DE102016122686B4 - Method for informing a road user about a traffic situation - Google Patents

Abstract

A method (100) for informing a road user about a traffic situation, the method (100) comprising the following steps: - Receiving (101) a transmitted radio signal by a receiving unit (16) of a first vehicle (1) depicting a first traffic situation, the A radio signal is transmitted from a high-frequency transmitter of an autonomously operated second vehicle (2), the current position of the second vehicle (2) being determined by means of a radio direction finding of the radio signal without additional sensor data from the second vehicle, and this radio signal being received by means of several directional antennas; - receiving (102) sensor data from at least one sensor unit (12, 13, 14, 18) of the first vehicle (1) depicting a second traffic situation; - comparing (103) the first traffic situation with the second traffic situation; and- informing (105) the road user about the comparison result (104) of the comparison.

Description

TECHNICAL FIELD OF THE INVENTION

The invention relates to a method for informing a road user about a traffic situation, a mobile radio device for informing the road user and a control unit in a vehicle for informing a road user.

BACKGROUND OF THE INVENTION

Systems are known in vehicle technology that detect their surroundings with sensors and can thus produce an image of the traffic environment of one's own vehicle. These systems work, for example, with ultrasonic sensors, radar, lidar and / or at least one camera. The sensors provide information about the surroundings of the vehicle, in particular about the presence of other vehicles and obstacles that are located and moving relative to the vehicle. By transmitting vehicle data from and to other vehicles that are located in their respective surroundings, the vehicles receive an image of their respective vehicle surroundings, corresponding to the image of the surroundings sensors. These systems therefore map a traffic situation.

In addition, there are systems in vehicle technology that transmit vehicle information such as the GPS position, speed and direction of travel via a radio channel and make it available to other vehicles. In vehicle technology this is also referred to as Car2Car or Car2X technology. In contrast to environment sensors, which have a directed opening angle, for example to the front or to the side, have a limited range and require direct visual contact, concealed road users can also be detected over longer ranges using Car2Car or Car2X technology. These systems therefore also map a traffic situation.

In the DE 10 2010 013 402 A1 describes a graphic that is displayed using the Head-Up Display (HUP). A lane change signal of a merging vehicle is monitored by the host vehicle.

In the DE 10 2010 011 496 A1 describes a method for avoiding a collision between a vehicle traveling in a first lane and a vehicle traveling in a second lane during a lane change. A warning message is output to the second vehicle if the value falls below a predetermined threshold.

From the DE 103 34 203 A1 an accident prevention system is known in which two road users are informed about their current movement via direct intercommunication and the information is automatically evaluated from the respective point of view with the determined data, with an automatic intervention on the driving operation of the respective vehicle as a result of an automatically determined dangerous situation he follows.

From the DE 101 49 206 A1 it is again known that a vehicle transmits a message to surrounding vehicles when it plans to change lanes. These surrounding vehicles then reduce their speed to allow the vehicle to change lanes.

From the WO 2014/082698 A1 it is again known that the intention of a first vehicle to change lanes is reported to at least one second vehicle by means of Car2Car communication. The at least one second vehicle then replies by means of a second Car2Car communication. Depending on the content of the answer, a measure is carried out in the first vehicle that interrupts a lane change or helps to avoid it. Radar, lidar, cameras, etc. are used to evaluate a driving situation.

From the DE 101 49206 A1 an accident prevention system is known in which the driver and his surroundings are warned of a possible dangerous situation and the motor vehicle carries out so-called pre-crash measures, such as hazard warning lights and closing of windows.

From the DE 10 2012 201 513 A1 an accident prevention system is known, a warning device being provided in a self-driving motor vehicle for warning a vehicle driver as a function of a trigger signal of a driver assistance system as a reaction to a specific event which requires a driver to take over. There is a mobile terminal in the vehicle which prompts the driver to take over the driver, the mobile terminal being equipped with an application that warns the driver of dangers.

From the EP 2 618 596 A1 a communication network for increasing traffic safety is known, which is used to recognize dangerous situations. When a dangerous situation is recognized, a first mobile communication unit sends a warning to a second mobile communication unit in the vicinity. The warning can include GPS data, acceleration data, position data. The communication unit can be a permanently installed unit in a vehicle and the warning can be displayed on the dashboard of a second vehicle.

From the DE 10 2010 049 093 A1 a method for operating at least one sensor of a vehicle is known, the at least one sensor being designed to detect objects within a detection area. The method has the following steps: At least one object is detected by means of the at least one sensor. In addition, a position of the at least one object is determined by means of data determined by the at least one sensor. Furthermore, position data transmitted by the at least one object are received by means of a receiving device of the vehicle and the position of the at least one object is determined by means of the position data received from the at least one object. In addition, the position determined by means of the at least one sensor is compared with the position of the at least one object determined by means of the received position data and comparison data is determined. In addition, the at least one sensor is automatically compared and / or a message is output within the vehicle as a function of the comparison data determined.

