DE102017223494A1 - Driving a motor vehicle to and from a station - Google Patents

Abstract

The invention relates to a method for guiding a motor vehicle (4A) to a station (1), which has a plurality of passages (3; A, B, C, D) for passing through the station (1) on a carriageway (2), and a A method for guiding a motor vehicle (4A) away from such a station (1) and a correspondingly designed device. In this case: a) at least one suitable (A, C) of the passages (3; A, B, C, D) which is suitable for the motor vehicle (4A) for passing through the station (1) is detected; and / or a suitable further driving lane (X, Y) which is suitable for the motor vehicle (4A) to travel further to the station (1) is detected, b) a plurality of trajectories (11, 11A) are determined for guiding the motor vehicle (4A) to the at least one suitable passageway (A, C); and / or for guiding the motor vehicle (4A) to the appropriate oncoming lane (X, Y), c) detecting obstacles (4, 10) on the plurality of detected trajectories (11, 11A), d) one (11A) of the plurality of trajectories (11, 11A) depending on the number and / or type of detected obstacles (4, 10) selected, e) the vehicle (4A) guided along the selected trajectory (11, 11A).

Description

The invention relates to a method for guiding a motor vehicle to a station, which has a plurality of passages for traversing the station on a road, and a method for driving away the motor vehicle from such a station. The invention also relates to a device designed to carry out at least one of these methods.

There are known stations for motor vehicles, which have several passages for traversing the station. Such a station may for example be a toll station or a ferry dock or a gas station or a barrier system of a parking space.

At such stations arises for a driver of the motor vehicle often the question of which of the passages for the motor vehicle are at all suitable, for example due to height restrictions or payment options. In addition, the question often arises as to which of the suitable transits is to be usefully used, for example due to vehicle queues or other obstacles on the way to the station. This applies correspondingly for an autonomous motor vehicle.

From the US 8,060,303 B2 and the JP 2009 031205 A2 Systems are known by means of which a motor vehicle can be guided to a suitable passage of a toll station. These systems are based on vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) communications. It is not known how to determine a suitable trajectory to get to and from the appropriate transit.

From the JP 4090770 B2 Another system is known by means of which a motor vehicle can be guided to a specific passage of a toll station. The system is based on magnetic markings embedded in the roadway. By actuating the markings corresponding to a passage, the motor vehicle can be guided to exactly this passage.

For example, from the DE 10 2015 221 626 A1 For example, a method for determining a trajectory for guiding a vehicle is known.

The object of the invention is to improve the state of the art.

This object is achieved by the objects specified in the main claims. Preferred embodiments thereof can be taken from the respective subclaims.

Accordingly, a method is proposed for guiding a motor vehicle to a station having a plurality of passages for traversing the station on a roadway.

In addition, a method is proposed accordingly, for guiding a motor vehicle away from a station which has several passages on a roadway for traversing the station. The road narrows after the station on fewer lanes than at the station.

In addition, we accordingly proposed an apparatus for performing at least one of these methods.

The starting point is a motor vehicle approaching a station with several passages for traversing the station. It is now determined exactly a trajectory that leads the vehicle to a certain and most optimal passage of the station. For this purpose, it is proposed that the determination takes place as a function of which of the passages are at all suitable for the motor vehicle and which obstacles arise for the motor vehicle in order to get there. For this purpose, a (limited) number of suitable trajectories along which the motor vehicle can be guided in order to arrive at the suitable passage (s) are determined. It detects those obstacles for the motor vehicle, which are in the range of the detected trajectories and thus make it difficult to find a way or the appropriate transits. Based on this information, a certain one of the determined trajectory is selected, which then serves to guide the motor vehicle.

1. a) Erkennen zumindest einer Geeigneten der Durchfahrten der Station, die für das Kraftfahrzeug zum Durchqueren der Station geeignet ist.
2. b) Ermitteln mehrerer Trajektorien zum Führen des Kraftfahrzeugs zu der zumindest einen geeigneten Durchfahrt.
3. c) Erkennen von Hindernissen auf den mehreren Trajektorien.
4. d) Auswählen einer der mehreren ermittelten Trajektorien in Abhängigkeit von der Anzahl und/oder Art der erkannten Hindernisse.
5. e) Führen des Fahrzeugs entlang der ausgewählten Trajektorie.

The proposed method therefore has exactly or at least the following steps:

1. a) detecting at least one of the passages of the station which is suitable for the motor vehicle for traversing the station.
2. b) determining a plurality of trajectories for guiding the motor vehicle to the at least one suitable passage.
3. c) Detecting obstacles on the multiple trajectories.
4. d) selecting one of the plurality of detected trajectories depending on the number and / or type of detected obstacles.
5. e) guiding the vehicle along the selected trajectory.

