DE102015223241A1 - Method and control unit for assisting in overtaking maneuvers - Google Patents

Abstract

A method is described for assisting an overtaking operation of a vehicle convoy having a plurality of convoy-type convoy vehicles. The method includes detecting an overtaking vehicle that overhauls the vehicle convoy. Additionally, the method includes determining that the overtaking vehicle requires shunting space within the vehicle convoy. It is then prompted that is created by at least one column vehicle of the vehicle column, the Einscher-place within the vehicle column.

Description

The invention relates to a method and a corresponding system for assisting a vehicle in overtaking a column of convoy vehicles. Furthermore, the invention relates to a control unit for a convoy vehicle.

It can happen on country roads again and again that a vehicle (referred to in this document as overtaking vehicle) would like to overtake a column of closely approaching other vehicles. The overtaking vehicle typically has no knowledge about the length of the vehicle column. Furthermore, the overtaking vehicle typically can not overlook whether the opposite lane is free for the entire overtaking process. In total, this results in a possible hazard to the overtaking vehicle and / or for an oncoming vehicle on the opposite lane.

DE10 2006 055 344A1 describes a method in which a truck tells an overtaking vehicle via car-to-car communication whether an overtaking operation is possible. DE10 2006 055 344A1 assumes the presence of a communication link between the truck and the overtaking vehicle, which is currently not the case. Furthermore, in the method DE10 2006 0553 44A1 no support of the overtaking vehicle in the course of an overtaking process already initiated a vehicle convoy.

The present document deals with the technical problem of providing a method and a control unit which assist the driver of an overtaking vehicle in an overtaking operation of a vehicle convoy, in particular in order to reduce the risk of an accident during such overtaking.

The object is solved by the independent claims. Advantageous embodiments are u. a. in the dependent claims.

In one aspect, a method is described for assisting an overtaking operation of a vehicle convoy having a plurality of consecutive convoy vehicles. In particular, the vehicle column may comprise a plurality of trucks and / or buses and / or motorcycles running behind and next to each other. The method may be performed by one or more control units of one or more of the convoy vehicles. In particular, the control units of multiple convoy vehicles may exchange data to perform the method.

The method may include determining environmental data relating to an environment of the vehicle convoy. The environmental data can be detected by one or more environmental sensors of one or more convoy vehicles. The environment sensors can z. As one or more cameras, one or more radar sensors, one or more lidar sensors, one or more ultrasonic sensors, etc. include. The environmental data acquired by an environment sensor of a convoy vehicle may be evaluated by a control unit of that convoy vehicle (eg, to obtain information regarding an overtaking vehicle and / or an obstacle). If necessary, this information can then be transmitted to another convoy vehicle (eg to a master vehicle of the vehicle convoy). Thus, the amount of data exchanged between the convoy vehicles can be reduced.

The method includes detecting an overtaking vehicle that overtakes the vehicle convoy (eg, in an oncoming lane). The overtaking vehicle can z. B. by a convoy vehicle at the end of the vehicle column (with respect to the direction of travel of the vehicle column) are detected. The overtaking vehicle may be detected based on environmental data acquired by one or more sensors of at least one convoy vehicle. Alternatively or additionally, the passing vehicle may be detected based on a car-to-car communication message transmitted from the overtaking vehicle received from at least one of the convoy vehicles.

Furthermore, the method may include detecting, in particular on the basis of the environment data and / or on the basis of a car-to-car communication message, an obstacle for the overtaking vehicle (eg in the opposite lane). In particular, an obstacle can be detected which prevents the overtaking vehicle from completely overtaking the vehicle column. The obstacle can z. B. by a convoy vehicle at the front of the vehicle column (with respect to the direction of travel of the vehicle column) are detected. In particular, the passing vehicle and the obstacle can be detected on the basis of environmental data acquired by respectively different column vehicles of the column.

