DE102017009609A1 - Procedure for issuing a refurbishment recommendation - Google Patents

Abstract

The invention relates to a method for outputting a refurbishment recommendation (E1), in which a first motor vehicle (10) having a first vehicle length (FL1) follows a following distance (d_vor) behind a preceding vehicle (30) and in an advance distance (d_hin) a following vehicle (40) comprising at least the following steps: a) detecting the advance distance (d_hin) and a second vehicle length (FL2) of a second motor vehicle (20) traveling behind the follower vehicle b) determining whether the advance distance is greater than or equal to the sum from the second vehicle length as well as a first minimum safety distance between the second motor vehicle and the first motor vehicle to be expected after a future passing of the second motor vehicle and a second minimum safe distance between the second motor vehicle and the following vehicle expected after the future passing process; Output of the overtaking recommendation to the second force vehicle if the advance distance is greater than or equal to the sum of the second vehicle length and the first minimum safe distance and the second minimum safe distance.

Description

The invention relates to a method for outputting a refurbishment recommendation in which a first motor vehicle having a first vehicle length travels in a following distance behind a preceding vehicle and ahead of a following vehicle.

Overtaking maneuvers in hard-to-see places are among the main causes of serious traffic accidents. During a risky overtaking maneuver, not only the driver of the overtaking motor vehicle, but also other road users are under stress, especially since the latter expect to have to react to unforeseen events, such as a sudden emerging, oncoming motor vehicle to possibly timely Einscheren the overtaking motor vehicle enable.

From the WO 2015/064041 A1 a driving controller with a vehicle detection unit is known. The vehicle detection unit detects a respective position of peripheral vehicles that move around a leader vehicle in a lane. The driving controller further includes a generating unit that assigns potential fields to predetermined areas adjacent to the respective positions of each peripheral vehicle and generates a potential distribution representing a road distribution of the potential fields of each peripheral vehicle. The potential fields indicate the degree of psychological pressure on the driver of the lead vehicle. The driving controller further includes a control unit that controls a driving state of the leader vehicle so that the leader vehicle moves to positions with relatively low potential fields in the potential distribution and correspondingly low psychological pressure.

Object of the present invention is to provide a method of the type mentioned, which allows particularly safe overtaking.

This object is achieved by a method having the features of patent claim 1. Advantageous embodiments with expedient developments of the invention are specified in the remaining claims.

1. a) Erfassen des Vorausabstands sowie einer zweiten Fahrzeuglänge eines hinter dem Folgefahrzeug fahrenden zweiten Kraftfahrzeugs;
2. b) Bestimmen ob der Vorausabstand größer oder gleich der Summe aus der zweiten Fahrzeuglänge sowie einem, nach einem zukünftigen Überholvorgang des zweiten Kraftfahrzeugs zu erwartenden, ersten Mindestsicherheitsabstand zwischen dem zweiten Kraftfahrzeug und dem ersten Kraftfahrzeug sowie einem, nach dem zukünftigen Überholvorgang zu erwartenden, zweiten Mindestsicherheitsabstand zwischen dem zweiten Kraftfahrzeug und dem Folgefahrzeug ist;
3. c) Ausgabe der Überholempfehlung an das zweite Kraftfahrzeug, wenn der Vorausabstand größer oder gleich der Summe aus der zweiten Fahrzeuglänge sowie dem ersten Mindestsicherheitsabstand und dem zweiten Mindestsicherheitsabstand ist.

A method according to the invention for outputting a refurbishment recommendation, in which a first motor vehicle having a first vehicle length travels in a following distance behind a preceding vehicle and ahead of a following vehicle, comprises at least the following steps:

1. a) detecting the advance distance and a second vehicle length of a driving behind the follower vehicle second motor vehicle;
2. b) determining whether the advance distance greater than or equal to the sum of the second vehicle length and a, to be expected after a future overtaking of the second motor vehicle, first minimum safe distance between the second motor vehicle and the first motor vehicle and a, to be expected after the future overtaking, second minimum safety distance between the second motor vehicle and the following vehicle;
3. c) issuing the refurbishment recommendation to the second motor vehicle if the advance distance is greater than or equal to the sum of the second vehicle length and the first minimum safe distance and the second minimum safe distance.

