DE102016218382A1 - Method and apparatus for the autonomous driving of a vehicle in an emergency mode - Google Patents

Abstract

In a method for autonomously driving a vehicle in an emergency mode, wherein the vehicle has an electronic vehicle control (50) that can establish a bi-directional data communication connection (46) with a remotely located traffic control authority (54), the vehicle control recognizes an emergency situation ( 50), forwarding the emergency situation from the vehicle controller (50) to the traffic authority authority via the data communication link (46), determining an emergency destination (52) and route thereto, assessing the emergency situation by the traffic authority authority (54), and based on the traffic control authority Evaluating, transmitting a release to cancel at least one existing regulatory driveline restriction via the data communication link (46) to the vehicle controller (50) so that the vehicle can potentially reach the emergency target (52) in a shorter time, and an autonomous F driving the vehicle to the emergency destination (52) taking into account the clearance granted by the traffic authority authority (54).

Description

The present invention relates to a method for driving operation of a vehicle in an emergency mode according to the preamble of claim 1 and to the implementation of the method trained devices.

Non-rail land vehicles, whether petrol, diesel, electric, hydrogen or hybrid vehicles with self-propelled capacity, i. Autonomous driving allows a variety of novel functions to increase safety and comfort for passengers and other road users.

It has already been proposed to implement a so-called emergency mode in autonomously operable vehicles, whereby "emergency" here does not refer to an accident of the vehicle, but to a - usually medical emergency - of the driver or a passenger, ie a vehicle occupant, refers. For the sake of simplicity, the term "driver" shall refer to the person who can control the vehicle from its position in the vehicle, regardless of whether this actually happens or the vehicle is operated autonomously.

Such an emergency mode may be initiated due to the driver's monitoring by means of, in the broadest sense, medical sensors, which include monitoring the driver's responsiveness by means of so-called "deadman" circuits; but it can - if necessary in addition - also be initiated manually by an operator action, which in particular in medical problems of passengers, where no or only to a lesser extent automated monitoring takes place.

In such an emergency mode, it is proposed that the vehicle autonomously visit the nearest hospital or a suitable other place, so that the emergency transport is shortened, because it does not have to wait for an ambulance.

From the DE 10 2014 217 453 A1 It is known to initiate autonomous driving when detecting an emergency with driver impairment, which brings the driver to a hospital or to a safe place, with an auxiliary service can be contacted.

From the DE 10 2013 016 436 A1 It is known to take over control of the vehicle autonomously in a driver impairment in such a way that it can be safely turned off.

From the US Pat. No. 9,157,752 B1 and the US 8 874 301 B1 it is known, in the event of a driver emergency, to drive the vehicle autonomously to a specific location, eg to a treatment center or to a police station,

The object of the invention is to improve the above-described behavior in an emergency mode of a vehicle so that an emergency target, such as an emergency target, e.g. an emergency room of a hospital can be reached faster.

The solution of the above object is achieved by means of a method having the features of claim 1 and by means of a vehicle control, a traffic control authority and by means of a system of at least one vehicle with this vehicle control and a Verkehrsregelungsautorität, which are designed to carry out the method according to the features of the claims 10th , 11 and 12.

Advantageous embodiments of the invention are described in the dependent claims.

