of the code, ie, the more redundant data (code data) is added to the payload for the purpose of error correction, the better can errors be detected and corrected at the receiver. If, as explained above, fewer (namely, only the most relevant) object properties are selected for transmission in the event of a poor channel state, this reduces the useful data rate of the traffic-relevant information. If, for example, a used transmission protocol provides that the cooperating vehicle is allowed to transmit at a predetermined overall data rate, then more code data can be sent due to the reduced user data rate. This increases the probability of a successful, ie error-free, transmission. Thus, the particularly relevant object information selected for the transmission can be protected during the transmission particularly against transmission errors.

With particular advantage, the method is carried out in an application layer of the vehicle. The method in all described embodiments can be performed in the application layer. In other words, no interventions in lower layers, in particular in the physical layer and / or in the transport layer, are necessary for carrying out the method. The method can thus be implemented in a simple manner, for example by appropriate programming of a control unit software. Existing vehicles can thus be retrofitted in a simple manner subsequently to the execution of the method.

• – ein Erfassungsmodul zur Erfassung mindestens einer Objekteigenschaft mindestens eines ersten Verkehrsteilnehmers und zur Erfassung mindestens einer Objekteigenschaft mindestens eines weiteren Verkehrsteilnehmers,
• – ein Bewertungsmodul zur Bestimmung mindestens eines die Relevanz der mindestens einen Objekteigenschaft des mindestens einen weiteren Verkehrsteilnehmers in Bezug auf die mindestens eine Objekteigenschaft des mindestens einen ersten Verkehrsteilnehmers betreffenden Relevanzwerts,
• – ein Auswahlmodul zur Auswahl der mindestens einen Objekteigenschaft des mindestens einen weiteren Verkehrsteilnehmers zur Aufnahme in eine verkehrsrelevante Information in Abhängigkeit des Relevanzwerts und
• – ein Kommunikationsmodul zur Übermittlung der verkehrsrelevanten Information an den mindestens einen ersten Verkehrsteilnehmer.

A cooperative vehicle according to the invention comprises

• A detection module for detecting at least one object property of at least one first traffic participant and for detecting at least one object property of at least one further traffic participant,
• An evaluation module for determining at least one relevance value relating to the relevance of the at least one object property of the at least one further road user in relation to the at least one object property of the at least one first road user,
• A selection module for selecting the at least one object property of the at least one further road user for inclusion in a traffic-relevant information as a function of the relevance value and
• - A communication module for transmitting the traffic-related information to the at least one first road user.

The acquisition module has a data interface to the assessment module. Via this data interface, the captured object properties can be transferred to the assessment module. The assessment module has a data interface to the selection module. Via this data interface, the acquired object properties as well as the specific relevance values can be transferred to the selection module. The selection module has a data interface to the communication module. The traffic-relevant information can be transmitted to the communication module via this data interface.

The detection module may be connectable to a number of vehicle sensors that may be used for detection. The detection module can also be connectable to the communication module. Thus, object properties which the communication module has received from other road users, for example by means of car-to-car communication, can be transmitted to the detection module.

In an advantageous embodiment, the communication module for detecting a channel state information is set up, wherein the selection module is set to select the at least one object property of at least one other road user for inclusion in the traffic-relevant information in dependence of the channel state information. For this purpose, the communication module has a data interface to the selection module, via which the channel state information can be transmitted. This may be the same data interface via which the traffic-relevant information is also transmitted from the selection module to the communication module.

Further aspects and embodiments of the invention are explained below with reference to exemplary illustrations. Show it

1 a structure of a cooperative vehicle according to the invention,

2 a flow diagram of the method according to the invention and

3 to 6 various traffic situations in which the inventive method is used.

Like reference characters indicate like or similar features throughout the figures of the illustrated embodiments of the invention. It should be noted that the illustrated figures and the associated description are merely exemplary embodiments of the invention. In particular, representations of combinations of features in the figures and / or the description of the figures are not to be interpreted as meaning that the invention necessarily requires the realization of all mentioned features. Other embodiments of the invention may include fewer, more, and / or different features. The scope and disclosure of the invention will be apparent from the appended claims and the complete description. It should also be noted that the illustrations are schematic representations of embodiments of the invention. The arrangement of the individual elements shown to each other is chosen only by way of example and can be chosen differently in other embodiments of the invention.