From the DE 10 2006 043 317 A1 a method for testing the functionality of a sensor of a vehicle is known. It is provided that a first sensor value of a first sensor of a first vehicle is determined, and that a corresponding, second sensor value is queried by a corresponding second sensor of a second vehicle by wireless transmission through the first vehicle and compared with the first sensor value for plausibility.

From the DE 10 2012 020 297 A1 describes a method for assigning a transmitter transmitting at least one piece of communication information in a motor vehicle-to-motor vehicle communication to an object described by environment data of at least one environment sensor in a receiving motor vehicle. The assignment takes place on the basis of a comparison of environment data contained in the communication information of at least one environment sensor of the motor vehicle comprising the transmitter with corresponding environment data of the receiving motor vehicle.

From the GB 2524393 A it is known that data is collected during operation of a first vehicle. This determines whether the data is indicative of an error condition (e.g., a sensor error). A communication indicating the fault condition is sent to a second vehicle. In addition, autonomous operation of the first vehicle is determined from the data received as a response. Communication can take place via near field communication or visual light emissions. The autonomous operation can be keeping the lane, maintaining a speed, pulling on the side of the road or stopping the first vehicle. The received data can be an operating instruction for the first vehicle or a position of one of the second vehicle, a third vehicle, an obstacle or a slope on a road. Alternatively, one autonomous operation that is affected by the error condition is interrupted and a second autonomous operation that is not affected by the error condition is continued.

The problem with all of the known traffic systems and the traffic situations depicted in them is that they are based on the correctness or plausibility of the determined sensor data and / or the correctness or plausibility of the transmitted radio signal. This problem is exacerbated when a vehicle is used in an autonomous operation. Autonomous driving refers to the movement of vehicles that are largely autonomous. For example, the vehicle is permanently guided by an electronic system and only when a driving task can no longer be mastered by the system is a driver requested to take over the control of the vehicle. This is also known as the fourth level of autonomy according to the SEAJ3016 classification.

An autonomously driving vehicle can sometimes receive incorrect sensor data from its own vehicle and / or misinterpret correct sensor data and then make a wrong decision with regard to a traffic situation, which in turn represents a traffic hazard. If, for example, a camera evaluation does not recognize that there is another vehicle next to the autonomously operated vehicle, a collision can no longer be prevented by automatically changing lanes of the autonomous vehicle.

The object of the present invention is to make the transport operation safer. In particular, in the case of a mixed operation of autonomously operated vehicles and manually operated vehicles, safe traffic flow should be guaranteed.

SUMMARY OF THE INVENTION

The object is achieved with the technical measures described in the independent claims. Advantageous refinements are described in the respective dependent claims.

In particular, the object is achieved by a method for informing a road user. The method includes a receiving step in which a transmitted radio signal is received by a receiving unit of a first vehicle, depicting a first traffic situation. The radio signal is transmitted by an autonomously operated second vehicle. The reception takes place, for example, as soon as a communication range between the first vehicle and the second vehicle with regard to the transmission of the radio signal is undershot and the first vehicle is in communication with the second vehicle. The radio signal is preferably transmitted from the second vehicle at defined time intervals. The radio signal is, for example, a broadcast signal. This radio signal is sent out unsolicited and does not require a response. For example, the radio signal does not send a request to surrounding vehicles.

As the first traffic situation, the radio signal depicts, for example, the current position of the second vehicle (absolute) or relative to the first vehicle. As the first traffic situation, the radio signal depicts, for example, the current speed of the second vehicle (absolute) or relative to the first vehicle. As the first traffic situation, the radio signal depicts, for example, the use of a route, exiting an entrance / exit, exiting an expressway, and changing lanes on a multi-lane route.

The radio signal is used, for example, in the first vehicle to determine the current position of the second vehicle. The radio signal is used in the first vehicle to locate the second vehicle. For this purpose, for example, the second vehicle could be designed with a high-frequency transmitter. By means of radio direction-finding, the direction from which the radio waves are received can now be determined, for example by simply receiving the radio waves of the radio signal. This radio signal can preferably be transmitted without sensor data from the second vehicle, that is to say without further information from the second vehicle. In the first vehicle, this radio signal is received, for example, by means of one or more directional antennas in order to determine the direction of the radio signal.

The method according to the invention comprises a further receiving step, in which sensor data is received from at least one sensor unit of the first vehicle in an image of a second traffic situation. The time relationship between the received radio signal and the received sensor data is irrelevant here. For example, the first vehicle can continuously receive sensor data, whereas the radio signal from a second vehicle is only received when the communication range is undershot. Alternatively, sensor data can be received after the radio signal has been received.

The method also includes a comparison step in order to compare the first traffic situation with the second traffic situation. A result of the comparison is passed on to the road user in an informing step. In particular, the road user is informed if the first traffic situation does not match the second traffic situation.

The method described here has the advantage that a calculation and assessment of the respective traffic situation is carried out automatically by each vehicle. The radio signal information from a second vehicle in communication is used to depict a first traffic situation and is checked for plausibility in the first vehicle by comparing it with sensor data from the sensor unit to depict a second traffic situation.