• a) Erkennen einer Notfallsituation durch die Fahrzeugsteuerung auf der Basis von Messwerten von Sensoren, insbesondere Erkennen einer medizinischen Notfallsituation wenigstens eines Fahrzeuginsassen, oder Melden einer Notfallsituation durch einen Fahrzeuginsassen;
• b) Weiterleiten der Notfallsituation und weiterer, für die Bewertung der Notfallsituation relevanter Informationen, einschließlich der aktuellen Fahrzeugposition, von der Fahrzeugsteuerung über die Datenkommunikationsverbindung an die Verkehrsregelungsautorität;
• c) Bestimmen eines Notfallziels und einer Fahrtroute dorthin durch die Fahrzeugsteuerung oder die Verkehrsregelungsautorität oder in Zusammenwirkung von Fahrzeugsteuerung und Verkehrsregelungsautorität;
• d) Bewerten der Notfallsituation durch die Verkehrsregelungsautorität und, basierend auf der Bewertung, Übermittlung einer Freigabe zur Aufhebung wenigstens einer bestehenden regulatorischen Fahrtrestriktion über die Datenkommunikationsverbindung an die Fahrzeugsteuerung, so dass das Fahrzeug das Notfallziel potentiell in kürzerer Zeit erreichen kann; und
• e) autonomes oder wenigstens teilweise autonomes Fahren des Fahrzeugs zu dem Notfallziel unter Berücksichtigung der durch die Verkehrsregelungsautorität erteilten Freigabe.

In a method according to the invention for autonomously driving a vehicle in an emergency mode in which the vehicle is to be autonomously or partially autonomously guided to an emergency destination in an emergency situation, the vehicle having an electronic vehicle controller capable of establishing a bidirectional data communication link with a remotely located traffic authority authority , the following steps are provided:

• a) detecting an emergency situation by the vehicle control on the basis of measured values of sensors, in particular recognizing a medical emergency situation of at least one vehicle occupant, or reporting an emergency situation by a vehicle occupant;
• b) Forwarding the emergency situation and further, for the evaluation of the emergency situation relevant information, including the current vehicle position, from the vehicle control via the data communication connection to the traffic control authority;
• c) determining an emergency destination and a route there by the vehicle control or the traffic control authority or in cooperation of vehicle control and traffic control authority;
• d) assessing the emergency situation by the traffic authority authority and, based on the rating, transmitting a release to release at least one existing regulatory driveline restriction over the data communication link to the vehicle controller so that the vehicle can potentially reach the emergency target in a shorter time; and
• e) autonomous or at least partially autonomous driving of the vehicle to the emergency destination, taking into account the release issued by the traffic authority authority.

Thus, in the context of the invention in the case of the need for a trip to an emergency destination - for example, to an emergency room of a hospital - in an emergency mode after coordination with a Verkehrsregelungsautorität a ride under partial disregard of traffic rules allowed, similar to the special rights when using rescue or police vehicles. It is not necessary to cancel all restrictions imposed by traffic rules. Rather, the authorized control modifications expediently represent a compromise between the temporal acceleration of the drive in emergency mode and the safety of the vehicle driving in emergency mode and the other road users.

For example, a speed limit can be raised inland from 50 km / h to 70 km / h, the autonomous driving control makes the actually mobile speed depending on the traffic and electronic visibility.

The said traffic control authority can be, for example, a state-organized emergency call center or a police control center. The fact that it is an official or governmental body that can individually examine and document the abolition of regulatory restrictions on driving, a possible misuse of the function of the invention is prevented. In the test, the traffic authority authority can assist in the request with transmitted medical data collected from the vehicle. But even if the data on the emergency is unclear, the need for an emergency trip, if necessary, after all, at least on the basis of an opinion of the approached clinic to be checked for plausibility.

In order to avoid a possible misuse of the suspension restrictions and for data protection reasons, it is furthermore advantageous if the corresponding transmissions between traffic authority authority and vehicle control are cryptographically secured, wherein in particular the release of the driving restrictions should be ensured by asymmetrical cryptographic protocols.

The order of the o.g. Incidentally, steps can - as far as logically possible - in principle also be modified. For example, the determination of the emergency goal can also be made before or after the specified step c).

• – Aufhebung und/oder Heraufsetzung einer zulässigen Fahrthöchstgeschwindigkeit;
• – Freigabe bestimmter, normalerweise für das Befahren durch das Fahrzeug nicht zugelassener Wege, wie Bus- oder Taxispuren oder Standstreifen von Schnellverkehrsstraßen;
• – Aufhebung von Durchfahrtverboten, z.B. von Anliegerstraßen; und/oder
• – Aufhebung von Überholverboten.