Such a station is understood in particular to mean a device on the roadway, at which a separation of the moving on the roadway motor vehicles is performed. The separation takes place in particular for carrying out a payment process. For motor vehicles, the various passages are provided for crossing the station. At the crossings, the motor vehicles are in particular classified and processed one after the other. Each of the stations can have its own lane. This can be marked, for example, in the direction of travel immediately before and after the station on the road. Each of the passages of the station may have a separating device for regulating the passage, such as a barrier system and / or a traffic signal. However, it is also possible that is dispensed with such separation facilities at least some of the transits. In particular, the individual passages of the station are structurally separated from each other, for example by crash barriers or walls. In particular, the widths of the passages are chosen so that only a motor vehicle finds room in it.

In particular, such a station is a toll station or a customs station or a ferry terminal or a barrier system of a parking space, such as a parking lot or parking garage. However, such stations may also be provided at a gas station or at other locations where a separation of the traffic flow is required.

In particular, the roadway widens in front of the station in the direction of travel of one or a few lanes on several lanes of the station, which then lead to the individual passages. In particular, the road narrows in the direction of travel to the station of the several passes through the station on one or less lanes. In particular, there are no lane markings between the individual lanes in the region of widening and / or narrowing of the roadway.

To recognize the at least one suitable passage may serve signs or scoreboards, which are arranged in the direction of travel in front of the station on the road and / or directly at the station. The detection can thus take place by means of a suitable sensor device. This may in particular be an imaging system, such as a camera system. Alternatively or additionally, this may be a LIDAR (light detection and ranging) system. Alternatively or additionally, this may be a RADAR system (RADAR = "radio detection and ranging"). The sensor device can thus comprise precisely such a sensor, such as in particular an imaging camera or a LIDAR device or a RADAR device. The sensor device may therefore also comprise a plurality of individual such sensors instead. The data then provided by the several sensors in detail can then be merged, for example to obtain a comprehensive picture of the environment.

Alternatively or additionally, information about the station stored in a database for the motor vehicle and provided therefrom may be used. This can be information from a navigation system. The information may be stored aboard the motor vehicle or outside. Alternatively or additionally, the information from an infrastructure on the roadway, for example, from the station itself, be sent to the motor vehicle by data transmission (V21 communication) and / or other motor vehicles to the motor vehicle via data transmission to be sent (V2V communication).

• • eine Abmessung des Kraftfahrzeugs, wie insbesondere eine Höhe und/oder eine Breite des Kraftfahrzeugs (beispielsweise wenn Durchfahrten nur bestimmte Abmessungen von Kraftfahrzeugen erlauben),
• • ein Gewicht des Kraftfahrzeugs, wie insbesondere ein zulässiges Gesamtgewicht oder ein tatsächliches Gesamtgewicht oder eine Achslast (beispielsweise wenn Durchfahrten nur bestimmte Gewichte von Kraftfahrzeugen erlauben),
• • ein Typ des Kraftfahrzeugs, wie insbesondere ein Personenkraftwagen, Lastkraftwagen, Omnibus oder Zweirad (beispielsweise wenn Durchfahrten nur bestimmte Typen an Kraftfahrzeugen erlauben),
• • ein jeweiliger Öffnungszustand (Öffnungszeiten) der Durchfahrten,
• • eine Zahlungsmöglichkeit des Kraftfahrzeugs und/oder der Durchfahrten, wie beispielsweise die Möglichkeit zur elektronischen Bezahlung oder mittels eines ETC-Systems (ETC = „electronic toll collection“) (beispielsweise wenn Durchfahrten nur bestimmte Zahlungsmöglichkeiten erlauben),
• • eine dem Kraftfahrzeug übermittelte Länge einer Warteschlange an den Durchfahrten und/oder eine dem Kraftfahrzeug übermittelte Wartezeit an den Durchfahrten,
• • eine Schadstoffklasse oder eine Antriebsarten des Kraftfahrzeugs, wie beispielsweise ein Elektrofahrzeug oder Hybridfahrzeug (beispielsweise wenn Durchfahrten nur bestimmte Schadstoffklassen oder Antriebsarten von Kraftfahrzeugen erlauben).

The recognition of the at least one suitable passage (step a) preferably takes place on the basis of at least one parameter. Such parameters may be in particular:

• A dimension of the motor vehicle, such as, in particular, a height and / or a width of the motor vehicle (for example, if passages allow only certain dimensions of motor vehicles),
• A weight of the motor vehicle, in particular a permissible total weight or a total weight or an axle load (for example, if passages allow only certain weights of motor vehicles),
• A type of motor vehicle, such as, in particular, a passenger car, truck, bus or two-wheeler (for example, where passages only allow certain types of motor vehicles),
• • a respective opening state (opening times) of the passages,
• • a possibility to pay for the motor vehicle and / or transits, such as the possibility of electronic payment or by means of an ETC system (eg electronic toll collection) (for example, where transits only allow certain payment options),
• A length of a queue transmitted to the motor vehicle at the passages and / or a waiting time at the passages transmitted to the motor vehicle,
• An emission class or a type of drive of the motor vehicle, such as a Electric vehicle or hybrid vehicle (for example, where transits allow only certain pollutant classes or types of propulsion of motor vehicles).