The respective traffic situation is thus also calculated independently by the first vehicle using and checking the traffic situation mapped by the second vehicle. This enables errors in sensor data or incorrect interpretations of sensor data in the second vehicle to be recognized by other road users by carrying out their own plausibility check. If there is no plausibility, the road user is informed at an early stage by generating a corresponding information signal.

During the comparison, the route planned by the first vehicle is also checked. The comparison checks whether a separate (planned) route of the first vehicle can be used with the current sensor data without endangering other road users or whether changes to the sensor data are necessary in order to use the planned route safely.

This method is preferably carried out fully automatically and in particular without the influence of a vehicle driver. If, for example, the second vehicle is operated autonomously, the traffic can be monitored by surrounding vehicles.

In addition, on the basis of the information or the mere radio signal of an autonomously driving vehicle, it can be determined whether the planned route can be traveled without obstacles and without danger.

In this way, information is provided early and quickly if there is a lack of plausibility. In addition, the route of the second vehicle is checked. A success or a failure with regard to a planned driving maneuver of an autonomously operated vehicle can thus be displayed.

Furthermore, a promptly planned driving maneuver can be checked for success in this way and, if necessary, the driving behavior of the first vehicle can be corrected, for example correcting the current speed in order to overtake a vehicle in good time or changing a route.

The first traffic situation shown represents, for example, a target signal for a traffic situation. This target signal is generated by the second vehicle and transmitted to the first vehicle. The depicted second traffic situation represents, for example, an actual signal for the same traffic situation and is generated by the first vehicle. In this case, the first traffic situation and the second traffic situation relate to the same traffic situation, whereby these are mapped once by the second vehicle (first traffic situation) and once by the first vehicle (second traffic situation) and are referred to below as two traffic situations due to possible differences.

By using a simple radio signal to locate or position the second vehicle, the Car2Car communication is expanded to include an additional security system. In addition to the already known ultrasound, lidar, radar or camera location, the pure radio signal can now also be used. This increases road safety.

The transmitted radio signal preferably contains sensor data from at least one sensor unit of the second vehicle. These sensor data are transmitted in particular as data packets via a radio signal. In this way, faulty sensor data, which were not recognized as faulty by the second vehicle, can be detected by a comparison in a neighboring vehicle.

In a preferred embodiment, the mapped first traffic situation (the target signal) includes at least one position, speed, direction and / or route information of the second vehicle determined by the second vehicle. This information can be used to determine the absolute and the relative position and speed and direction of the second vehicle by the first vehicle.

In a preferred embodiment, the depicted second traffic situation (actual signal) contains at least one position, speed, direction and / or route information of the second vehicle determined by the first vehicle. In this way, the same parameters can be used to compare the first traffic situation with the second traffic situation, which considerably simplifies the comparison step.

By knowing your own GPS position, speed and other movement data of the vehicle and by receiving data from other vehicles, each vehicle can be made aware of the relative position and relative speed of other road users. These relative positions can be achieved, for example, by transforming the GPS data. If the transmitted speeds and driving directions are also considered, then relative speeds can be calculated for them. In this way, an image of the traffic environment is given in real time at all times.

For example, ultrasound, radar, lidar and / or camera systems are available for this purpose. In addition, sensor systems are provided on the wheels of the vehicles or on other structural units of the vehicle. In addition, instrument signals, for example tachometer signal, acceleration data, braking data, etc., can be used. The first traffic situation (target signal) of the second vehicle in the first vehicle, which is transmitted via the radio signal, is checked for plausibility and a deviation is simplified by comparison.

In this case, a threshold value can be predefined which nevertheless evaluates a deviation within certain tolerance limits, for example +/- 5%, as plausible.

The sensor data of the first and / or the second vehicle are transmitted as data packets by radio. Alternatively, a pure radio signal without sensor data is transmitted from the second vehicle, which is used to locate the second vehicle in the first vehicle.

In a further preferred embodiment, the depicted second traffic situation (actual signal) contains at least one position, speed, direction and / or route information of the first vehicle determined by the first vehicle. This enables a determination of relative positions and relative speed between the two vehicles and can indicate possible traffic hazards.

The comparison preferably results in whether the mapped first traffic situation (target signal) is implausible. The radio signal of the mapped first traffic situation (target signal) is compared with the mapped second traffic situation (actual signal) and an information message is generated if the data determined do not match. This shows that the two traffic situations do not match and / or that a future traffic situation is only possible with changed parameters in order to prevent a corresponding dangerous situation if necessary.

The comparison preferably takes place in a control unit of the first vehicle, a mobile radio device of the road user in the first vehicle, and / or a communication connection with the first vehicle and / or in a traffic monitoring center in communication with the first vehicle. In this way, the information about a traffic situation for the road user can be determined via various computing entities. In particular, these can work in parallel to inform road users via several channels.