1 shows a possible structure of a cooperative vehicle according to the invention 1 , The cooperative vehicle 1 has an acquisition module 110 , an assessment module 120 , a selection module 130 and a communication module 140 , The modules 110 . 120 . 130 . 140 are via data interfaces 112 . 121 . 131 . 141 . 142 set up for data exchange, the respective direction of the data flow is represented by arrows that symbolize the data interfaces. The data interface 142 may be provided in embodiments of the invention to from the communication module 140 For example, by means of car-to-car communication received object properties of road users to the detection module 110 to convey. The vehicle 1 has detection sensors 111 For example, laser, radar, Lidar- or ultrasonic sensors or a camera. The from the detection sensors 111 generated data, which may include image data of a camera, for example, are sent to the acquisition module 110 transfer. The acquisition module 110 may be configured to perform image processing and other signal processing algorithms by which objects and their object properties are detected. The acquisition module 110 So leads the in 2 detecting detected S10 at least one object property of the at least one first road user, detecting S20 at least one object property of at least one other road user and in some embodiments of the invention also detecting S30 at least one object property of at least one object of the transport infrastructure.

Via the data interface 112 the captured object properties are passed to the evaluation module 120 transfer. The assessment module 120 performs the step S40 of determining at least one relevance value relating to the relevance of the at least one object property of the at least one further road user with respect to the at least one object property of the at least one first road user. The of the assessment module 120 data generated are via the data interface 121 to the selection module 130 transfer. The amount of over the data interfaces 112 and 121 transferred object properties is the same. In other words, so in the evaluation module 120 the amount of object properties is not increased or decreased. Only some or all object properties are assigned relevance values which (in addition to the object properties themselves) are transmitted via the interface 121 be transmitted.

Some embodiments of the invention provide that a detection of channel state information takes place in a step S50. This channel state information may be provided by the communication module 140 and then via the data interface 141 to the selection module 130 be transmitted. The selection module 130 may be configured to perform a step S60 of determining a relevance threshold.

In one step from the selection module 130 carried out step S70, a selection of the at least one object property of at least one other road user for inclusion in the traffic-relevant information in dependence of the at least one relevance value. For this purpose, the selection module can compare the relevance value of each object property with the relevance threshold value. In other words, the task of the selection module in step S70 is to find the most relevant Select object properties for later submission. Only in this step S70 is the amount of object properties actually reduced, which is preferably done as a function of the channel state.

The of the selection module 130 formed traffic-related information containing the set of selected object information selected in step S70 is transmitted via the data interface 131 to the communication module 140 transfer. In a step S80, the traffic-relevant information from the communication module 130 transmitted to the at least one first road user. Step S80 may include, in some embodiments, the communication module 140 determines a user data rate of the traffic-relevant information and sets a code rate of an error-correcting code accordingly. For example, if the channel state is rather poor, so that the traffic-related information contains only a few (namely only the most relevant) object information, the user data rate is rather low. If the overall data rate remains the same, more redundant code data can be transmitted (the code rate drops), as a result of which the traffic-relevant information is better protected against transmission errors.

3 shows a first exemplary traffic situation at the vehicles 1 . 2 . 3 . 4 involved. The vehicles 1 . 2 . 3 . 4 move on a right lane 11 or a left lane 12 a highway. The two lanes therefore have the same direction of travel. A cooperating vehicle 1 drives in the right lane 11 , The cooperating vehicle 1 has a communication module 140 , what in 3 is represented by an antenna symbol (not separately designated). The vehicle 1 also has detection sensors 111 with which it can capture its environment. An exemplary detection range of a sensor 111 of the vehicle 1 is symbolized by a (not separately designated) circle segment. In this detection area is another vehicle 3 , The other vehicle 3 does not have a communication module and is therefore not capable of car-to-car communication. Nevertheless, the vehicle can 1 by means of its sensors 111 some object properties of the other vehicle 3 to capture. These include a position, a direction of travel and a speed of the vehicle 3 , In the in 3 shown driving situation has the vehicle 3 a significantly higher speed than the vehicles on the right lane 11 , The vehicle 3 So performs an overtaking process. On the right lane drives in front of the vehicle 1 a first vehicle 2 , This vehicle 2 is equipped with a communication module, which in turn is indicated by an antenna symbol. The cooperating vehicle 1 can be object properties of the first vehicle 2 both by means of its sensors 111 as well as by means of his communication module 140 capture in the second case, the object properties can be transmitted via car-to-car communication. In front of the first vehicle 2 drives another vehicle 4 that is a truck 4 is at low speed. Let it be assumed that the communication channel, in this case the air interface, via which information is to be exchanged by means of WLAN (802.11p), is rather in a poor state and thus can transmit only a few user data.