The method further comprises determining, e.g. Based on the environmental data, for example, that the overtaking vehicle requires a backup space or a slot-in place within the vehicle column. The Einscher Square can z. B. be required to allow the overtaking vehicle to avoid a detected obstacle. Alternatively or additionally, the licker-in place may be required to allow the overtaking vehicle to exit the oncoming lane before reaching a (non-observable) turn. In particular, it can be determined that the overtaking vehicle can not complete the overtaking process of the vehicle column without colliding with the obstacle (eg with an oncoming vehicle) and / or without entering an upcoming curve. Furthermore, it can be determined that a collision with the obstacle and / or a retraction of an upcoming corner on an opposite lane can be avoided if a Einscher space for the passing vehicle is created within the vehicle column. Furthermore, a position and / or dimensions for the Einscher-Platz can be determined, in particular based on the environmental data.

The method further includes causing at least one convoy vehicle of the vehicle convoy to create the Einscher space within the vehicle convoy. In particular, a particular convoy vehicle may be instructed by a master vehicle of the vehicle convoy (eg, via a control instruction) to create the trapper slot (by acting in the longitudinal and / or transverse guidance of that particular convoy vehicle ). If necessary, an instruction can be issued to the driver of the particular convoy vehicle. Alternatively or additionally, an automatic intervention in the longitudinal and / or transverse guidance of this particular column vehicle can take place.

The method described thus makes it possible for a passing vehicle to safely overtake a vehicle convoy. In particular, the method described allows the overtaking vehicle to safely complete an already initiated overtaking operation. For this purpose, it is not necessary that the overtaking vehicle participates in a car-2-car communication with one of the convoy vehicles.

The Einscher-Platz may include a gap between any first convoy vehicle and a (directly or immediately) preceding second convoy vehicle of the vehicle convoy into which the overtaking vehicle may crash, e.g. B. to avoid the obstacle and / or to leave the opposite lane before reaching a curve. The gap preferably has a sufficient length in the direction of travel to accommodate the overtaking vehicle. To generate the gap, the first convoy vehicle may be caused to reduce (ie, decelerate) its travel speed relative to the second convoy vehicle, and / or the second convoy vehicle may increase its travel speed relative to the first convoy vehicle (ie accelerated) to fill the gap. Furthermore, in order to generate the gap, one or more convoy vehicles traveling behind the second convoy vehicle may also be delayed (possibly more), and / or one or more convoy vehicles that are in front of the first convoy Drive Column vehicle, also accelerate (possibly stronger).

The Einscher-Platz may include a lateral space on a lane adjacent to a particular convoy vehicle. In other words, space can be created on the same lane for the overtaking vehicle so that the overtaking vehicle can at least partially travel in the same lane next to the particular convoy vehicle. For this purpose, it may be made to cause the particular convoy vehicle to change its lateral position relative to (in particular within) the lane in order to create the lateral space. In particular, the particular convoy vehicle can be made to drive to a right-hand lane boundary (in right-hand traffic) or to drive on a lane next to the current lane. Possibly. The particular convoy vehicle may be caused to leave the lane if the particular convoy vehicle does not accommodate inmates, ie autonomously, if it can save a human life, ie if the overtaking vehicle transports at least one person. For this purpose, the convoy vehicles and / or the passing vehicle may comprise a person recognition (eg seat sensor mat, camera surveillance, fingerprint sensor, acoustic signal recording, etc.) in order to be able to weigh by means of an algorithm whether leaving the lane of a convoy Vehicle makes sense to create a sufficient Einscherraumes for a passing vehicle.

In other words, the method may include determining whether the particular convoy vehicle and / or passing vehicle has an occupant. The particular convoy vehicle may then be made to leave the lane sideways, depending on whether the particular convoy vehicle and / or the overtake vehicle has an occupant, to create a lateral space sufficiently large for overtaking Vehicle is. Thus, the accident risk of an occupant of the overtaking vehicle may possibly be reduced at the expense of material damage to the particular convoy vehicle.

According to a further aspect, a control unit for a convoy vehicle of a vehicle convoy is described which comprises a plurality of consecutive convoy vehicles (eg 2, 3, 4 or more convoy vehicles). At least some of the convoy vehicles can be configured to communicate with each other via a wireless communication link.