If necessary, further parameters, not explicitly mentioned here, can be used instead of or in addition to these parameters in order to recognize the at least one suitable passage for the motor vehicle.

The recognition of the at least one suitable passage can take place in several sub-steps, such as, for example, detecting all detectable passages of the station, for example by means of the sensor device, and determining those of the detected passages that are suitable for the motor vehicle. This determination can be done by means of a detection device. This is in particular a trained to control unit or other type of computer designed with appropriate software.

If at least one suitable passage has been recognized for the motor vehicle, several trajectories are determined (step b), all of which lead to this at least one suitable passage. In particular, only a limited number of such trajectories are determined. If several suitable passages have been detected, either exactly one trajectory can be determined for each suitable passage or several trajectories can be determined for each suitable passage.

The trajectories each lead to the appropriate passage (if only one was detected) or to one of the appropriate passages (if several were detected). Starting point of the trajectories preferably forms a current position of the vehicle on the road. The trajectories then each lead from the current position of the vehicle to a specific suitable passage.

In particular, only suitable trajectories are determined in order to guide the motor vehicle to the respective passage. Thus nonsensical trajectories or trajectories, which are foreseeably associated with an inadmissibly large detour, can be excluded.

• • Fahrbahnmarkierungen; diese können beispielsweise von dem Kraftfahrzeug selbst erkannt werden oder in der Datenbank gespeichert sein,
• • Fahrbahnbegrenzungen; diese können beispielsweise von dem Kraftfahrzeug selbst erkannt werden oder in der Datenbank gespeichert sein,
• • Fahrzeugparameter, wie insbesondere ein maximaler Wendekreis und/oder eine maximal zulässige Querbeschleunigung des Kraftfahrzeugs,
• • eine maximale Zeitdauer, die das Kraftfahrzeug maximal benötigen soll, um die Trajektorie zurückzulegen,
• • eine maximale Länge, die die Trajektorie aufweisen darf.

When determining the trajectories, one or more specific boundary conditions can be taken into account. Thus, it can be ensured that only suitable trajectories for the motor vehicle are determined. Such boundary conditions are in particular:

• • road markings; these can for example be recognized by the motor vehicle itself or be stored in the database,
• • lane boundaries; these can for example be recognized by the motor vehicle itself or be stored in the database,
• Vehicle parameters, in particular a maximum turning circle and / or a maximum permissible transverse acceleration of the motor vehicle,
• A maximum period of time which the motor vehicle is required to maximize in order to cover the trajectory,
• • a maximum length allowed for the trajectory.

In addition to these boundary conditions, it is possible, if necessary, to use other or further boundary conditions which are not explicitly mentioned here in order to determine the trajectories for.

Such a trajectory is understood to mean a path or a trajectory which is suitable for guiding the motor vehicle, possibly taking into account the selected boundary conditions. It therefore leads from a position, such as in particular the current position of the motor vehicle, to an end point, such as in particular the passage. The trajectory can be understood as a sequence of desired positions, which the motor vehicle should assume in order to reach the desired end point. The trajectory thus requires, for example, a steering angle of the motor vehicle while it travels the trajectory. The procedure for determining a suitable trajectory for a motor vehicle is already known per se, for example from the aforementioned prior art.

Obstacles on the several trajectories are detected (step c). In particular, such an obstacle is considered to be an object which is (evidently) on the trajectory and which prevents the motor vehicle from being guided along the trajectory. As an obstacle, for example, another motor vehicle or a person or a barrier are considered. For recognizing the obstacles, the same means are used in particular as a whole or at least partially, as for detecting the at least one suitable passage. These are thus in particular the sensor device and / or the information provided about the station. The result of this step may also be that no or just one obstacle has been detected on one or more or all of the detected trajectories.

This (step c) includes in particular the detection of a type of the respective obstacle, also called typing of the obstacles. The obstacles that have already been recognized will become one based on given conditions assigned to specific obstacle type. This is done in particular by an evaluation of the information from the sensor device and / or the information provided by the database by means of the already mentioned detection device.

For example, it is thus possible to distinguish between a stationary obstacle, for example a fixed barrier or a stationary motor vehicle, and a mobile obstacle, for example a moving motor vehicle or a moving person. Thus, a traveling line of automobiles can be distinguished from a non-moving line of motor vehicles. Likewise, it is possible to distinguish the obstacles according to their respective airspeed and / or direction of movement, that is, to assign corresponding obstacle types. If the obstacle was identified as a motor vehicle, an assignment of the type of motor vehicle can also be made, that is, for example, an assignment as a passenger car or as a truck or as a bus or as a two-wheeler.

