DE102018007298A1 - Method for route planning - Google Patents

Abstract

The invention relates to a method for route planning for an automated moving vehicle (1), wherein the route planning is based on information retrieved from a central computer unit. According to the invention, it is provided that
- Several routes leading to a destination position are determined, wherein
- On the respective route lying Einfädelungsstreifen (E) and a traffic condition on a stretch of the Einfädelungsstreifen (E) are determined, wherein
- Based on the determined traffic condition for the respective Einfädelungsstreifen (E) a statistical expectation value for a time gap for threading the vehicle (1) is determined, and
a route to be traveled is selected as a function of the determined statistical expected values.

Description

The invention relates to a method for route planning for an automated moving vehicle, the route planning based on information retrieved from a central computer unit.

From the DE 10 2017 008 668 A1 A method for dynamic route planning based on an analysis of data of a vehicle fleet is known. Here, a route is divided into a plurality of sections and it is carried out a statistical evaluation of the data of the vehicle fleet, taking into account the sections. For each of the sections, a median and / or mean of the time advantages of alternative routes are determined. Alternative routes are taken into account in the route planning if a weighted mean value from the determined median of all historical time advantages exceeds a value related to the respective route section.

The invention has for its object to provide a comparison with the prior art improved method for route planning for an automated moving vehicle.

The object is achieved by the features specified in claim 1.

Advantageous embodiments of the invention are the subject of the dependent claims.

A method for route planning for an automated moving vehicle provides that the route planning is based on information that is retrieved from a central computer unit. According to the invention, a plurality of routes leading to a destination position are determined, wherein threading strips lying on the respective route and a traffic state are determined on a route section of the threading strips.

On the basis of the determined traffic condition, a statistical expectation value for a time gap for threading the vehicle is determined for the respective threading strip and a route to be traveled is selected as a function of the determined statistical expected values.

In particular, the route is selected in which the statistical expected value corresponds to or exceeds at least one predetermined value, so that the respective time gap is sufficiently large that the vehicle can thread itself between two further vehicles. The time gaps represent time intervals between the two other vehicles.

By applying the method, it can be realized that the vehicle attempts to scoop in where a correspondingly favorable traffic situation prevails. By means of the method, the vehicle can thus engage relatively reliably in dependence on the respective traffic condition, for example, from a threading strip on a lane.

Embodiments of the invention will be explained in more detail below with reference to a drawing.

• 1 schematisch einen Fahrbahnabschnitt mit zwei von mehreren Fahrzeugen befahrene Fahrspuren und ein auf einem Einfädelungsstreifen fahrendes Fahrzeug.

It shows:

• 1 schematically a roadway section with two lanes traveled by several vehicles and a driving on a Einfädelungsstreifen vehicle.

In the single figure is a roadway section F with two lanes running in the same direction F1 . F2 and a threading strip e , also referred to as acceleration strip, shown.

On the threading strip e drives a vehicle 1 in automated, ie autonomous, driving, for which purpose a driving task is performed entirely by an assistance system.

The vehicle 1 intended by the threading strip e on a lane F1 to cut in, taking on this and on another lane F2 of the carriageway section F a comparatively high volume of traffic prevails.

A driving behavior of the driving vehicle in automated driving 1 may possibly be that of a non-automated driving another vehicle 2 . 3 differ, which can result in advantages but also disadvantages in mixed traffic.

As a driving behavior of a non-automated driving another vehicle 2 . 3 It is relatively difficult to predict and they often behave unexpectedly, it is for the automated moving vehicle 1 comparatively difficult with a non-automated driving another vehicle 2 . 3 to drive together, in particular as members of a vehicle fleet.

In this case, a Einschervorgang or a so-called Einfädelungsvorgang on a lane F1 a highway or even an overtaking process associated with a lane change process a problem for the automated moving vehicle 1 because the driving behavior of non-automated driving other vehicles 2 . 3 can not be predicted.

To solve the problem, a method described below is proposed, in which the automatically moving vehicle 1 there tries to screech or make a lane change where the likelihood is relatively high that the vehicle 1 a corresponding time gap, ie a corresponding time interval between the other vehicles 2 . 3 finds.

Such a time gap is dependent, in particular, on a traffic condition on a route section with a threading strip e , The procedure provides that a route planning of the vehicle 1 is performed and a route is selected on which a safe Einscheren is possible, the route is as short as possible and can be traveled quickly in automated driving.

The vehicle 1 has a communication unit, not shown, by means of which the vehicle 1 with a central computer unit 4 communicates using this communication link between the vehicle 1 and the central computer unit 4 an exchange of information takes place.

In addition, the assistance system for the automated driving of the vehicle 1 executed such that the vehicle 1 in automated driving is capable of a reliable and largely safe Einschervorgang or lane change operation from a time gap, ie a minimum time gap, which includes a predetermined period of time to perform.

About, for example, an infrastructure-side sensors on access roads, ie in particular at Einfädelungsstreifen e time-slot distributions can be measured as a function of the traffic condition, the time-gap distributions being sent to the central computer unit 4 be transmitted and thus by the automated moving vehicle 1 can be retrieved.