The control unit can, for. B. be part of a master vehicle of the vehicle column. The control unit is configured to determine that an overtaking vehicle overhauling the vehicle convoy (eg, in an oncoming lane) requires stoker space within the vehicle convoy, e.g. To avoid an obstacle (eg on the opposite lane). For this purpose, the control unit may receive information relating to the overtaking vehicle and / or with respect to the obstacle of one or more convoy vehicles of the vehicle convoy. In particular, information may also be received from another platoon vehicle (via a wireless communication link). In this case, the information z. B. Information relating to a movement speed and / or with respect to a direction of movement of the passing vehicle or the obstacle. Alternatively or additionally, information relating to a position of the passing vehicle or the obstacle may be provided. Alternatively or additionally, information relating to dimensions of the passing vehicle or the obstacle can be provided. It may then be determined based on the received information that the overtaking vehicle requires tiller space.

The control unit is further configured to cause at least one column vehicle of the vehicle convoy to create the Einscher space within the vehicle convoy. In particular, the control unit may be configured to send a control instruction to another convoy vehicle of the vehicle convoy to cause the fritter slot to be created. For example, such a gap can be created within the column and / or a side space adjacent to a convoy vehicle to prevent a collision of the overtaking vehicle with the obstacle.

The control unit may be configured to determine a position and / or dimensions of the required shear slot based on (received) information related to the overtaking vehicle and / or with respect to the obstacle. It can then be arranged that Einscher-place is created at the determined position and / or Einscher-place according to the determined dimensions. Thus, the probability of a collision between passing vehicle and obstacle can be further reduced.

The control unit may be configured to send information relating to the created licker-in place to the passing vehicle (eg, via a wireless (car-to-car) communication link). Thus, a driver of the overtaking vehicle can be made to control the overtaking vehicle to the Einscher place.

The vehicle column can be managed jointly. In particular, a master vehicle of the vehicle convoy (eg, the convoy vehicle at the front of the vehicle convoy) may guide the other convoy vehicles (eg, by means of automatic cruise control) such that the convoy vehicles in normal operation with substantially constant distance to each other and drive at substantially the same speed. This can be z. B. be advantageous for reducing fuel consumption. This normal operation may be interrupted if (as described in this document) it is determined (eg, by the master vehicle) that a lock-in space is needed for an overtaking vehicle.

In one aspect, a system having a plurality of controllers of a corresponding plurality of convoy vehicles is described. The system is set up to perform the procedure described in this document.

In another aspect, a vehicle (eg, a passenger car, a truck, or a motorcycle) that includes the controller described in this document is described.

In another aspect, a software (SW) program is described. The SW program may be set up to run on a processor (eg, on a control device of a vehicle) and thereby perform the method described in this document.

In another aspect, a storage medium is described. The storage medium may include a SW program that is set up to run on a processor and thereby perform the method described in this document.

It should be understood that the methods, controllers and systems described herein may be used alone as well as in combination with other methods, controllers and systems described in this document. Furthermore, any aspects of the methods, controllers, and systems described herein may be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways.

Furthermore, the invention will be described in more detail with reference to exemplary embodiments. Show

1a . 1b and 1c an exemplary overtaking maneuver;

2 exemplary components of a convoy vehicle; and

3 a flowchart of an exemplary method for supporting a passing vehicle in an overtaking.

As stated above, the present document is concerned with reducing the risk of accident when overtaking a vehicle convoy. In particular, on gradients, it may happen that a plurality of vehicles (in particular a plurality of trucks, trucks and / or buses) drive close together and relatively slowly in a convoy. Furthermore, it may be useful to reduce fuel consumption that a plurality of trucks close together (in the lee of each front vehicle) and so form a vehicle column.