It is selected (step d) exactly one of the several detected trajectories. This is done depending on the number of detected obstacles and / or the type of obstacles detected. Accordingly, the number of obstacles can be used to select the trajectory in the simplest case. Then that one of the trajectories is selected that has the fewest obstacles. It is then assumed that this trajectory best leads the motor vehicle to the respective passage. An improved selection takes place when, in addition to the number, the type of obstacles is taken into account. Thus, for example, a trajectory may be chosen that has a fast-moving, long-length queue, rather than a trajectory that has a still short queue. Likewise, a trajectory can be chosen, which indeed has a small detour, but due to the vehicle types thereon can expect a faster passage to the at least one suitable passage.

Unless an obstacle was detected on any of the determined trajectories, or if the same number / type of obstacles was detected on the trajectories, the shortest trajectory can be selected, for example, or the trajectory that is likely to lead to the at least one suitable transit in the shortest possible time.

The selection of the trajectory from the plurality of trajectories determined takes place in particular in an artificial neural network of the determination device. This has the advantage that it is self-learning and thus provides better results with increasing experience.

There is (step e) the driving of the motor vehicle along the selected trajectory. This can include that corresponding signals are output, for example, to actuators of the motor vehicle. As a result, the motor vehicle can be guided at least partially autonomously along the trajectory. Alternatively, the guiding may also be merely guiding a driver of the motor vehicle along the trajectory. This can be done, for example, that the driver corresponding signals are transmitted optically or acoustically. Thus, for example, the selected trajectory can be displayed on a screen for the driver, so that he can drive them off. In particular, the signals are used to actuate a steering of the motor vehicle. In addition, the signals can be used to actuate a traction motor of the motor vehicle.

By this procedure, a simple and safe guidance of the motor vehicle to one of the suitable for the motor vehicle passes through the station can be done.

Preferably, a comparison takes place beforehand (before step a) between the detected passages of the station and expected passages of the station. The expected passages here are such passages that the motor vehicle (in particular the detection device) already knows before it recognizes the passages themselves. The knowledge of the expected transits may be present in particular in the information provided by the database. Since changes can always occur at such stations, for example by reconstruction measures, it is advantageous if such an adjustment takes place. As part of this reconciliation, the database of detected transits can be updated if there are deviations.

The adjustment includes, in particular, an assignment of the detected passages to the expected passages. Thus, specific information about the individual transits provided by the database can be assigned to the already identified transits. Thus, recognized information for the transits can be supplemented or completed with the provided information of the database. This is particularly advantageous if not all information necessary for traversing the station is recognizable at the individual passages themselves, for example because of poor visibility or due to obstruction by obstacles. In this case, the missing (unrecognized) Information can be supplemented or completed by the provided information from the database.

The method can be started at any suitable time. For example, it may be started at a predetermined distance in the direction of travel in front of the station. The method may also be started upon detection of a particular mark on or on the lane in front of the station. The method can also be started if at least one or more of the passages of the station has been detected.

As already explained, in the direction of travel behind the station, the road can narrow again. The number of lanes thus decreases to fewer lanes than directly from the station. Accordingly, the number of continuing lanes is less than the number of passes through the station. This can also mean that there is only one continuing lane. Accordingly, the traffic flow must be channeled to the continuing lane or lanes. This also represents a problem. This problem can be independent of the problem as the motor vehicle is guided to one of the suitable passages through the station. Both problems are solved analogously to each other in the methods proposed here.

Preferably, the proposed solution for guiding the motor vehicle away from the station thus provides that the motor vehicle is guided by means of a further trajectory to a suitable continuing lane. This continuing lane leads the motor vehicle so after passing through the implementation of the station again away from the station.

• f) Erkennen zumindest einer geeigneten weiterführenden Fahrspur, die für das Kraftfahrzeug zum Weitefahren nach der Station geeignet ist,
• g) Ermitteln mehrerer weiterführenden Trajektorien zum Führen des Kraftfahrzeugs zu der zumindest einen geeigneten weiterführenden Fahrspur,
• h) Erkennen von Hindernissen auf den mehrerer weiterführenden Trajektorien,
• i) Auswählen einer der mehreren weiterführenden Trajektorien in Abhängigkeit von der Anzahl und/oder Art der erkannten Hindernisse,
• j) Führen des Fahrzeugs entlang der ausgewählten Trajektorie.

The corresponding method therefore provides that the road narrows in the direction of travel after the station to fewer lanes than at the station. The method now provides exactly or at least the following steps:

• f) detecting at least one suitable on-going lane suitable for the motor vehicle to travel to the station,
• g) determining a plurality of further trajectories for guiding the motor vehicle to the at least one suitable secondary lane,
• h) detecting obstacles on the several further trajectories,
• i) selecting one of the plurality of further trajectories depending on the number and / or type of detected obstacles,
• j) guiding the vehicle along the selected trajectory.