By issuing the refurbishment recommendation to the second motor vehicle when the advance distance is greater than or equal to the sum of the second vehicle length and the first minimum safety distance and the second minimum safety distance, a particularly safe overtaking process can be made possible, the second motor vehicle after completing the Overtaking with the first Minimum safety distance behind the first motor vehicle and with the second minimum safe distance ahead of the following vehicle can drive. The overtaking of the second motor vehicle can thus be completed without the respective minimum safety distances are exceeded and respective drivers of the corresponding motor vehicles, psychological stress situations are suspended.

The detection of the advance distance can for example be based on respective, in-vehicle distance sensors of the first motor vehicle. The distance sensors can thus determine the advance distance between the first motor vehicle and the following vehicle traveling behind the first motor vehicle.

The second vehicle length of the second motor vehicle, for example, transmitted from the second motor vehicle to the first motor vehicle and finally detected by the first motor vehicle.

The respective minimum safety distances, ie the first minimum safety distance and the second minimum safety distance can be determined by a respective, instantaneous driving speed of the respective motor vehicle, as well as, for example, by weather conditions, ie by weather influences and additionally or alternatively depending on road conditions, which may include, for example, a road gradient or a road gradient. The minimum safety distances can accordingly increase, for example, with increasing driving speed, to give just one example. To determine the minimum safety distances and to determine the sum of the second vehicle length and the minimum safety distances, for example, a computing device of the first motor vehicle can be used.

In an advantageous development of the invention, the first motor vehicle reduces the following distance to the vehicle ahead and thereby increases the advance distance if the advance distance is less than the sum of the second vehicle length, the first minimum safe distance and the second minimum safe distance. This is advantageous because the first motor vehicle can thereby make room for an imminent overtaking maneuver of the second motor vehicle, whereby the first motor vehicle accordingly actively improves a passing condition for the second motor vehicle. In other words, so the first motor vehicle can drive closer to the vehicle ahead with the reduction of the following distance and thereby increase the advance distance until the overtaking maneuver of the second motor vehicle can be performed with sufficient security, so until finally the front clearance greater than or equal to the sum of the second vehicle length and the two minimum safety distances.

In a further advantageous further connection of the invention, the first motor vehicle transmits an overtaking announcement to the second motor vehicle, while the first motor vehicle reduces the following distance to the preceding vehicle and thereby increases the advance distance, if it is to be expected that after completion of the reduction of the following distance the advance distance is greater is equal to the sum of the second vehicle length, the first minimum safety distance, and the second minimum safety distance. This is advantageous because the second motor vehicle or the driver of the second motor vehicle can prepare by the Überholankündigung particularly early on that a safe overtaking maneuver can be carried out by means of the second motor vehicle shortly.

The output of the overrun recommendation may take place after the overtake announcement, ie preferably only when the following distance to the vehicle in front is reduced such that the advance distance is greater than or equal to the sum of the second vehicle length, the first minimum safe distance and the second minimum safe distance.

In a further advantageous embodiment of the invention, the output of the overrun recommendation is omitted when the first motor vehicle reduces the following distance to the vehicle ahead to a predetermined limit, in which the advance distance is less than the sum of the second vehicle length, the first minimum safe distance and the second minimum safe distance. In other words, the output of the overrun recommendation is omitted if there is not enough space between the vehicle in front and the first motor vehicle to increase the advance distance for a safe overtaking maneuver of the second motor vehicle such that the leading distance is greater than or equal to the sum of the second vehicle length and the two Minimum safety distances is. This is advantageous because risky overtaking maneuvers can be at least largely prevented.

In a further advantageous embodiment of the invention, at least the first motor vehicle is operated autonomously. Preferably, the first motor vehicle is thereby operated fully autonomously. As a result, abrupt driving maneuvers of the first motor vehicle, for example, can be ruled out and thus particularly secure conditions for an overtaking maneuver of the second motor vehicle can be created.