Overhauling such a vehicle convoy on a single lane road poses a great challenge to the driver of an overtaking vehicle. In particular, the length of a vehicle convoy to be overtaken can often not be determined in advance of the overtaking maneuver. Furthermore, often the oncoming lane can not be sufficiently inspected to estimate whether the overtaking can be completed. In addition, it may happen that in addition to an overtaking vehicle other overtaking vehicles join the overtaking process, although the overtaking is sufficient only for one vehicle.

The 1a . 1b and 1c show an exemplary scenario of overtaking a passing vehicle 101 , The overtaking vehicle 101 drives on a roadway 100 with one lane per direction behind a vehicle column 110 with the column vehicles 111 . 112 . 113 , To overtake the vehicle column 110 Must the overtaking vehicle 101 Drive on the opposite lane and could there with an oncoming vehicle 102 (ie with an obstacle) collide.

To reduce the risk of accidents, the convoy vehicles 111 . 112 . 113 Be set up to recognize that the overtaking vehicle 101 an overtaking process of the column 110 has begun. This can be done in particular by the end vehicle 113 at the end of the column 110 be detected. The end vehicle 113 In particular, the number of overtaking vehicles 101 Determine and transfer this information to a master vehicle of the column 110 send. This is particularly advantageous if an overtaking vehicle 101 no wireless communication link to the column vehicles 111 . 112 . 113 having. Furthermore, the column vehicles 111 . 112 . 113 determine that a passing vehicle 101 due to the oncoming vehicle 102 the overtaking process of the column 110 can not complete. This can be z. B. by a front-end vehicle 111 at the beginning of the column 110 be detected.

• • ein Fahrzeug bzw. Objekt 101, 102 im Umfeld eines Kolonnen-Fahrzeugs 200 detektiert werden;
• • eine Geschwindigkeit des Fahrzeugs bzw. Objekts 101, 102 ermittelt werden;
• • Abmessungen (z. B. eine Breite und/oder Länge) des Fahrzeugs bzw. Objekts 101, 102 ermittelt werden; und/oder
• • eine Position des Fahrzeugs bzw. Objekts 101, 102 ermittelt werden.

2 shows a block diagram with exemplary components of a convoy vehicle 200 (ie, for example, the column vehicles 111 . 112 . 113 ). A column vehicle 200 can be one or more environmental sensors 202 (For example, a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.) to environment data relating to an environment of the respective convoy vehicle 200 capture. In particular, such an environment before, behind and / or laterally of the column vehicle 200 be recorded. Based on the environmental data can be controlled by a control unit 201 of the column vehicle 200

• • a vehicle or object 101 . 102 in the environment of a convoy vehicle 200 be detected;
• • a speed of the vehicle or object 101 . 102 be determined;
• • Dimensions (eg width and / or length) of the vehicle or object 101 . 102 be determined; and or
• • a position of the vehicle or object 101 . 102 be determined.

A column vehicle 200 can continue a communication unit 203 include to another column car 200 to communicate (via a wireless communication link, eg WLAN, UMTS, LTE, etc.). So z. B. an end vehicle 113 a column 110 a front-end vehicle 111 the column 110 Information relating to a passing vehicle 101 to transfer. Furthermore, instructions can be sent to another convoy vehicle 200 be transmitted.

For example, a convoy vehicle 111 a column 110 act as a master vehicle, the environment data and / or based on environmental data information from one or more other convoy vehicles 112 . 113 receives a general overview of a traffic situation. The master vehicle 111 can thus determine on the basis of the environmental data that an overtaking vehicle 101 the column 110 reconditioned and that this overtaking due to the current speed (possibly taking into account the local (maximum) speed or the acceleration capacity of the overtaking vehicle 101 ) and position of the overtaking vehicle 101 and due to the current speed and position of the oncoming vehicle 102 (ie one Obstacle) can not be completed.

The master vehicle 111 can then at least another column vehicle 112 (which may also be referred to as a so-called slave vehicle) via the communication unit 203 cause its relative position to the preceding convoy vehicle 111 and / or to the behind it moving column vehicle 113 to make room for an evasive maneuver of the overtaking vehicle 101 to accomplish. For this purpose, the master vehicle 111 Control information to the slave vehicle 112 transmit, wherein the control information via an output unit 204 of the slave vehicle 112 can be issued (to the driver of the slave vehicle 112 causing space for the evasive maneuver) and / or by an actuator 205 of the slave vehicle 112 can be automatically implemented to the slave vehicle 112 to lead accordingly.