It should now be presented as the vehicle 1 from all possible object information in view of the channel state selects and transmits the most relevant. The vehicle 1 detects the intention of the first vehicle via car-to-car communication in step S10 2 , a lane change to the left lane 12 perform to the truck 4 to overtake. The vehicle 1 detected in step S10 as another object property of the first vehicle 2 its speed. From the transmitted data, in particular the described object properties (position, lane change intention, speed) of the vehicle 2 can the vehicle 1 the trajectory of the vehicle 2 derived. The trajectory of the vehicle 2 is in 1 shown with an arrow (not separately designated), the planned lane change to the left lane 12 illustrated. The trajectory is also a detected object property within the meaning of the invention. Further, in step S10, the vehicle detects 1 numerous other object properties of the vehicle 2 that are not particularly relevant in the current driving situation and therefore will not be discussed further. The vehicle 1 detected in step S20 as object properties of the other vehicle 3 its position and speed. From the knowledge of the road (for example from the map material of the navigation system of the vehicle 1 ) directs the vehicle 1 as another object property of the vehicle 3 its trajectory, which is essentially the lane 12 corresponds to (in 1 shown with an arrow along the lane 12 runs). The trajectory is also a detected object property within the meaning of the invention. In the step of determining S40 of the relevance value, the relevance of the object properties becomes trajectory and speed of the further vehicle 3 in terms of object properties, trajectory and speed of the first vehicle 2 rated. Given the expected course of the vehicles 2 . 3 a collision threatens, the object properties trajectory and speed of the other vehicle 3 a high relevance value determined. For example, a highest possible relevance value can be determined. The relevance value could also include a criticality value, an urgency value, and an update value. It would then each be determined as high a criticality value and urgency value. It could be a relative linear scale (eg with values from 0 to 1 or 0 percent to 100 Percent), so that the criticality value and the urgency value could each be 100 percent, for example. The actual value could be chosen as the time (in seconds) that is likely to pass until the vehicle 3 the vehicle 2 happened. After that point in time, the relevance of the mentioned object properties suddenly changes, because then the vehicle 3 for the vehicle 2 is no longer important because no more collision threatens. The actual value thus represents an expiry time. In the present example, the actual value could be at a distance of the vehicle 3 to the estimated location of the collision of 300 meters and a speed of the vehicle 3 of 150 km / h 7.2 seconds.

Since the channel state is poor, a high relevance threshold is determined, which in this example includes a criticality threshold, an urgency threshold, and an up-to-date threshold. For example, the Criticality Threshold and the Urgency Threshold could each be 95 percent and the actuality threshold three seconds. This means that in step S70 only those object properties are selected whose criticality value is at least 95 percent and whose urgency value is at least 95 percent and whose actuality value is at least three seconds. In the present example, because of the high relevance values determined in step S40, the object information speed and trajectory are included for inclusion in the traffic-relevant information (step S70), whereas other, less relevant object information is not included. In step S80, the traffic-relevant information (including the aforementioned object information) is transmitted to the vehicle by means of car-to-car communication 2 transmitted. For this purpose, a low code rate can be set to ensure a strong error protection.

It should be noted that in an additional, concurrent method also traffic-related information to the vehicle 3 could be transmitted. However, this would presuppose that the vehicle 3 has means for receiving such information. The concurrent method would proceed in a similar manner as described above, with the role of the vehicles 2 . 3 would be reversed, ie the vehicle 3 would be a first road user and the vehicle 2 would be another road user.