A particularly favorable traffic flow and a particularly safe overtaking can be achieved if all motor vehicles, ie the first motor vehicle, the second motor vehicle, the vehicle in front, and the follower vehicle are operated autonomously, in particular fully autonomously. By a fully autonomous vehicle operation, the corresponding motor vehicle, regardless of a driver intervention on changing traffic situations in a particularly favorable manner, in particular very fast, respond.

Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing (s). The features and feature combinations mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or in the figures alone can be used not only in the respectively specified combination but also in other combinations or in isolation, without the scope of To leave invention.

• 1 eine schematische Darstellung eines ersten Kraftfahrzeugs, welches eine erste Fahrzeuglänge aufweist und in einem Folgeabstand hinter einem Vorausfahrzeug sowie in einem Vorausabstand vor einem Folgefahrzeug fährt, wobei sich ein zweites Kraftfahrzeug von hinten an das Folgefahrzeug annähert um ein Überholmanöver durchzuführen;
• 2 eine weitere schematische Darstellung der in 1 gezeigten Kraftfahrzeuge, wobei der Vorausabstand zwischen dem ersten Kraftfahrzeug und dem Folgefahrzeug zu gering ist um ein sicheres Überholmanöver mittels des zweiten Kraftfahrzeugs durchzuführen und dementsprechend eine Ausgabe einer Überholempfehlung von dem ersten Kraftfahrzeug an das zweite Kraftfahrzeug unterbleibt;
• 3 eine weitere schematische Darstellung, wobei das erste Kraftfahrzeug eine Überholankündigung an das zweite Kraftfahrzeug übermittelt; und
• 4 eine weitere schematische Darstellung der Kraftfahrzeuge, wobei das erste Kraftfahrzeug die Überholempfehlung an das zweite Kraftfahrzeug ausgibt.

Showing:

• 1 a schematic representation of a first motor vehicle, which has a first vehicle length and in a following distance behind a leading vehicle and in a Advance distance ahead of a follower vehicle travels, with a second motor vehicle approaches from behind to the follower vehicle to perform an overtaking maneuver;
• 2 another schematic representation of in 1 shown motor vehicles, wherein the advance distance between the first motor vehicle and the follower vehicle is too low to perform a safe overtaking maneuver by means of the second motor vehicle and, accordingly, omits an output of a refurbishment recommendation from the first motor vehicle to the second motor vehicle;
• 3 a further schematic representation, wherein the first motor vehicle transmits a Überholankündigung to the second motor vehicle; and
• 4 a further schematic representation of the motor vehicles, wherein the first motor vehicle outputs the refurbishment recommendation to the second motor vehicle.

1 shows a state in which a first motor vehicle 10 which is a first vehicle length FL1 in a following distance d_vor behind a vehicle ahead 30 and in advance d_hin in front of a follower vehicle 40 moves. To the following vehicle 40 approaching a second motor vehicle 20 from behind to make an overtaking maneuver. The two motor vehicles 10 . 20 as well as the vehicle in front 30 and the follower vehicle 40 while driving parallel to a, clarified by an arrow direction of travel x ,

To particularly favorable conditions for a safe overtaking of the second motor vehicle 20 To create, several steps a), b), c) can be performed, which are described in more detail below.

In step a), the advance distance is detected d_hin and a second vehicle length FL2 behind the following vehicle 40 moving second motor vehicle 20 by a computing device, not shown here, of the first motor vehicle 10 ,

In step b), the computing device is used to determine whether the advance distance d_hin greater than or equal to the sum of the second vehicle length FL2 and one, after a future overtaking operation of the second motor vehicle 20 expected, first minimum safety distance between the second motor vehicle 20 and the first motor vehicle 10 and a second minimum safety distance between the second motor vehicle to be expected after the future overtaking operation 20 and the following vehicle 40 is.

In step c), by means of a communication device, not further shown here, of the first motor vehicle, an output of an overhaul recommendation is carried out E1 to the second motor vehicle 20 when the advance distance d_hin greater than or equal to the sum of the second vehicle length FL2 and the first minimum safe distance and the second minimum safe distance. The issue of the overhaul recommendation E1 from the first motor vehicle 10 to the second motor vehicle 20 is indicated by a dashed arrow in 4 indicated.