The present explanations concerning steps a) to e) apply correspondingly to steps f) to j). Analogous to step a), therefore, certain parameters can also be taken into account in step f). In this case, these are parameters of the continuing lanes. For example, it can thus be considered that some lanes are intended only for certain motor vehicles, such as those with a car pool, or are intended only for specific types of motor vehicles, such as special lane for buses or taxis or electric vehicles.

In principle, the method for guiding the motor vehicle towards the suitable oncoming lane (ie away from the station) can be carried out independently or in addition to the method for guiding the vehicle to the transit of the station (ie to the station).

In a development of the method, these are performed again at certain time intervals (ie, time-dependent) or continuously or at specific times (ie, depending on the event). This implies that only certain steps of the procedures are performed again. These may in particular be steps b) to e) (before crossing the station) or steps g) to j) (after passing through the station). This allows the motor vehicle to react to unforeseen situations. This may be necessary, for example, if a previously moving obstacle suddenly stops, or if a previously opened passage is suddenly closed.

• • Die Ermittlungsvorrichtung und die Sensorvorrichtung sind dazu ausgebildet, zumindest die Geeignete der Durchfahrten zu erkennen, die für das Kraftfahrzeug zum Durchqueren der Station geeignet ist. Alternativ oder zusätzlich kann die Ermittlungsvorrichtung und die Sensorvorrichtung dazu ausgebildet sein, die zumindest eine Geeignete der weiterführen Fahrspuren für das Kraftfahrzeug nach der Station zu erkennen.
• • Die Ermittlungsvorrichtung ist dazu ausgebildet, die mehreren Trajektorien zum Führen des Kraftfahrzeugs zu der zumindest einen geeigneten Durchfahrt zu ermitteln. Alternativ oder zusätzlich kann die Ermittlungsvorrichtung dazu ausgebildet sein, die mehreren Trajektorien zum Führen des Kraftfahrzeugs zu der zumindest einen geeigneten weiterführen Fahrspur zu ermitteln.
• • Die Ermittlungsvorrichtung und die Sensorvorrichtung sind dazu ausgebildet, die Hindernisse auf den mehreren Trajektorien zu erkennen.
• • Die Ermittlungsvorrichtung ist dazu ausgebildet, die eine der mehreren Trajektorien in Abhängigkeit von der Anzahl und/oder Art der erkannten Hindernisse auszuwählen.
• • Die Ermittlungsvorrichtung ist dazu ausgebildet, die Signale auszusenden, mittels derer das Kraftfahrzeug entlang der ausgewählten Trajektorie führbar ist.

Also proposed is the device which is designed to carry out at least one of the proposed methods. For this purpose, the device has at least the sensor device and the determination device. The following may apply:

• • The determining device and the sensor device are designed to recognize at least the suitable of the passages, which is suitable for the motor vehicle for traversing the station. Alternatively or additionally, the determining device and the sensor device may be configured to recognize the at least one suitable one of the continuing lanes for the motor vehicle after the station.
• • The determining device is designed to determine the plurality of trajectories for guiding the motor vehicle to the at least one suitable passage. Alternatively or additionally, the determining device may be configured to determine the plurality of trajectories for guiding the motor vehicle to the at least one suitable continuing lane.
• The determining device and the sensor device are designed to detect the obstacles on the multiple trajectories.
• The determining device is designed to select one of the plurality of trajectories depending on the number and / or type of detected obstacles.
• • The determination device is designed to emit the signals by means of which the motor vehicle can be guided along the selected trajectory.

In one embodiment of the device is at least one, but preferably both of the detection device and sensor device are designed for arrangement on the motor vehicle. Accordingly, the motor vehicle may then comprise the determining device and / or the sensor device. If the motor vehicle has both, the motor vehicle can completely independently determine and select the trajectory by means of which it is guided to and from the station. This has the advantage that the motor vehicle can act completely autonomously to traverse the station.

Alternatively or additionally, it can be provided that at least one, but preferably both, of the determination device and the sensor device are designed for arrangement at the station or in the area of the station. Accordingly, the station may then comprise the determining device and / or the sensor device. If it has both, the station can completely independently determine and select the trajectory by means of which the motor vehicle is guided to and from the station. This has the advantage that the station can reconcile the trajectories of different motor vehicles.

If one of the determining device and the sensor device is arranged at the station and the other of the determining device and sensor device on the motor vehicle, a device for data connection between these two devices is provided. About this data connection is then the appropriate information exchange.

As already noted above, the determination device preferably has an artificial neural network which serves at least for selecting the one of the several determined trajectories.

The invention may also refer to a computer program product with instructions executing the proposed method when the computer program product is executed on a computing unit, such as a computer or microcontroller.