Preferably, the removal of the at least one existing regulatory driving restriction may involve one or more restrictions from the group of the following restrictions:

• - abolition and / or increase of a permissible maximum driving speed;
• - release of certain routes not normally permitted for driving by the vehicle, such as bus or taxi lanes or high-traffic lanes;
• - abolition of transit prohibitions, eg of residential roads; and or
• - Lifting overtaking bans.

The corresponding suspensions may be granted on a flat-rate basis or may be granted selectively for specific sections of the respective predicted route to the emergency destination.

In a preferred embodiment of the method, in addition to the release in step d) on the route to the emergency target located Lichtzeichen- or traffic signal systems by a transmitted in the presence of a corresponding release by the traffic control authority wirelessly transmitted signal of the vehicle control or by a directly transmitted from the Verkehrsregelungsautorität signal be switched so that the drive to the emergency goal in the sense of a "green wave" is accelerated. Of course, this presupposes that the corresponding traffic signal systems are suitably equipped, either by means of local communication connections, such as IR or radio receivers; or the control is carried out directly by the traffic control authority, which must then be kept informed about the current location of the vehicle in emergency mode. Since this position determination is required only in emergency mode, this does not represent a technical data protection problem.

In a preferred embodiment, other road users by the light signals (eg by the hazard warning lights or by imitation of the so-called blue light through the vehicle lighting in the presence of corresponding multi-color LEDs) and / or audible signals (horn) of autonomously driving in emergency mode vehicle pointed to the emergency mode become.

Furthermore, other road users can be notified of the emergency mode via an electronic communication link and, if possible, automatically give priority to the vehicle in emergency mode. For example, the emergency mode can be communicated to a vehicle in front via a car-to-car data connection, which is then to release the respective lane for emergency travel either automatically or via a request to the driver.

• – Pulsfrequenzsensor;
• – Atemfrequenzsensor;
• – EKG- oder EEG-Sensor;
• – Körpertemperatursensor;
• – Pulsoxymetersensor;
• – Atemgas-Sensor; und/oder
• – Sensoren, deren Signale Rückschlüsse auf die Reaktions- und/oder Handlungsfähigkeit eines Fahrzeuginsassen erlauben.

In a preferred embodiment, the recognition of an emergency situation in step a) can take place on the basis of health-related measured values of one or more of the following sensors, which can be assigned to one or more vehicle occupants, wherein the corresponding measured values can also be derived from the measured values of other sensors:

• - pulse rate sensor;
• - Respiratory frequency sensor;
• - ECG or EEG sensor;
• - body temperature sensor;
• - pulse oximeter sensor;
• - breathing gas sensor; and or
• - Sensors whose signals allow conclusions on the responsiveness and / or ability to act of a vehicle occupant.

Health-related measurements of the vehicle occupant (s) obtained in step b) can also be transmitted to the traffic control authority in order to enable a more thorough assessment of the emergency situation. If the vehicle has identified the particular driver, which is often the case today for reasons of comfort (e.g., automatic adjustment of stored seating positions) among regular users of the vehicle, then the identity or health information stored for the vehicle occupant concerned may also be communicated. Thus, for example, in known pre-existing diseases, e.g. Cardiovascular diseases, epilepsy, the emergency situation are assessed more thoroughly and a suitable hospital may be selected with a specialization for the suspected medical problem.

• – voraussichtliche Fahrtstrecke/Fahrtdauer bis zu dem Krankenhaus;
• – Verfügbarkeit des Krankenhauses für Notfälle;
• – Spezialisierung des Krankenhauses auf die vermutete Art des Notfalls, soweit sich dies aus den gesundheitsbezogenen Sensordaten oder und/oder einer Benutzereingabe ergibt; und/oder
• – ein für den betroffenen Fahrzeuginsassen gespeichertes und/oder durch Benutzereingabe ausgewähltes präferiertes Krankenhaus.