2 shows a state in which the distance d_hin between the first motor vehicle 10 and the following vehicle 40 is too low to ensure safe overtaking and threading of the second motor vehicle 20 between the first motor vehicle 10 and the following vehicle 40 to enable. The first motor vehicle 10 can by means of the communication device a corresponding override warning E0 spend to the driver of the second motor vehicle 20 to warn that a safe overtaking is not released, as in 2 is illustrated.

The present autonomously operated, first motor vehicle 10 can the following distance d_vor to the vehicle in front 30 zoom out while keeping the advance distance d_hin enlarge when the advance distance d_hin is less than the sum of the second vehicle length FL2 , the first minimum safety distance and the second minimum safety distance. The first motor vehicle 10 can accordingly with an accelerated by an arrow acceleration B So here in the direction of travel x closer to the leading vehicle ahead 30 approach to thereby the distance d_hin between the first motor vehicle 10 and the following vehicle 40 to increase and thereby safe overtaking, so a safe performing an overtaking maneuver of the second motor vehicle 20 to allow, as in 3 is shown. During the acceleration B may be the first motor vehicle 10 by means of its communication device in addition to the overtaking warning E0 also an overtake announcement E2 to the second motor vehicle 20 to transfer. By the Überholankündigung E2 can the driver of the second motor vehicle 20 be informed that an overtaking will be released soon (in the near future).

The first motor vehicle 10 can the overtake announcement E2 to the second motor vehicle 20 transmit while the first motor vehicle 10 itself under the acceleration B the vehicle in front 30 approaching, so the following distance d_hin reduced and thereby the advance distance d_vor increases when it is expected that after completing the reduction of the following distance d_hin the advance distance d_vor greater than or equal to the sum of the second vehicle length FL2 , the first one Minimum safety distance and the second minimum safety distance is.

At the in 4 shown state corresponds to the advance distance d_vor a predetermined limit GB_e , which is why a further approach of the first motor vehicle 10 to the preceding vehicle ahead 30 is inadmissible. The following distance d_hin is however in 4 big enough that the second motor vehicle 20 perform a safe overtaking maneuver and between the first motor vehicle 10 and the following vehicle 40 can queue, after passing overtaking the respective minimum safety distances between the first motor vehicle 10 and the second motor vehicle 20 or between the second motor vehicle 20 and the following vehicle 40 are complied with.

In the presented method are preferably all vehicles, so the first motor vehicle 10 , the second motor vehicle 20 , the vehicle in front 30 and the follower vehicle 40 Fully autonomously operated. This allows the respective minimum safety distances or the limit value GB_e adhered particularly reliable and the overtaking maneuver of the second motor vehicle 20 be carried out particularly safely.

By the edition of the refurbishment recommendation described in step c) E1 to the second motor vehicle 20 when the advance distance d_hin greater than or equal to the sum of the second vehicle length FL2 As well as the two minimum safety distances, it can be avoided that stressful situations for the respective drivers of each vehicle 10 . 20 . 30 . 40 arise and thus the autonomous driving is adversely affected.

In particular, it is avoided that respective driver or vehicle occupants of the vehicle ahead 30 and the following vehicle 40 , which can also be operated conventionally and thus non-autonomously, by any tight start-up of the first motor vehicle 10 be stressed, or suffer from anxiety. Accordingly, the risk of an accident as a result of such stress situations or states of anxiety is reduced. In addition, negative impressions on the occupants of the vehicles, in particular the occupants of, for example, non-autonomously operated vehicle ahead 30 or the non-autonomously operated following vehicle 40 reduced in terms of autonomous driving.

The present method prevents even in a mixed operation, in which, for example, the first motor vehicle 10 and the second motor vehicle 20 fully autonomous and the vehicle ahead 30 and the follower vehicle 40 Conventionally, ie can be operated by human intervention, there is a negative impact on the flow of traffic.