In the example of 1b is z. B. the slave vehicle 113 in the column 110 prompted the longitudinal distance 121 to the front vehicle 112 to enlarge a gap for a Einschervorgang the overtaking vehicle 101 to accomplish. In the example of 1c becomes the slave vehicle 112 prompted the side clearance 131 to the centerline of the roadway 100 to enlarge it to the overtaking vehicle 101 to enable at least partially scoring on their own lane.

Thus, the accident risk in overtaking a column 110 be reduced.

3 shows a flowchart of an exemplary method 300 to assist an overtaking process of a vehicle convoy 110 with a plurality of consecutive convoy vehicles 111 . 112 . 113 , The procedure 300 can z. B. of control units 201 the column vehicles 111 . 112 . 113 be carried out jointly. Alternatively, the method 300 (at least in part) by the control unit 201 a master vehicle 111 the vehicle column 110 be executed.

The procedure 300 includes determining 301 environmental data relating to an environment of the vehicle convoy 110 , The environment data can be from environment sensors 202 of one or more of the convoy vehicles 111 . 112 . 113 be recorded. In addition, the process includes 300 the detecting 302 , based on the environmental data, of a passing vehicle 101 that the vehicle column 110 (eg on an opposite lane). Furthermore, the method includes 300 the detecting 303 , based on the environmental data, an obstacle 102 for the overtaking vehicle 101 (eg, an oncoming traffic participant, such as another vehicle, a cyclist, a pedestrian, or a static object). In particular, an obstacle 102 be detected, the overtaking vehicle 101 prevents the passing of the vehicle column 110 completely complete.

The procedure 300 further comprises determining 304 , based on the environmental data that the overtaking vehicle 101 Dodge or Einscher space within the vehicle column 110 needed to the obstacle 102 dodge. The Einscher Square can z. B. a gap between two convoy vehicles 112 . 113 and / or a lateral offset of at least one column vehicle 112 include. The size of the Einscher-Platz can be determined by dimensions of the overtaking vehicle 101 depend. It may be necessary that a convoy vehicle 112 his current lane leaves sideways.

In addition, the process includes 300 the cause 305 in that at least one column vehicle 112 . 113 the vehicle column 110 the Einscher-Platz within the vehicle column 101 is created. For example, at least one convoy vehicle can do this 112 . 113 caused to decelerate or accelerate or to drive sideways (and possibly the side of the current lane). Thus, in an efficient and reliable way the accident risk in overtaking maneuvers of vehicle columns 110 be reduced.

The procedure 300 may be analogous to a plurality of passing vehicles 101 be executed. In particular, if necessary, for several passing vehicles 101 Einscher-Platz (possibly at different positions) in the vehicle column 110 be created.

The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are only intended to illustrate the principle of the proposed methods, control units and systems.

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

• DE 102006055344 A1 [0003, 0003, 0003]

Claims (13)