In a preferred embodiment, the information is provided via an on-board display unit of the first vehicle, a mobile radio device of the road user in the first vehicle, an audio signal generated by the first vehicle, a haptic signal generated by the first vehicle, and / or one generated by the first vehicle Warning signal for the second vehicle. This enables a driver to be made quickly aware of the comparison result in order to take suitable measures, such as evasive action, acceleration, braking and / or route adjustments, if necessary.

In a preferred embodiment, the warning signal includes a request to the driver of the second vehicle to take control. A driver of the second vehicle is thus made aware of the comparison result. In this case, for example, the autonomous vehicle is switched to manual vehicle operation in order to prevent a dangerous situation if necessary.

The informing preferably includes driving instructions to the driver of the first vehicle. A driving instruction can include acceleration, braking and / or evasive action, for example.

The driving instruction to the driver of the first vehicle can also include a change of route. This is desirable, for example, if a planned route has been made more difficult in this form, takes considerably more time (risk of congestion) or is impossible in this form (complete closure).

The radio signal sent by the second vehicle is preferably sent to a traffic monitoring center, which in turn transmits the radio signal sent to at least the second vehicle. This enables an increase in security, since the traffic monitoring center is viewed as a trustworthy entity in the traffic monitoring system. In addition, the traffic monitoring center can transmit the information to several vehicles at the same time, so that not only the first vehicle but also other vehicles in the immediate vicinity of the second vehicle are informed in a simplified manner.

According to the invention, a control unit in a vehicle for informing a road user about a traffic situation is also proposed. The control unit has an interface to a receiving unit of the vehicle for receiving a radio signal of a first vehicle depicting a first traffic situation, the radio signal being transmitted by an autonomously operated second vehicle. In addition, the control unit has an interface to at least one sensor unit of the vehicle for receiving sensor data from the first vehicle, depicting a second traffic situation. The control unit has a comparison unit which is set up to compare the first traffic situation with the second traffic situation. An output unit of the control unit is submitted to inform the road user about the comparison result of the comparison.

According to the invention, a mobile radio device for informing a road user about traffic information is also proposed. The mobile radio device has a receiving unit which is set up to receive a radio signal of a first vehicle depicting a first traffic situation, the radio signal being transmitted by an autonomously operated second vehicle and to receive sensor data from at least one sensor unit of the first vehicle depicting a second traffic situation. The mobile radio device also has a comparison unit which is set up to compare the first traffic situation with the second traffic situation. An output unit of the mobile radio device is set up to output information about the comparison result of the traffic situation to the road user.

According to the invention, a computer program product for informing road users about a traffic situation is also proposed, with program parts from a program memory can be called up that support the implementation of the previous procedure.

Figure list

The invention and further embodiments and advantages of the invention are explained in more detail below with reference to figures, the figures merely describing exemplary embodiments of the invention. The same components in the figures are provided with the same reference symbols. The figures are not to be regarded as true to scale; individual elements of the figures can be shown exaggeratedly large or exaggeratedly simplified.

• 1 ein Ausführungsbeispiel eines Verfahrensablaufdiagramms eines erfindungsgemäßen Verfahrens;
• 2 ein Ausführungsbeispiel einer Prinzipdarstellung eines Fahrzeugs zum Durchführen des erfindungsgemäßen Verfahrens;
• 3 ein erstes Ausführungsbeispiel einer Verkehrssituation zum Anwenden des erfindungsgemäßen Verfahren;
• 4 ein zweites Ausführungsbeispiel einer Verkehrssituation zum Anwenden des erfindungsgemäßen Verfahren;
• 5 ein drittes Ausführungsbeispiel einer Verkehrssituation zum Anwenden des erfindungsgemäßen Verfahren;
• 6 ein viertes Ausführungsbeispiel einer Verkehrssituation zum Anwenden des erfindungsgemäßen Verfahren;
• 7 ein fünftes Ausführungsbeispiel einer Verkehrssituation zum Anwenden des erfindungsgemäßen Verfahren; und
• 8 ein erfindungsgemäßes Mobilfunkgerät.

Show it:

• 1 an embodiment of a method flow diagram of a method according to the invention;
• 2 an embodiment of a schematic diagram of a vehicle for carrying out the method according to the invention;
• 3 a first embodiment of a traffic situation for applying the method according to the invention;
• 4th a second embodiment of a traffic situation for applying the method according to the invention;
• 5 a third embodiment of a traffic situation for applying the method according to the invention;
• 6th a fourth embodiment of a traffic situation for applying the method according to the invention;
• 7th a fifth embodiment of a traffic situation for applying the method according to the invention; and
• 8th a mobile radio device according to the invention.