In the following the invention with reference to a figure ( 1 ), from which further preferred embodiments and features of the invention can be removed.

1 shows a plan view of a station 1 , in particular a toll station. The station is on a carriageway 2 for motor vehicles 4 . 4A , The station 1 has several passages 3 on the roadway 2 , These serve for the motor vehicles 4 . 4A to cross the station 1 , In 1 are for the sake of clarity not all motor vehicles with the reference numeral 4 Provided. The passages 3 are exemplary with the letters A . B . C . D marked in order to make it easier to distinguish them in the following. The motor vehicles 4 . 4A be at the thoroughfares 3 preferably isolated. For this purpose, a corresponding separation plant on at least one or some of the transits 3 be provided. This can be a payment process for the vehicles 4 . 4A be simplified at the station.

In the direction of travel 5 in front of the station is a widening area 6 provided, in which the roadway 2 from a few (here for example two) lanes to the transits 3 (here four, for example) expands. In the direction of travel 5 after the station is a narrowing area 7 provided, in which the roadway 2 from the passages 3 towards less continuing lanes (here, for example, two again) narrowed. In the area of the station 1 is for each of the transits 3 provided a separate lane. The lanes are on the road 2 marked, so this for the vehicles 4 . 4A are recognizable. Especially in the area of the expansion area 6 and the narrowing area 7 it may happen that there are no lane markings, as in 1 shown.

The passages 3 each have specific parameters to be taken into account when motor vehicles 4 . 4A the passages 3 want to cross. In particular, the passages point 3 each a certain opening state on (open or closed); and / or there are only certain payment options at the transits 3 each provided (for example, only for a payment per ETC = "electronic toll collection"); and / or the thoroughfares 3 are each provided only for certain types of motor vehicles (for example, only for passenger cars or only for trucks).

In the present example, the driving through A . C . D open. passage B is closed. transits A and C are only to cross of passenger cars. Lorries may therefore the passages A and C Do not use. passage D only allows payment via ETC. The passages 3 may also have other or further parameters to be taken into account accordingly.

1 also shows a motor vehicle 4A that's just about to leave the station 1 to traverse, hereinafter also ego vehicle 4A called. To ego vehicle 4A is explained below by way of example, as the proposed procedure for traversing the station 1 can run.

The ego vehicle 4A can be operated at least teilautonom, in particular it can independently the station 1 traverse, so without intervention by a driver of the ego vehicle 4A , For this the ego vehicle has 4A via a sensor device 8th and a detection device 9 , The sensor device 8th is with the investigative device 9 coupled so they can share information. An example is a detection area 8A the sensor device 8th in 1 located.

The sensor device 8th and the investigator 9 are trained to get information from the station 1 to recognize or to receive and to interpret accordingly. These are in particular information about the parameters of the individual transits 3 , These can be in the form of signs at the station, for example 1 even or on the road 2 be arranged and / or provided by a database. They are also trained to provide information about obstacles around the ego vehicle 4A to recognize and to interpret accordingly. Such obstacles may be, for example, other motor vehicles 4 or barriers 10 his. In addition, they are preferably also adapted to the lanes in the vicinity of the ego vehicle 4A to recognize and to interpret accordingly.

The said database can be onboard the ego vehicle 4A are located or outside. Also, only part of the database can aboard the ego vehicle 4A and another part outside. The database can be part of the discovery device 9 his. The database may be located in a data center outside the ego vehicle 4A with which the investigative device 9 then coupled via data transmission.

• • Die Ermittlungsvorrichtung 9 und die Sensorvorrichtung 8 erkennen anhand der bekannten und/oder erkannten Parameter der Durchfahrten 3 zumindest eine Geeignete der Durchfahrten 3. Diese ist für das Ego-Fahrzeug 4A zum Durchqueren der Station 1 grundlegend geeignet. Vorliegend sind dies beispielhaft die Durchfahrten A und C.
• • Die Ermittlungsvorrichtung 9 ermittelt mehrere geeignete Trajektorien 11, 11A zum Führen des Ego-Fahrzeugs 4A zu diesen geeigneten Durchfahrten 3. In 1 sind diese Trajektorien 11, 11A in gepunkteten und gestrichelten Linien eingezeichnet. Diese Ermittlung der Trajektorien 11, 11A erfolgt bevorzugt unter Berücksichtigung zumindest einer oder einigen der vorgenannten Randbedingungen.
• • Die Ermittlungsvorrichtung 9 und die Sensorvorrichtung 8 erkennen die sich auf den ermittelten Trajektorien 11, 11A befindlichen Hindernisse 4, 10. Die Ermittlungsvorrichtung 9 ordnet die Hindernisse 4, 10 einer bestimmten Hindernisart zu.
• • Die Ermittlungsvorrichtung 9 wählt genau eine der mehreren Trajektorien 11, 11A in Abhängigkeit von der Anzahl und der Art der erkannten Hindernisse 4, 10 aus. In 1 ist dies die in gestrichelter Linie eingezeichnete Trajektorie 11A. Diese führt in dem gezeigten Beispiel zur Durchfahrt A.
• • Die Ermittlungsvorrichtung 9 senden Signale an Aktoren des Ego-Fahrzeugs 4A aus, beispielsweise an eine Lenkung und einen Traktionsmotor. Dadurch wird das Ego-Fahrzeug 4A entlang der ausgewählten Trajektorie 11A zu der entsprechenden Durchfahrt A geführt.