This is based on the general knowledge that the autonomously operated, first motor vehicle 10 , in compliance with the predetermined limit GB_e and the respective minimum safety distances in spite of not jammed traffic relatively close to both front vehicle ahead 30 , as well as at the rear following vehicle 40 can drive. This would not increase the risk for the autonomous motor vehicle (first motor vehicle 10 ), especially as the necessary safety distances (minimum distances or limit value GB_e ) be respected. The autonomous motor vehicle 10 can also be anywhere, so somewhere between the leading vehicle in front 30 and the follow-up vehicle 40 drive, without appropriate distances to the vehicle ahead 30 or follower vehicle 40 to keep it small. However, this can lead to an insufficient use of space, provided a total distance between the vehicle ahead 30 and the following vehicle 40 still enough space for the second motor vehicle 20 as another motor vehicle in compliance with the minimum safety distances offers. Thus, if a particularly large number of vehicles drive each other as closely as possible to the respective safety distances, for example, a particularly large number of vehicles can cross a traffic light in the case of green light.

By the present method is generally a homogenization of mixed traffic from conventional and autonomous, in particular fully autonomously operated vehicles allows. The first motor vehicle 10 may be equipped with respective in-vehicle distance sensors, via which both the following distance d_hin as well as the advance distance d_vor can be determined. For this purpose, the distance sensors can be designed, for example, as respective radar sensors, that is to say the corresponding distances, that is to say the following distance d_hin and the advance distance d_vor detect with radar beams. The first motor vehicle 10 can change its driving speed autonomously, so for example by the said acceleration B the following distance d_vor to the vehicle in front 30 zoom out while keeping the advance distance d_hin enlarge. The first motor vehicle 10 can also keep its driving speed fully autonomous or decelerate fully autonomously.

The first motor vehicle 10 can the following distance d_hin and the advance distance d_vor determine and calculate the mean value d = (d_vor + d_hin) / 2. Furthermore, the first motor vehicle 10 to adapt its travel speed to this mean value d, that is accelerate, brake or maintain the vehicle speed, until the distance to both the preceding vehicle in front 30 , as well as the subsequent driving vehicle 40 corresponds to the mean d. The speed adjustment of the driving speed is carried out in such a way that maximum permissible speed limits are not exceeded. The autonomously driving first motor vehicle may be in non-jammed traffic, or if the autonomously driving, first motor vehicle 10 no other road user travels behind, or is located at a sufficient distance, so that the autonomous, first motor vehicle 10 to the preceding vehicle ahead 30 can perform any distance increase, for example, up to a multiple of the limit GB_e for example, three times the limit GB_e to the preceding vehicle ahead 3 mount up. In this approach, for example, three times the limit GB_e to the preceding vehicle ahead 3 becomes a hazard to the follower vehicle 40 avoided. Again, the statutory maximum speed limit is not exceeded.

The present method can ensure that after the overtaking maneuver of the second motor vehicle 20 between the following vehicle 40 and the second motor vehicle 20 the second minimum safety distance, between the second motor vehicle 20 and the first motor vehicle 10 the first minimum safety distance and between the first motor vehicle 10 and the vehicle in front 30 the following distance d_vor which is at least the predetermined limit GB_e has to be respected. In other words, then move all vehicles 10 . 20 . 30 . 40 in compliance with the minimum required safety distances from each other.

Preferably, as an alternative to the respective vehicle lengths FL1 . FL2 Also, a fixed maximum vehicle length can be specified, which can apply to all vehicle types. This can advantageously transfer the second vehicle length FL2 stay undone and accordingly a particularly low-cost overtaking are performed.

To a particularly smooth overtaking maneuver of the second motor vehicle 20 to ensure the overtake announcement E2 Also included a time indication when the overtaking maneuver of the second motor vehicle 20 can be carried out safely (with high traffic safety) while maintaining the minimum safety distances. In other words, a particularly efficient advance planning of the overtaking maneuver is possible.