The vehicle 1 Intends to perform a route planning to determine a suitable route to reach a destination position.

In this case, a plurality of routes is determined, wherein lying on the respective route Einfädelungsstreifen e and a traffic condition on the route section of the threading strips e be determined.

The automated moving vehicle 1 Thus, each chooses a relatively favorable traffic condition, also referred to as traffic phase, for his Einschervorgang, alternatively for his overtaking. For example, for such a maneuver a synchronized traffic as a traffic condition or traffic phase is largely avoided.

By selecting a route that is favorable for such a maneuver, it is possible to optimize a distance that can be traveled in automated driving mode, with the number of manual interventions, ie, the number of manual interventions. H. the number of driver interventions, can be minimized.

A vehicle user, which is usually in the manual driving of the vehicle 1 represents the driver, in one embodiment of the method can specify a maximum allowable path length and / or travel time. So the vehicle user z. B. pretend that the path length and / or travel time can be 20% longer or can by choosing other access roads.

In particular, a traffic-state-dependent time gap distribution can show that a jammed driveway ensures safe shearing of the vehicle 1 on the lane F1 allowed.

Free traffic as a traffic condition on the route section of the threading strip e increases the likelihood of a driver intervention, since either too large time gaps or too small time gaps can be present.

In synchronized traffic as a traffic condition in which a driving speed of 30 km / h to 80 km / h is driven, the time gaps are comparatively small and may not be considered in the selection of the route.

For threading strips e on the respectively determined route to the desired destination position is determined on the basis of the determined traffic condition for the respective Einfädelungsstreifen e a statistical expectation value for a time gap for threading the vehicle 1 certainly. That is, that in the route selection of the vehicle 1 Forecasts of the time gaps on the stretch of the Einfädelungsstreifen e be taken into account.

The traffic-state-dependent time-gap distribution indicates in each case a frequency, in particular an expected value, for which traffic-state-dependent at least one time gap of z. B. 4 seconds, z. B. 75% in the moving wide traffic jam, 45% in synchronized traffic and 65% in free circulation. Based on the frequency determined becomes a Einfädelungsstreifen e selected a certain stretch of road. According to the embodiment described above, the Einfädelungsstreifen e , that is, the access chosen at which the traffic condition moving wide traffic jam was determined.

For an overtaking process of the automated moving vehicle 1 the most favorable traffic-state-dependent time-gap distribution with the greatest frequency of sufficient time gaps is used.

The number of overtaking operations of the automated moving vehicle 1 on a route is influenced by the traffic condition-dependent time gap distribution. For example, the vehicle tries 1 Depending on traffic conditions, ie depending on the traffic phase, to overtake in proportion to sufficient time gaps. According to the ratio of the above-mentioned time gap distribution between wide traffic congestion, synchronized traffic and free traffic.

The vehicle user is explained the selection of the route to the destination position, for example, by comparing, displaying and maximizing the automatically traveled distance of the routes.

The number of successfully completed barking and overtaking operations of the automated moving vehicle 1 becomes the central computer unit 4 transmitted, traffic-conditionally stored and evaluated. This can z. B. derived, which time gap the automated moving vehicle 1 should be available to create as many as possible Einscher- and overtaking.

For a Einschervorgang it is necessary that the frequency of a suitable traffic condition-dependent time gap must exceed at least a lower limit of, for example, 20%, below the limit, the vehicle user is prompted to take over the driving task.

Furthermore, it is provided that for an automated overtaking the frequency of a lower limit of z. B. must exceed 30%. If this is not the case, the vehicle user is prompted to take over the driving task.

A further possible embodiment provides that the traffic-state-dependent time-gap distribution can be determined by a vehicle fleet itself or by means of detected signals of a vehicle-side detection option.

Automated moving vehicles 1 that require different time gaps for a Einschervorgang or overtaking process, traversed by using the method different routes and can perform different overtaking maneuvers.

Certain sections require that an automated vehicle 1 performs a Einschervorgang within a maximum time gap as the upper limit, which is a condition for driving on this section of the route. Can this condition by the automated moving vehicle 1 are not met, this section is not for automated driving or not for this vehicle 1 Approved.

LIST OF REFERENCE NUMBERS

1

vehicle

2, 3

another vehicle

4

central computer unit

e

acceleration lanes

F

road section

F1

lane

F2

another 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

• DE 102017008668 A1 [0002]

Claims (2)

Method for route planning for an automated moving vehicle (1), wherein the route planning is based on information retrieved from a central computer unit, characterized in that - a plurality of routes leading to a destination position are determined, wherein - threading strips (E ) and a traffic condition on a section of the Einfädelungsstreifen (E) are determined, wherein - based on the determined traffic condition for the respective Einfädelungsstreifen (E) a statistical expectation value for a time gap for threading the vehicle (1) is determined and - to be driven route in Dependence of the given statistical expectation values. Method according to Claim 1 , characterized in that the route to be traveled is additionally selected as a function of a path length and / or travel time.

Images