So the ego vehicle 4A to the station 1 guided, the following steps take place:

• • The investigative device 9 and the sensor device 8th recognize based on the known and / or recognized parameters of the thoroughfares 3 at least one suitable of the passages 3 , This is for the ego vehicle 4A to cross the station 1 fundamentally suitable. In the present case, these are examples of transits A and C ,
• • The investigative device 9 determines several suitable trajectories 11 . 11A for guiding the ego vehicle 4A to these suitable passages 3 , In 1 are these trajectories 11 . 11A drawn in dotted and dashed lines. This determination of the trajectories 11 . 11A is preferably carried out taking into account at least one or some of the aforementioned boundary conditions.
• • The investigative device 9 and the sensor device 8th recognize themselves on the determined trajectories 11 . 11A obstacles 4 . 10 , The investigative device 9 arranges the obstacles 4 . 10 a certain type of obstacle.
• • The investigative device 9 chooses exactly one of the multiple trajectories 11 . 11A depending on the number and type of obstacles detected 4 . 10 out. In 1 this is the trajectory drawn in dashed line 11A , This leads to the passage in the example shown A ,
• • The investigative device 9 send signals to actors of the ego vehicle 4A from, for example, to a steering and a traction motor. This will be the ego vehicle 4A along the selected trajectory 11A to the corresponding transit A guided.

After the ego vehicle 4A the corresponding passage 3 it can also be led to one of the continuing lanes. This is due to the constriction area 7 difficult. In 1 are the continuing lanes exemplified with X and Y marked.

• • Die Ermittlungsvorrichtung 9 und die Sensorvorrichtung 8 erkennen anhand bekannter und/oder erkannter Parameter zumindest eine Geeignete der weiterführenden Fahrspuren X, Y. Diese ist für das Ego-Fahrzeug 4A zum Befahren grundlegend geeignet. Vorliegend sind dies beispielhaft beide Fahrspuren X und Y.
• • Die Ermittlungsvorrichtung 9 ermittelt mehrere geeignete Trajektorien 11, 11A zum Führen des Ego-Fahrzeug 4A zu diesen geeigneten weiterführenden Fahrspuren X, Y. Diese Ermittlung der Trajektorien 11, 11A erfolgt ebenfalls bevorzugt unter Berücksichtigung zumindest einer oder einigen der vorgenannten Randbedingungen.
• • Die Ermittlungsvorrichtung 9 und die Sensorvorrichtung 8 erkennen die sich auf den ermittelten Trajektorien 11, 11A befindlichen Hindernisse 4 und 10. Die Ermittlungsvorrichtung 9 ordnet auch hier die Hindernisse 4, 10 einer bestimmten Hindernisart zu.
• • Die Ermittlungsvorrichtung 9 wählt genau eine (Trajektorie 11A) der mehreren Trajektorien 11, 11A in Abhängigkeit von der Anzahl und der Art der erkannten Hindernisse 4, 10 aus. Diese ausgewählte Trajektorie 11A führt in dem gezeigten Beispiel zur weiterführenden Fahrspur X.
• • Die Ermittlungsvorrichtung 9 senden Signale an Aktoren des Ego-Fahrzeugs 4A aus, beispielsweise an die Lenkung und einen Traktionsmotor. Dadurch wird das Ego-Fahrzeug 4A entlang der ausgewählten Trajektorie 11A zu der entsprechenden weiterführenden Fahrspur X geführt.

It is now suggested that the ego vehicle 4A analogous to the above procedure for driving the vehicle towards the passages 3 now also to one of the suitable continuing lane X . Y to be led. This is preferably done with the available means 8th . 9 , Hereby the following steps take place:

• • The investigative device 9 and the sensor device 8th recognize on the basis of known and / or recognized parameters at least one suitable of the continuing lanes X . Y , This is for the ego vehicle 4A fundamentally suitable for driving. In the present case, these are for example both lanes X and Y ,
• • The investigative device 9 determines several suitable trajectories 11 . 11A for guiding the Ego vehicle 4A to these suitable continuing lanes X . Y , This determination of the trajectories 11 . 11A is also preferably taking into account at least one or some of the aforementioned boundary conditions.
• • The investigative device 9 and the sensor device 8th recognize themselves on the determined trajectories 11 . 11A obstacles 4 and 10 , The investigative device 9 arranges the obstacles here as well 4 . 10 a certain type of obstacle.
• • The investigative device 9 chooses exactly one (trajectory 11A) the multiple trajectories 11 . 11A depending on the number and type of obstacles detected 4 . 10 out. This selected trajectory 11A leads in the example shown to the continuing lane X ,
• • The investigative device 9 send signals to actors of the ego vehicle 4A out, for example, to the steering and a traction motor. This will be the ego vehicle 4A along the selected trajectory 11A to the corresponding continuing lane X guided.