Procedure ( 300 ) in support of an overtaking process of a vehicle convoy ( 110 ) with a plurality of consecutive convoy vehicles ( 111 . 112 . 113 ); the method ( 300 ), - detecting ( 302 ) of a passing vehicle ( 101 ), the vehicle column ( 110 ) obsolete; - Determine ( 304 ) that the overtaking vehicle ( 101 ) Einscher-Platz within the vehicle column ( 110 ) needed; and - induce ( 305 ) that by at least one column vehicle ( 112 . 113 ) of the vehicle column ( 110 ) the Einscher-Platz within the vehicle column ( 101 ) is created. Procedure ( 300 ) according to claim 1, wherein - the Einscher place a gap between a first column vehicle ( 113 ) and a preceding second column vehicle ( 112 ), in which the overtaking vehicle can shear, in particular around an obstacle ( 102 ) to evade; and - causing the first convoy vehicle ( 113 ) its travel speed relative to the second column vehicle ( 112 ), and / or that the second convoy vehicle ( 112 ) its travel speed relative to the first convoy vehicle ( 113 ) to fill in the gap. Procedure ( 300 ) according to one of the preceding claims, wherein - the Einscher-Platz has a lateral space in a lane next to a certain convoy vehicle ( 112 ); and - causing the particular convoy vehicle ( 112 ) changes its lateral position relative to the lane to create the lateral space. Procedure ( 300 ) according to claim 3, wherein - the method ( 300 ), determining whether the particular convoy vehicle ( 112 ) and / or the overtaking vehicle ( 101 ) have an occupant; and - depending on whether the particular convoy vehicle ( 112 ) and / or the overtaking vehicle ( 101 ) have an occupant carrying certain convoy vehicle ( 112 ) is caused to leave the lane laterally to provide a lateral space sufficiently large for the overtaking vehicle ( 101 ). Procedure ( 300 ) according to one of the preceding claims, wherein - the method ( 300 ), determining ( 301 ) of environmental data relating to an environment of the vehicle convoy ( 110 ); and - the overtaking vehicle ( 101 ) is detected on the basis of the environment data. Procedure ( 300 ) according to one of the preceding claims, wherein - the method ( 300 ), detecting ( 303 ) of an obstacle ( 102 ) for the overtaking vehicle ( 101 ); and - it is determined that the overtaking vehicle ( 101 ) Einscher-Platz within the vehicle column ( 110 ) needed to clear the obstacle ( 102 ) to evade. Procedure ( 300 ) according to claim 6, wherein the passing vehicle ( 101 ) and the obstacle ( 102 ) are detected on the basis of environmental data from each different column vehicles ( 111 . 113 ) of the column ( 110 ) were recorded. Control unit ( 201 ) for a convoy vehicle ( 200 ) a vehicle column ( 110 ) comprising a plurality of consecutive convoy vehicles ( 111 . 112 . 113 ); the control unit ( 201 ) - to determine that an overtaking vehicle ( 101 ), the vehicle column ( 110 ) reconditioned, Einscher place within the vehicle column ( 110 ) needed; and - to be caused by at least one convoy vehicle ( 111 . 112 ) of the vehicle column ( 110 ) the Einscher-Platz within the vehicle column ( 101 ) is created. Control unit ( 201 ) according to claim 8, wherein the control unit ( 201 ) - Information relating to the passing vehicle ( 101 ) and / or in relation to an obstacle ( 102 ) of the overtaking vehicle ( 101 ) of one or more convoy vehicles ( 111 . 112 ) of the vehicle column ( 110 ) to recieve; and - determine on the basis of the received information that the passing vehicle ( 101 ) Einscher-Platz needed. Control unit ( 201 ) according to claim 9, wherein the information comprises information relating to a movement speed and / or a direction of movement of the passing vehicle ( 101 ) or the obstacle ( 102 ); and / or - information relating to a position of the overtaking vehicle ( 101 ) or the obstacle ( 102 ); and / or - information relating to dimensions of the overtaking vehicle ( 101 ) or the obstacle ( 102 ). Control unit ( 201 ) according to one of claims 8 to 10, wherein the control unit ( 201 ), - based on information relating to the overtaking vehicle ( 101 ) and / or in relation to an obstacle ( 102 ) of the overtaking vehicle ( 101 ) one Position and / or dimensions of the required Einscher-place to determine; and - to cause launcher location to be created at the determined position and / or in accordance with the determined dimensions. Control unit ( 201 ) according to one of claims 8 to 11, wherein the control unit ( 201 ), a control instruction to another convoy vehicle ( 112 . 113 ) of the vehicle column ( 110 ) to cause the Einscher Place to be created. Control unit ( 201 ) according to one of claims 8 to 12, wherein the control unit ( 201 ) is arranged, information relating to the created Einscher-place to the overtaking vehicle ( 101 ) to send.

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