In the determination of the emergency goal in step c), a hospital is preferably selected using the following criteria with predetermined prioritization:

• - estimated journey / journey time to the hospital;
• - availability of the hospital for emergencies;
• - Specialization of the hospital on the suspected nature of the emergency, as far as this results from the health-related sensor data or and / or a user input; and or
• A preferred hospital stored for the affected vehicle occupant and / or selected by user input.

As already mentioned, the emergency destination (in particular the targeted hospital) of the arriving vehicle, the estimated time of arrival and the available further health-related data can be automatically informed by the traffic control authority, so that a corresponding preparation of the emergency treatment is possible.

A vehicle control according to the invention, a traffic control authority and a system comprising at least one autonomously operable vehicle with a vehicle control and a remote traffic authority authority is / are designed to carry out the above-described method.

The invention will be explained in more detail by way of example with reference to the drawings. Show it:

1 a schematic flow diagram of an embodiment of the method according to the invention at a higher level of abstraction;

2 a schematic block diagram of the interacting components of the invention; and

3 and 4 schematic flow diagrams of an embodiment of the inventive method at a lower level of abstraction.

According to 2 indicates a vehicle 50 to use the method according to the invention a control 44 for autonomous driving, as known in the art. The control 44 receives via various sensors (cameras, radar sensors, ultrasonic distance sensors, etc., not shown) information required to operate various drive actuators (accelerator pedal, brakes, steering, circuit, direction indicator, etc., not shown) for autonomous driving along one of a navigation system 48 predetermined route are evaluated. Deviating from a completely autonomous operation, a partially autonomous operation is possible in which the system limits, for example, the speed to the currently permissible and required level. Even for a semi-autonomous operation, the inventive method is basically applicable, provided that the driving ability of the driver is still present. In this case, for example, normally automatically maintained speed limits can be canceled in emergency mode with eientsprechender authorization.

A driver 40 the vehicle will continue according to 2 through medical sensors 42 , such as pulse sensors monitored. Such monitoring can, for example, by tapping appropriate signals and transmission of a so-called. "Smartwatch" done, or by appropriate sensors in the environment of the driver, eg vibration sensors in the seat attachments that perceive the pulse sounds of the driver, od. Like Vehicle control a communication system 46 on, which can communicate preferably via mobile selectively with distant remote sites, such as a police office 54 as a traffic regulation authority, with one or more hospitals 52 (whereby the communication with these also indirectly via the traffic control authority 54 can be done), and optionally with the transport infrastructure, such as traffic lights or other vehicles (car-to-car, reference numeral 56 ).

With reference to 1 the sequence of an embodiment of the method according to the invention is explained below on an initially relatively high level of abstraction.

Starting from an autonomous or a manual driving 10 is assisted by the sensors or by a user advice 12 a medical emergency with the driver (or a passenger detected). In a query 14 An attempt is made to confirm the existence of the emergency (in particular to rule out misinterpretations due to sensor disturbances) and to assess the severity of the emergency, which can be done by more accurate and re-analysis of the sensor data, but also by a demand from the driver.

If no critical emergency is known, then the ride is at 16 normal continued. Otherwise it will be added 18 the emergency mode is activated, and it gets in 20 from the navigation system a route to the nearest (or more appropriate, see below) hospital is calculated and this hospital at 22 notified. Furthermore, at 24 a request for an emergency trip with the responsible traffic authority authority. The traffic control authority checks the available information (either automatically or semi-automatically with an additional operator) and issues it 26 On the basis of the available data (medical data, locations, route) certain authorizations for emergency travel, in particular with regard to the repeal of certain regulatory driving restrictions, such as prescribed maximum speed, use of reserved lanes, etc., or possibly rejects this release. In the case of rejection (or as long as the authorization check continues), an autonomous trip takes place 28 to the hospital in compliance with all traffic regulations. When authorizing the emergency journey, however, according to step 30 certain traffic rules are violated while driving, wherein the presence of an emergency trip from the vehicle to other road users, eg by flashing the hazard warning lights in an extraordinary rhythm and / or audible signals can be displayed. If so provided, appropriate infrastructure will continue to be provided 32 notified, so that priority can be given to the corresponding emergency trip, until finally the hospital at 34 is reached.