FIGURE DESCRIPTION

In 1 is an embodiment of a process flow diagram for the inventive method. Here, in step 101, a radio signal is received in a first vehicle 1 depicting a first traffic situation (target signal). This comes in the process step 101 especially a Car2Car communication, also C2C or Car2X or V2V communication is used. Car2Car communication refers to the exchange of information and data between a first vehicle 1 and a second vehicle 2 with the background of reporting critical and dangerous situations to the driver at an early stage. For this purpose, the second vehicle sends a radio signal to surrounding vehicles, for example the first vehicle 1 , out. The radio signal contains data such as steering angle, position, direction and speed. In addition, the radio signal also receives states of the second vehicle, for example the response of the ABS, the response of a distance warning signal, etc. The second vehicle collects this data, evaluates this data if necessary and outputs this data using the radio signal, e.g. WLAN, UMTS LTE or via a vehicle-specific (proprietary) radio system to the first vehicle 1 continue. For example, the visibility of the driver of the first vehicle should be 1 be extended by electronic means. In this way, for example, emergency braking, ice and aquaplaning, lane changes, threading etc. of the second vehicle can be received.

The second vehicle 2 is in particular operated autonomously. Autonomous driving, also known as piloted driving, refers to the movement of vehicles that behave largely autonomously, with processor systems, sensors and actuators working together to enable the vehicle to be driven rather than the driver 2 drives independently.

Due to the large amount of data and the high complexity of the sensors, it is especially possible for the autonomously operated vehicle 2 an error occurs. For example, a sensor supplies incorrect data, such as speed, position, etc., whereupon the vehicle executes an incorrect driving maneuver and possibly endangers road users involved. In addition, correct sensor data may have been interpreted or evaluated incorrectly. In addition, an evaluated driving situation can now be invalid due to rapid events, with the autonomous vehicle reacting too slowly to avert danger.

According to the invention, a pure radio signal in addition to the already known ultrasound, lidar, radar or camera location from the second vehicle 2 for locating or bearing the second vehicle 2 used to increase road safety. The radio signal is, for example, in the first vehicle 1 used to determine the current position of the second vehicle 2 to determine. The second vehicle instructs you to do this 2 a radio frequency transmitter. By simply receiving the radio waves of the radio signal, the direction from which the radio waves are received is now determined. In one embodiment of the invention, this radio signal can be used without sensor data from the second vehicle 2 , i.e. without further information from the second vehicle 2 , be sent out. In the first vehicle 1 this radio signal is received by means of one or more directional antennas.

In one process step 102 sensor data are therefore received from at least a sensor unit 12th , 13th , 14th , 18th of the first vehicle 1 depicting a second traffic situation (actual signal). In one process step 103 the received traffic situations are compared with one another, for example the target signal is compared with the actual signal. It is done in one step 104 checked whether the two traffic situations are identical, i.e. whether the target signal is identical to the actual signal or whether a deviation between the actual signal and the target signal is within predefined threshold values, for example a tolerance range of ± 5%. In one process step 105 the road user is informed about the comparison result 104 informed.

A plausibility check can thus be carried out and a dangerous situation can be prevented, but at least a road user can be adequately informed.

2 shows an exemplary schematic diagram of a vehicle according to the invention 1 . The vehicle 1 here is a vehicle with four wheels 11 . The invention is not limited to this type of vehicle. In particular, vehicles such as passenger cars, trucks, motorcycles, buses are used as the vehicle. Furthermore, vehicles such as bicycles, scooters, etc. can also be used.

In 2 becomes the vehicle 1 shown in principle from above. The vehicle has a large number of sensors. The sensors record physical quantities such as temperatures, speeds, angles and pressures.

The four wheels 11 are each with speed sensors 12th fitted. Based on the speed sensors 12th detected speeds can be determined how fast the vehicle is driving. The two front wheels also have direction sensors 13th on. Using the direction sensors 13th it can be determined whether the vehicle is changing direction 1 is carried out. In addition, acceleration and / or brake sensors, axial sensors, can be installed on the wheels 11 be arranged.

In addition, further sensors (not shown) can be provided, for example a crankshaft sensor, oil pressure sensor, temperature sensor, transmission sensor, oil level sensor, rain sensor, distance sensor, tank level sensor and / or steering angle sensor.

There is also a position sensor unit 14th , for example GPS position unit, and a radar, lidar, camera unit 18th intended.

The sensor units shown 12th , 13th , 14th , 18th can have further sub-units and be connected to further sensor units.

The signals from the sensors 12th , 13th , 14th , 18th become a central unit 15th , for example by means of radio or wired communication made available. Some of these data are already sent via an output unit 17th made available to the driver. For example, a speed and / or a position can be represented with this sensor data. These sensor data are referred to here as actual signals.

According to the invention, the vehicle 1 a transmitting unit and a receiving unit in order to be able to exchange data with the environment. In 2 are the transmitting unit and the receiving unit as a common transmitting and receiving unit 16 shown. The receiving unit 16 of the vehicle 1 is set up to receive a radio signal from a second vehicle 2 to receive and this to the central unit 15th of the vehicle 1 forward. In the central unit 15th The received radio signal is then compared, which is transmitted via the receiving unit 16 was received with the signals of the sensor data of the individual sensor units 12th , 13th , 14th and 18th . If the comparison shows that the depicted first traffic situation (target signal) does not match the second traffic situation (actual signal), it is assumed that the first traffic situation is implausible. The road user receives the comparison result via an output unit 17th shown. When comparing, for example, the same parameters from the setpoint signal and actual signal are compared with one another, in particular a current absolute / relative position of the vehicles and / or a current absolute / relative speed.