4 represents another traffic situation, namely a multi-lane intersection 10 , To avoid repetition, to explain some of the elements shown on the description of 3 directed. The same applies to the following 5 and 6 , In 4 detects the cooperating vehicle in step S10 1 by car-to-car communication object properties (including a trajectory) of a first vehicle 2 that is on a lane 13 moved, which is a turning lane 13 is. Furthermore, the vehicle detects 1 Object properties of other vehicles 3 . 4 . 5 , Further, in step S30, the vehicle detects 1 Object properties of an object of the traffic infrastructure, namely the traffic signal system 9 , The vehicles 4 and 1 move on a turn lane 11 , the vehicle 3 moves on a straight-ahead lane 12 ,

In the 4 The traffic situation presented has the following hazard potential. The vehicle 3 moves on a straight ahead trajectory and may be due to the green traffic light 9 continue his journey without stopping. The vehicle 2 want to turn left so that its trajectory matches that of the vehicle 3 crosses. The truck waiting in the crossing area 4 locked the vehicle 2 the view of the vehicle 3 , so the risk of collision of the vehicles 2 . 3 consists. On the other hand, let the object properties of other vehicles 4 . 5 recognize no danger potential. The object properties of the other vehicles recorded and processed in the course of the method are shown in tabular form below. Another vehicle Property relevance value Inclusion in traffic-relevant information 3 Position, speed, trajectory high Yes 4 Position, trajectory low No 5 Position, speed, direction of travel low No

Ultimately, because of all the relevant relevance values, only the object properties of the other vehicle become 3 recorded in the traffic-related information and thus to the first vehicle 2 transmitted. It should be noted that in determining the relevance values (step S40) to all present object properties can and should be used. In the present example, the determination of the relevance values of the object properties of the vehicle takes place 3 in relation to the object properties of the vehicles 2 . 4 and the traffic signal system 9 , However, the invention makes it impossible to transmit all of these used object properties as well.

5 represents another traffic situation, which is a highway with lanes 11 . 12 is. The on the lane 12 moving cooperating vehicle 1 comes on the lane 11 the first vehicle 2 opposite. It also moves on the lane 11 another road user, namely a pedestrian 6 , The vehicle 1 detected by means of its sensors 111 as object properties of the pedestrian 6 its position and type (that is, it is a pedestrian). Car-to-car communication captures the vehicle 2 the trajectory of the vehicle 2 , The first vehicle moves in the direction of the pedestrian 6 , The object properties of the pedestrian 6 thus receive high relevance values. In the step of determining S40 of the relevance values, it is also possible to take into account environmental parameters, for example from the sensors 111 may have been recorded. For example, a light sensor 111 capture a brightness of the ambient light. This information can be considered in step S40. For example, the relevance values of the pedestrian 6 in brightness, when the pedestrian is well visible, be lower than in the dark when he is 6 is poorly visible.

6 shows another traffic situation, which is an intersection area 10 is. On a lane 11 drives the cooperative vehicle 1 and the first vehicle 2 which wants to turn right. A traffic light 9 shows green. Another road user 7 who is a cyclist 7 is, moves on a bike path next to the road in the direction of the intersection. Another road user 8th who is a cyclist 8th is, moves on the bike path next to the road from the intersection. The cooperative vehicle 1 recorded in the manner described above, the object properties of road users 2 . 7 . 8th as well as the traffic light 9 , Furthermore, the vehicle 1 be set up to capture other traffic-related objects and their properties. In the example shown, these are (not separately designated) trees that represent visual obstacles as they are the vehicle 2 the view of the cyclist 7 adjust. Because a collision of road users 2 . 7 threatening, obtained in step S40 the object properties (trajectory, speed) of the cyclist 7 high relevance values, whereas for the object properties of the cyclist 8th low relevance values are determined.

LIST OF REFERENCE NUMBERS

1

Cooperative vehicle

2

First road user

3, 4, 5

Additional road user (vehicle)

6

Other road users (pedestrians)

7, 8

Other road users (cyclists)

9

Traffic signal

10

crossing area

11-13

lanes

110

acquisition module

111

vehicle sensors

120

Ratings System

130

selection module

140

communication module

112, 121, 131, 141, 142

Data Interfaces

S10-S80

steps

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been 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.