This procedure for driving the motor vehicle 4 . 4A to one of the continuing lanes X . Y may additionally or alternatively to the procedure for driving the motor vehicle 4 . 4A to one of the transits 3 the station 1 respectively.

Thus, simple options are provided with a motor vehicle 4 . 4A to a certain of the transits 3 such a station 1 can be guided and also be taken away from it.

In order to be able to react to unforeseen events, the described procedures can be repeated as needed.

LIST OF REFERENCE NUMBERS

1

station

2

roadway

3

transits

4

Motor vehicle, obstacle

4A

Ego vehicle

5

intended direction of travel

6

widening range

7

throat area

8th

sensor device

8A

detection range

9

detecting device

10

Barrier, obstacle

11

determined trajectories

11A

selected trajectory

A

passage

B

passage

C

passage

D

passage

X

lane

Y

lane

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

• US8060303 B2 [0004]
• JP 2009031205 A2 [0004]
• JP 4090770 B2 [0005]
• DE 102015221626 A1 [0006]

Claims (10)

Method for guiding a motor vehicle (4A) to a station (1) which has several passages (3; A, B, C, D) on a carriageway (2) for passing through the station (1), comprising the steps of: a) recognizing at least one suitable (A, C) of the passages (3; A, B, C, D) which is suitable for the motor vehicle (4A) for passing through the station (1), b) determining a plurality of trajectories (11, 11A) for guiding the motor vehicle (4A) to the at least one suitable passage (A, C), c) detecting obstacles (4, 10) on the plurality of trajectories (11, 11A), d) selecting one (11A) of the plurality of trajectories (11, 11A) as a function of the number and / or type of detected obstacles (4, 10), e) guiding the vehicle (4A) along the selected trajectory (11, 11A). Method according to Claim 1 wherein the at least one suitable passage (A, C) based on at least one of the parameters • a dimension of the motor vehicle (4A), • a weight of the motor vehicle (4A), • a type of the motor vehicle (4A), • an opening state of the passages ( 3, A, B, C, D), • a payment option of the motor vehicle (4A) and / or the passages (3, A, B, C, D), • a length of a queue transmitted to the motor vehicle (4A) at the passages (3; A, B, C, D) and / or a waiting time transmitted to the motor vehicle (4A) at the passages (3; A, B, C, D), • a pollutant class or drive type of the motor vehicle (4A). is recognized. Method according to Claim 1 or 2 , wherein the roadway (2) in front of the station (1) widens on several lanes, each leading to the passages (3; A, B, C, D). Method according to one of the preceding claims, wherein before step a) a comparison between the detected passages (3; A, B, C, D) of the station (1) and expected passages (3; A, B, C, D) of Station (1) takes place. Method according to Claim 4 , wherein the detected passages (3; A, B, C, D) of the station (1) are respectively assigned to the expected passages (3; A, B, C, D) of the station (1). Method for guiding a motor vehicle (4A) away from a station (1) which has a plurality of passages (3; A, B, C, D) on a carriageway (2) for passing through the station (1), the carriageway ( 2) after the station (1) is narrowed to fewer lanes than the station (1), the steps being performed: f) recognizing at least one suitable secondary lane (X, Y) suitable for the motor vehicle (4A) to travel further to the station (1), g) determining a plurality of further trajectories (11, 11A) for guiding the motor vehicle (4A) to the at least one suitable secondary lane (X, Y), h) detecting obstacles (4, 10) on the plurality of further trajectories (11, 11A), i) selecting one (11A) of the plurality of further trajectories (11, 11A) as a function of the number and / or type of detected obstacles (4, 10), j) guiding the vehicle (4A) along the selected trajectory (11A). Device for guiding a motor vehicle (4A), comprising a sensor device (8) and a determining device (9), characterized in that the device is designed to carry out a method according to one of the preceding claims. Device after Claim 7 wherein at least one of detection device (9) and sensor device (9) are designed to be arranged on the motor vehicle (4A). Device after Claim 7 or 8th , wherein at least one of detection device (9) and sensor device (8) for arrangement at the station (1) or in the region of the station (1) are formed. Device according to one of Claims 7 to 9 wherein the determining device (9) comprises an artificial neural network at least for selecting the one (11A) of the plurality of trajectories (11, 11A).

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