As an output unit 17th For example, an on-board display can be used in the vehicle. As an output unit 17th For example, a loudspeaker can be used in the vehicle. As an output unit 17th For example, a vibration signal in the vehicle, for example steering wheel vibration or seat vibration, can be used as a haptic signal. As an output unit 17th can for example be the loudspeaker and / or the display of a mobile radio device 5 one in the vehicle 1 road user.

In 3 a first embodiment of a traffic situation for applying the method according to the invention is shown. This is in 3 a multi-lane road 6th shown. On this multi-lane road 6th there are four autonomously operated vehicles 2 . These four autonomously powered vehicles 2 are for example trucks. These trucks in particular move with help of a technical control system in a very short distance behind one another without impairing traffic safety. This control system is known as platooning, and colloquially also called truck train. The four trucks drive a short distance from one another in a platooning group. This short distance leads to a considerable reduction in fuel consumption at normal motorway speeds. As a result, platooning systems make a significant contribution to reducing greenhouse gas emissions and more cost-effective transport of goods or people. The risk of congestion is greatly reduced by platooning. This massively increases the efficiency and utilization of motorways.

The platooning group is in the right lane of the two-lane road 6th on road. All four vehicles 2 are operated autonomously by means of platooning, and are relatively close to one another. This leads to the efficient use of slipstream effects, whereby fuel can be saved for each of the vehicles. This street is also in the left lane 6th a manually operated vehicle 1 shown. This vehicle 1 would like to continue a planned route and has to take the exit 7th the street 6th depart. The problem here is that the platooning network has the small spacing between the individual vehicles 2 among each other is not possible that the vehicle 1 between the individual vehicles 2 drives through without worsening platooning and without reducing road safety. By crossing the individual vehicles 2 by the first vehicle 1 For example, the use of the slipstream effects would be prevented and the insufficient distance between the vehicles would lead to considerable risks in road traffic. Additional braking and acceleration would lead to increased fuel consumption, which is undesirable.

The manually operated vehicle 1 receives radio signals from the platooning network via a receiving unit 16 . The radio signal provides a target signal for the traffic situation. The target signal of the traffic situation contains, for example, the position and the speed of the platooning network or the relative position and the relative speed can be determined from the radio signal.

The manually operated vehicle also determines 1 its own position based on sensor data received from one of the sensor units 12th , 13th , 14th , 18th of the vehicle 1 be determined.

These sensor data are received as an actual signal for the traffic situation. The actual signal of the traffic situation includes, for example, the position and the speed of the vehicle 1 . According to the traffic situation in 3 is the current position of the manually operated vehicle 1 at the beginning of the platooning network.

The target signal and the actual signal are now in the first vehicle 1 compared. Based on the comparison of the setpoint signal and the actual signal, it is determined that at the current speed of the vehicle 1 , the exit 7th can not be driven off without provoking a traffic hazard. The road user is above it in the vehicle 1 informs him and suggests his vehicle 1 to accelerate. Thus, according to 3 describes a traffic situation in which the planned route cannot be adhered to if the current speed is not varied. The information to the road user about the traffic situation here in particular represents a warning that no safe route is possible with the current sensor data as the actual signal and that a traffic hazard is excluded only with changed sensor data.

For this purpose, the information from the platooning group is in the first vehicle 1 evaluated to take the appropriate action. By analyzing the driving speeds, the recommendation for acceleration is now sent to the driver of the first vehicle as information about the comparison 1 and the vehicle is proposed to him 1 to accelerate in order to be able to leave before the platooning group.

In 4th shows a second embodiment of a traffic situation for applying the method according to the invention. In the 4th The traffic situation shown is the same as in 3 illustrated traffic situation, in this respect the description for 3 also for them 4th . Therefore, only the differences are shown below 3 detailed. The only difference to the traffic situation in 3 is the current position of the manually operated vehicle 1 at the end of the platooning network. This is determined by evaluating the actual signal. The comparison between the target signal and the actual signal then shows that the speed is too high to make the planned departure 7th to leave. The driver of the first vehicle 1 will be informed and advised to slow down in order to make the descent 7th to be able to use it as his planned route without endangering traffic.

In 5 a third embodiment of a traffic situation for applying the method according to the invention is shown. Here is a single lane road 6th shown, which can be traveled in both directions. An autonomous moving vehicle 2 drives in front of a manually operated vehicle 1 in the street 6th in the same direction. The first vehicle 1 receives radio signals from the second vehicle 2 as a target signal. The first vehicle also receives 1 Sensor data from your own vehicle as an actual signal. The first vehicle determines when comparing the target and actual signals 1 that the actual position "is" of the second vehicle 2 does not match the "target" position obtained from the radio signal. This is in 5 by the dashed position of the second vehicle 2 shown.