Cited patent literature

• EP 2299190 A1 [0005, 0006]

Cited non-patent literature

• Standard IEEE 802.11p [0003]
• Standard IEEE 802.11p [0025]

Claims (14)

Method for transmitting traffic-relevant information from a cooperative vehicle ( 1 ) to at least one first road user ( 2 ) with the steps - detecting (S10) at least one object property of the at least one first road user ( 2 ), - detecting (S20) at least one object property of at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ), - determining (S40) at least one the relevance of the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) with respect to the at least one object property of the at least one first road user ( 2 relevant relevance value, - selecting (S70) the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) for inclusion in the traffic-relevant information as a function of the at least one relevance value and - transmitting (S80) the traffic-relevant information to the at least one first road user ( 2 ). Method according to Claim 1, comprising the steps of - detecting (S30) at least one object property of at least one object of the traffic infrastructure ( 9 ) and - determining (S40) of the at least one the relevance of the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) with respect to the at least one object property of the at least one first road user ( 2 ) and with respect to the at least one object property of the transport infrastructure object ( 9 ) relevance value. Method according to one of the preceding claims, wherein the object property of the at least one first ( 2 ) and / or the at least one other road user ( 3 . 4 . 5 . 6 . 7 . 8th ) an action intention of the respective road user ( 2 . 3 . 4 . 5 . 6 . 7 . 8th ).  Method according to one of the preceding claims, wherein the relevance value comprises a criticality value and / or an urgency value and / or an actuality value. Method according to one of the preceding claims, wherein the at least one relevance value is a relevance value of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ). Method according to one of claims 1 to 4, wherein the at least one relevance value is a relevance value of the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ). Method according to one of the preceding claims, wherein the step of determining (S40) the at least one relevance value comprises determining (S40) at least two relevance values with the step - determining precisely the relevance of the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th The relevant relevance value, wherein the precisely one relevance value is determined as the mean value of the at least two relevance values, or wherein the exactly one relevance value is determined as the largest value of the at least two relevance values. Method according to one of the preceding claims with the steps - detecting (S50) a channel state information and - selecting (S70) the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) for inclusion in the traffic-relevant information as a function of the channel state information. Method according to Claim 8, comprising the steps of - determining (S60) a relevance threshold value as a function of the channel state information, and - selecting (S70) the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) for inclusion in the traffic-relevant information if the relevance value exceeds the relevance threshold. Method according to Claim 8 or 9, comprising the steps of - determining (S80) a payload data rate of the traffic-relevant information and Setting (S80) a code rate of one for transmitting the traffic-relevant information from the cooperative vehicle ( 1 ) to the at least one first road user ( 2 ) used error-correcting codes depending on the payload data rate. Method according to one of the preceding claims, wherein the method in an application layer of the cooperative vehicle ( 1 ) is carried out. Cooperative vehicle ( 1 ) with a detection module ( 110 ) for detecting at least one object property of at least one first road user ( 2 ) and for detecting at least one object property of at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ), - an assessment module ( 120 ) for determining at least one the relevance of the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) with respect to the at least one object property of the at least one first road user ( 2 relevant relevance value, - a selection module ( 130 ) for selecting the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) for inclusion in a traffic-relevant information depending on the relevance value and - a communication module ( 140 ) for transmitting the traffic-relevant information to the at least one first road user ( 2 ). Cooperative vehicle ( 1 ) according to claim 12, wherein the communication module ( 140 ) is arranged to detect a channel state information, wherein the selection module ( 130 ) is set up, the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) for inclusion in the traffic-relevant information depending on the channel state information. Cooperative vehicle ( 1 ) according to claim 13, wherein the selection module ( 130 ) is arranged to determine a relevance threshold value as a function of the channel state information and the at least one object property of the at least one further road user ( 3 . 4 . 5 . 6 . 7 . 8th ) to be included in the traffic relevant information if the relevance value exceeds the relevance threshold. Cooperative vehicle ( 1 ) according to claim 13 or 14, wherein the communication module ( 140 ) is set up to use an error-correcting code in the transmission, wherein the communication module ( 140 ) is set up to determine a user data rate of the traffic-relevant information and to set a code rate of the error-correcting code as a function of the user data rate.

Images