In the 3 and 4 For example, the method described above will be explained in more detail, with the steps in FIG 3 the steps to initiate the emergency mode and the steps in 4 explain the steps after initiating the emergency mode.

According to 3 is based on an autonomous / manual driving operation 60 the driver at 62 continuously monitored for possible medical problems. If critical signals are received by health sensors for more than a predetermined time, then 66 to a verification of the signals at step 70 passed to exclude a "false alarm". For this, the signal patterns are checked for plausibility. If the signals could not be verified, they will be added 72 entered a fault mode with a corresponding driver warning.

However, if the signals could be verified, then in step 74 determines if a critical driver condition exists. This can be accomplished, for example, by a neural network that evaluates various sensor signals and the development of the measured values. If there is no critical condition, however, purely statistically the danger that a critical condition of the driver might be imminent is increased. Therefore, it then becomes a so-called high-sensitivity mode 76 passed, in which the signals of the medical sensors are monitored low threshold. Is at 74 determines that it is a critical condition (or at least could act) 80 a request to the driver via a user interface (eg a display or a voice output), whether he feels comfortable. If he denies this or if there is no response within a given time, the emergency mode will be in step 84 activated. If the driver at 82 while responding that he feels comfortable, will nevertheless (possibly for a certain time) in the high-sensitivity mode 76 passed.

Alternatively, the emergency mode may be in the left branch of 3 also by pressing an emergency button or speaking an emergency command in the passenger compartment 64 be triggered, which can be used in particular in a problem of a not detailed monitored rider. This command can then at 68 still be canceled within a predetermined amount of time before the emergency mode at 84 is triggered, as further described by 4 is described.

According to 4 begins the activation of the emergency mode 100 with, as close as possible a hospital 102 to contact. Does this hospital reject the admission of the emergency? 104 - whether it is due to lack of capacity or lack of aptitude for the presumed medical problem - it is automatically contacted another nearby hospital.

If the emergency is not referenced, then the collected medical data will be added 106 transferred so that the hospital according to step 110 can prepare the emergency treatment before arrival. At the same time is at 112 calculated the fastest route to the hospital in detail (which was previously approximated to determine the nearest hospital). After that, a traffic control authority, such as a police station, is added 114 automatically contacted via the vehicle communication and requested a trip in emergency mode specifying the destination and other data, while at the same time the emergency journey - initially in compliance with all traffic rules - already started. Will the request be included 118 declined, so the normal ride in accordance with all traffic rules 116 continued. Will the request be included 118 granted, an autonomous emergency journey takes place 122 under conscious and authorized disregard of certain traffic rules. This is with other vehicles 124 Contacted to warn them and to ask them to pass by, which can either be done by the drivers of these vehicles or also autonomously. Furthermore, according to step 120 Traffic lights on the emergency route with respect to a green shaft for the vehicle switched in emergency mode until at 126 the arrival at the hospital is done.

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 102014217453 A1 [0006]
• DE 102013016436 A1 [0007]
• US 9157752 B1 [0008]
• US 8874301 B1 [0008]

Claims (12)