The incorrect position of the second vehicle 2 is sent as the comparison result to the road user, here the driver of the first vehicle 1 communicated. This can be recommended to reduce his speed and / or a warning signal to the second vehicle 2 to send out. This warning signal can for example be carried out automatically by the first vehicle 1 be generated to the driver of the second vehicle 2 to inform accordingly and, if necessary, to prevent a dangerous situation. This warning signal is used to become the driver of the second vehicle 2 may be asked to correct its actual position. Alternatively or additionally, the vehicle is 2 without the driver having to do anything, for example due to the warning signal in the target position within the framework of the autonomous operation

In addition, it is also possible that the comparison result via a traffic monitoring center Ü to be provided. In this case, the radio signal of the second vehicle 2 in the monitoring center Ü received and then to the first vehicle 1 Posted. The first vehicle 1 therefore does not receive the radio signal directly from the second vehicle 2 but by means of the monitoring center Ü . This increases the reliability of the radio signal and consequently the security of the system.

As in 5 is shown, the first vehicle 1 also be an oncoming vehicle. Additionally or alternatively, the third vehicle receives the radio signal and can then reassess the traffic situation and, if necessary, take measures to prevent an accident. In the case of the oncoming vehicle 1 , this could include the initiation of a braking process, which is suggested to the road user based on the information about the comparison result.

In 6th a fourth embodiment of a traffic situation for applying the method according to the invention is shown. Here is a two-lane road 6th shown, in which an autonomously operated vehicle 2 plans to change lanes to a vehicle in front M. to overtake. The autonomous vehicle overlooks 2 due to incorrect sensor data or incorrect evaluation of the sensor data, a first vehicle driving in the left lane 1 . The comparison between the target signal and the actual signal now makes it possible in turn that the faster moving first vehicle 1 a planned change of direction of the second vehicle 2 recognizes, although this has not yet indicated a change of direction.

In the 6th The traffic situation shown was caused by an error in the sensor system and / or on the basis of a program error in the autonomous vehicle and can in this way cause an accident. This will be the road user in the first vehicle 1 and on the basis of this information the road user of the first vehicle can slow down his vehicle and avoid an accident situation.

Here the first vehicle analyzes 1 the driving decision of the autonomously driving vehicle, which is implausible from his point of view 2 and informs the road user about it. In addition, a corresponding warning signal is generated if necessary. The warning signal is sent to the driver of the first vehicle 1 and possibly also to the driver of the second vehicle 2 transmitted. For example, the warning signal is also sent to a central instance Ü Posted. For example, a central unit calculates for all traffic situations 15th in the first vehicle 1 or a unit of this vehicle connected to the periphery 1 - for example a mobile radio device - the comparison of the target signal and the actual signal. The comparison then determines the implausible driving decision and alerts the vehicles in the event of significant deviations 1 , 2 with each other and possibly also the traffic control center Ü .

In 7th shows a fifth embodiment of a traffic situation for applying the method according to the invention. Here have 12 vehicles 1 , 2 the same destination, for example a parking garage P1 in a first traffic area 3 . However, the P1 car park only has 4 free spaces. In addition, the first traffic area 3 a high volume of traffic, so that considerable delays must be expected. The forecast time of arrival is for all 12 vehicles 1 , 2 the same in a certain time corridor. With the radio signal from other vehicles 1 , 2 the best route for the traffic situation and the optimal driving speed are suggested. Alternatively, the vehicles can 1 , 2 prompted to select an alternative route or an alternative destination. This is communicated to the respective road user as information about the comparison result. Here, for example, a navigation system and / or the driver receives the information about the second traffic area through his mobile radio device 4th to be used with other parking garages P2 and P3. In this way there are traffic jams in the respective traffic area 3 , 4th minimized and effectively saved time.

In 8th is a mobile radio device according to the invention 5 shown. On the mobile device 5 If a mobile device application is active, it enables the comparison result to be communicated to the road user as information about the traffic situation. For example, appears on the display of the mobile device 5 the information "Warning - vehicle ahead pulls out". There is also a radio unit in the mobile radio device 5 provided, which is set up, the radio signal of the second vehicle 2 as well as sensor data from a sensor unit 12th , 13th , 14th , 18th of the first vehicle 1 to recieve. This takes place in an evaluation unit of the mobile radio device 5 a comparison between the target signal and the actual signal and corresponding information to the road user about the comparison result. Alternatively, the reception and evaluation takes place in the central unit 15th of the vehicle and the information about the comparison result is via the mobile device 5 shown. In addition, an audio signal from the mobile radio device 5 be sent out to inform and / or warn the road user.

To collect the data from the first vehicle 1 and the second vehicle 2 Network technologies of the WLAN standard can also be used. The performance, availability and reliability of all traffic control, traffic information and driver assistance systems that use radio technology are thus significantly improved.

The depicted traffic situation is, for example, a planned (future) traffic situation, in particular a planned route and the necessary position of the individual vehicles in this traffic situation. A hazard can accordingly be prevented with the method according to the invention.

In addition, with the method according to the invention, a current traffic situation can be mapped by two vehicles, a plausibility check of a traffic situation received by means of radio signals being checked to avoid danger.