Provided the advance distance d_hin greater than or equal to the sum of the second vehicle length FL2 As well as the two minimum safety distances, so can an optimal Einscherposition of the second motor vehicle 20 between the following vehicle 40 and the first motor vehicle 10 be determined, taking the optimal Einscherposition - assuming that all vehicles 10 . 20 . 30 . 40 after overtaking maneuvers of the second motor vehicle 20 move at the same speed - a value of (d_hin - FL2 ) / 2. In other words, the respective minimum safety distances between the second motor vehicle and the first motor vehicle or the second motor vehicle and the following vehicle then indicate the respective value of (d_hin -) FL2 ) / 2 on.

It is clear that in addition to the second motor vehicle 20 also other road users between the first motor vehicle 10 and the following vehicle 40 can be sheared, provided that specified safety distances are maintained.

In the present method may refer to a communication between the first motor vehicle 10 and the vehicle in front 30 as well as the following vehicle 40 as well as a communication between the second motor vehicle 20 and the vehicle in front 30 or the following vehicle 40 ,

Generally, the driver of the autonomous motor vehicle 10 For example, the output of the refurbishment recommendation E1 according to step c) manually, for example, if the driver feels discomfort or has the feeling of impeding the flow of traffic and instead close to the preceding vehicle in front 30 wishes to drive. The driver can also adjust whether he is as the advance distance d_vor for example, the triple limit GB_e set as safety distance or a particularly low value of the advance distance d_vor pretend to the preceding vehicle ahead 30 For example, to signal that this should change to a right lane.

LIST OF REFERENCE NUMBERS

10

first motor vehicle

20

second motor vehicle

30

leading vehicle

40

the following vehicle

E0

Überholwarnung

E1

Überholempfehlung

E2

Überholankündigung

B

acceleration

GB_e

limit

d_hin

following distance

d_vor

advance distance

FL1

first vehicle length

FL2

second vehicle length

x

direction of travel

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

• WO 2015/064041 A1 [0003]

Claims (5)

Method for outputting a refurbishment recommendation (E1), in which a first motor vehicle (10) having a first vehicle length (FL1) is disposed behind a preceding vehicle (30) and ahead of the vehicle (d_hin) in a following distance (d_vor) before a following vehicle (40 ), comprising at least the following steps: d) detecting the advance distance (d_hin) and a second vehicle length (FL2) of a second motor vehicle (20) traveling behind the follower vehicle (40); e) Determining whether the advance distance (d_hin) is greater than or equal to the sum of the second vehicle length (FL2) and a first minimum safety distance between the second motor vehicle (20) and the first motor vehicle expected after a future overtaking operation of the second motor vehicle (20) (10) and a second minimum safe distance between the second motor vehicle (20) and the following vehicle (40) expected after the future overtaking operation; f) output of the overrun recommendation (E1) to the second motor vehicle (20) if the advance distance (d_hin) is greater than or equal to the sum of the second vehicle length (FL2) and the first minimum safe distance and the second minimum safe distance. Method according to Claim 1 characterized in that the first motor vehicle (10) reduces the following distance (d_vor) to the preceding vehicle (30) and thereby increases the advance distance (d_hin) when the advance distance (d_hin) is smaller than the sum of the second vehicle length (FL2) , the first minimum safety distance and the second minimum safety distance. Method according to Claim 2 characterized in that the first motor vehicle (10) transmits an overtaking announcement (E2) to the second motor vehicle (20) while the first motor vehicle (10) reduces the following distance (d_hin) to the preceding vehicle (30) and thereby reduces the advance distance (d_vor ) when it is expected that, after completing the decreasing of the following distance (d_hin), the advance distance (d_vor) is greater than or equal to the sum of the second vehicle length (FL2), the first minimum safe distance, and the second minimum safe distance. Method according to Claim 2 or 3 characterized in that the output of the overrun recommendation (E1) is omitted when the first motor vehicle (10) reduces the following distance (d_hin) to the preceding vehicle (30) to a predetermined limit value (d_g) at which the advance distance (d_vor) is smaller as the sum of the second vehicle length (FL2), the first minimum safe distance and the second minimum safe distance. Method according to one of the preceding claims, characterized in that at least the first motor vehicle (10) is operated autonomously.

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