Method for the autonomous driving operation of a vehicle in an emergency mode, in which the vehicle is to be guided autonomously or partially autonomously to an emergency destination in an emergency situation, the vehicle having an electronic vehicle control system ( 50 ) having a bidirectional data communication connection with a remotely located traffic control authority ( 54 ) characterized by the following steps: a) detection of an emergency situation by the vehicle control ( 50 ) on the basis of measured values from sensors ( 42 ), in particular recognition of a medical emergency situation of at least one vehicle occupant ( 40 ), or reporting an emergency situation by a vehicle occupant; (b) forward the emergency situation and other information relevant to the assessment of the emergency situation, including the vehicle position, to the vehicle control system ( 50 ) via the data communication connection ( 46 ) to the traffic authority authority ( 54 ); c) determining an emergency goal ( 52 ) and a route there by the vehicle control ( 50 ) or the traffic control authority ( 54 ) or in cooperation of vehicle control and traffic control authority; d) assessing the emergency situation by the traffic authority authority ( 54 ) and, based on the rating, transmission of a release to release at least one existing regulatory driver restriction via the data communications link ( 46 ) to the vehicle control ( 50 ), so that the vehicle is the emergency destination ( 52 ) can potentially reach in less time; and (e) autonomous or at least partially autonomous driving of the vehicle to the emergency destination taking into account the traffic control authority ( 54 ) granted approval. A method according to claim 1, characterized in that the abolition of the at least one existing regulatory driving restriction may relate to one or more restrictions from the group of the following restrictions: abolition and / or increase of a permissible driving maximum speed; - release of certain routes not normally permitted for driving by the vehicle, such as bus or taxi lanes or hard-traffic lanes; - Abolition of transit prohibitions, eg of residential roads and / or - cancellation of overtaking bans. Method according to claim 1 or 2, characterized in that in addition to the release in step d) on the route to the emergency destination ( 52 ) located by a traffic signal in the presence of a corresponding release by the traffic control authority wirelessly transmitted signal of the vehicle control ( 50 ) or by a direct from traffic authority authority ( 54 ) are switched in such a way that the journey to the emergency destination ( 52 ) is accelerated. Method according to one of claims 1 to 3, characterized in that other road users are alerted to the emergency mode by light signals and / or acoustic signals of autonomously driving in emergency mode vehicle. Method according to one of claims 1 to 4, characterized in that other road users are informed of the emergency mode via an electronic communication link and, if possible, automatically give priority to the vehicle in emergency mode. Method according to one of claims 1 to 5, characterized in that the detection of an emergency situation in step a) on the basis of health-related measured values of one or more of the following sensors ( 42 ), which can be assigned to one or more vehicle occupants, wherein the corresponding measured values can also be derived from the measured values of other sensors: pulse rate sensor; - Respiratory frequency sensor; - ECG or EEG sensor; - body temperature sensor; - pulse oximeter sensor; - breathing gas sensor; and / or - sensors whose signals allow conclusions about the reaction and / or ability to act of a vehicle occupant. Method according to one of claims 1 to 6, characterized in that in step b) health-related measured values of the vehicle occupant or passengers with the traffic control authority ( 54 ) and / or that the identity or health information stored for the vehicle occupant concerned is also transmitted. Method according to one of claims 1 to 7, characterized in that when determining the emergency goal ( 52 ) in step c) a hospital is selected, wherein the following criteria with a given prioritization are used: - estimated travel distance / travel time to the hospital; - availability of the hospital for emergencies; - Specialization of the hospital on the suspected nature of the emergency, as far as this from the health-related sensor data or and / or user input; and / or - a preferred hospital stored for the affected vehicle occupant and / or selected by user input. Method according to one of claims 1 to 8, characterized in that the emergency goal ( 52 ) about the arriving vehicle, the estimated time of arrival and the other available health related data by the traffic authority authority ( 54 ) is automatically informed. Vehicle control ( 50 ), characterized in that it is designed for carrying out a method according to one of the preceding claims. Traffic regulation authority ( 54 ), characterized in that it is designed for carrying out a method according to one of claims 1 to 9. System comprising at least one autonomously operable vehicle with a vehicle control system ( 50 ) and a remote traffic control authority ( 54 ), with which the at least one vehicle is connected to a data communication connection ( 46 ), characterized in that the vehicle control ( 50 ) and the traffic authority authority ( 54 ) are designed for carrying out a method according to one of claims 1 to 9.

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