Within the scope of the invention, all elements described and / or drawn and / or claimed can be combined with one another as desired.

List of reference symbols

1

vehicle

11

wheel

12

Speed sensor

13

Direction sensor

14th

Position sensor

15th

Central unit

16

Receiving and transmitting unit

17th

Output unit

18th

Radar, lidar unit

2

Second vehicle

3

First traffic area

4th

Second traffic area

5

Cellular device

6

Street

7th

exit

A.

Autonomously operated vehicle

M.

Manually operated vehicle

S.

Target position of the second vehicle

I.

Actual position of the second vehicle

Ü

Traffic control center

101-105

Procedural steps

Claims (15)

Method (100) for informing a road user about a traffic situation, the method (100) comprising the following steps: - Receiving (101) a transmitted radio signal by a receiving unit (16) of a first vehicle (1) depicting a first traffic situation, the radio signal being transmitted by a high-frequency transmitter of an autonomously operated second vehicle (2), with the radio signal being radio direction finding without additional sensor data from the second vehicle, the current position of the second vehicle (2) is determined and this radio signal is received by means of several directional antennas; - Receiving (102) sensor data from at least one sensor unit (12, 13, 14, 18) of the first vehicle (1) depicting a second traffic situation; - comparing (103) the first traffic situation with the second traffic situation; and - Informing (105) the road user about the comparison result (104) of the comparison. Method (100) according to Claim 1 , wherein the transmitted radio signal contains sensor data from at least one sensor unit (12, 13, 14, 18) of the second vehicle (2). The method (100) according to any one of the preceding claims, wherein the mapped first traffic situation comprises at least one position, speed, direction and / or route information of the second vehicle (2) determined by the second vehicle (2). Method (100) according to one of the preceding claims, wherein the mapped second traffic situation comprises at least one position, speed, direction and / or route information of the second vehicle (2) determined by the first vehicle (1). Method (100) according to one of the preceding claims, wherein the mapped second traffic situation comprises at least one position, speed, direction and / or route information of the first vehicle (1) determined by the first vehicle (1). Method (100) according to one of the preceding claims, wherein the comparing (103) shows that the first traffic situation mapped is implausible. Method (100) according to one of the preceding claims, wherein the comparison (103) takes place in: - A control unit (15) of the first vehicle (1); - A mobile radio device (5) of the road user in the first vehicle (1); and or - A traffic surveillance center (Ü) in communication with the first vehicle (1). Method (100) according to one of the preceding claims, wherein the informing (105) takes place via: - An on-board display of the first vehicle (1); - A mobile radio device (5) of the road user in the first vehicle (1); - An audio signal generated by the first vehicle (1); - A haptic signal generated by the first vehicle (1); and or - A warning signal is generated for the second vehicle (2). Method (100) according to Claim 8 , wherein the warning signal includes a request to the driver of the second vehicle (2) to take control. The method (100) according to any one of the preceding claims, wherein the informing (105) includes driving instructions to the driver of the first vehicle (1). Method (100) according to Claim 10 , wherein the driving instruction to the driver of the first vehicle (1) includes a route change. Method (100) according to one of the preceding claims, wherein the radio signal transmitted by the second vehicle (2) is sent to a traffic monitoring center (Ü) which transmits the transmitted radio signal to at least the second vehicle (2). Control unit (15) in a vehicle (1, 2) for informing (105) a road user about traffic information, comprising: - an interface to a receiving unit (16) of the vehicle (1, 2) for receiving a radio signal by a first vehicle (1 ) depicting a first traffic situation, the radio signal being transmitted by a high-frequency transmitter of an autonomously operated second vehicle (2), the current position of the second vehicle (2) being determined by means of a radio direction finding of the radio signal without additional sensor data from the second vehicle, and where this radio signal is received by means of several directional antennas; - An interface to at least one sensor unit (12, 13, 14, 18) for receiving sensor data from the first vehicle (1) depicting a second traffic situation; - a comparison unit, set up to compare (103) the first traffic situation with the second traffic situation and - an output unit set up to inform (105) the road user about the comparison result (104) of the comparison (103). Mobile radio device (5) for informing (105) a road user about traffic information, comprising: - a receiving unit set up for: ◯ Receipt (101) of a radio signal by a first vehicle (1) depicting a first traffic situation, the radio signal being transmitted by a high-frequency transmitter of an autonomously operated second vehicle (2), with the aid of a radio direction finding of the radio signal without additional sensor data from the second vehicle the current position of the second vehicle (2) is determined and this radio signal is received by means of several directional antennas; and o receiving (102) sensor data from at least one sensor unit (12, 13, 14, 18) of the first vehicle (1) depicting a second traffic situation; a comparison unit set up to compare (103) the first traffic situation with the second traffic situation; and - An output unit, set up to inform (105) the road user about the comparison result (104) of the comparison (103). Computer program product for informing road users about a traffic situation, program parts being retrieved from a program memory which, when the program parts are executed on a computer, initiate the method (100) according to one of the Claims 1 to 12th execute.

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