DE102018109711A1 - Method for automatically controlling a motor vehicle by means of a driving assistance system in the presence of another vehicle - Google Patents

Abstract

The invention relates to a method for controlling a motor vehicle (32) using a driving support system (33) in the presence of another vehicle (10), which is a winter service vehicle (11) for winter service, in particular if the motor vehicle (32) behind the winter maintenance vehicle ( 10), the method comprising the following steps performed by the driving support system (33):
Recognizing the other vehicle (10) as a winter service vehicle (11) performing a winter service by using at least one sensor (38); and
Adapting at least one driving parameter of the motor vehicle (32) to the driving situation with the winter service vehicle (11).
The invention further relates to a corresponding computer program product and a corresponding driving support system (33).

Description

The invention relates to a method for automatically controlling a motor vehicle by means of a driving support system in the presence of another vehicle.

Furthermore, the invention relates to a corresponding computer program product and a corresponding driving support system for the automated control of a motor vehicle in the presence of another vehicle.

The driving assistance system must adapt the driving behavior of the motor vehicle to different driving situations. These driving situations may be due to external circumstances, such as weather conditions, road conditions, the traffic load in general and / or the presence of special vehicles. These special vehicles may be special vehicles such as police cars, fire engines, ambulances, heavy transport vehicles, construction vehicles, military vehicles, road service vehicles, etc.

In many cases, these special purpose vehicles drive at a speed that is untypical of the type of road and / or external circumstances.

The driving assistance system may be a driver assistance system (eg, a normal motor vehicle) or an autonomous vehicle / autonomous car driving support system (also known as a driverless car, self-driving car, robotic car) or an unmanned ground vehicle, which is a vehicle that is capable of to capture its environment and to navigate without human input. In general, the driving assistance system autonomously controls the motor vehicle or assists in driving the motor vehicle using driving parameters of the motor vehicle.

The invention has for its object to provide a correspondingly improved method for automated control of a motor vehicle by means of a driving support system in the presence of another vehicle, a corresponding improved computer program product and a corresponding improved driving support system.

The object is achieved by a method, a computer program product and a corresponding driving support system with the features of the respective independent claims. Advantageous embodiments of the invention are subject of the dependent claims, the description and the figures.

1. (i) Erkennen des anderen Fahrzeugs als ein Winterdienstfahrzeug, das einen Winterdienst ausführt, unter Verwendung mindestens eines Sensors, und
2. (ii) Anpassen mindestens eines Fahrparameters des Kraftfahrzeugs an die Fahrsituation mit dem Winterdienstfahrzeug.

The method according to the invention for controlling a motor vehicle using a driving support system in the presence of another vehicle, which is a winter service vehicle, in particular when the motor vehicle travels behind this winter maintenance vehicle, has the following steps carried out by the driving support system:

1. (i) recognizing the vehicle other than a winter service vehicle performing a winter service using at least one sensor, and
2. (ii) adapting at least one driving parameter of the motor vehicle to the driving situation with the winter service vehicle.

The driving parameters to be adapted or at least some of the driving parameters to be adapted are driving parameters of a longitudinal control of the motor vehicle.

• ein Warnlicht dieses Fahrzeugs,
• eine Streuvorrichtung oder eine Streuvorrichtungskomponente des Fahrzeugs, und ein entsprechendes Warn- und / oder Hinweisschild.

According to a preferred embodiment of the invention, the other vehicle is detected by detecting at least one of the following features of the winter maintenance vehicle as a winter service vehicle, in particular as a scatter vehicle:

• a warning light of this vehicle,
• a scattering device or a scattering device component of the vehicle, and a corresponding warning and / or warning sign.

Typical spreader components are a hopper and a distributor. Typical warning or information signs show notes such as "Attention winter service".

• Erfassen von Winterbedingungen, und
• Erfassen eines Streuvorgangs der erkannten Streuvorrichtung.

According to another preferred embodiment of the invention, the execution of the winter service is detected by at least one of the following operations:

• Capturing winter conditions, and
• Detecting a scattering process of the detected spreader.

Preferably, the winter conditions are detected by a temperature below a temperature limit and / or the presence of snow and / or ice. The temperature limit can be 0 ° C or just a few degrees above 0 ° C.

Preferably, the scattering process of the detected scattering device is detected by means of at least one ultrasonic sensor and / or an acoustic sensor.

According to yet another preferred embodiment of the invention, the at least one driving parameter to be adapted is a distance to the winter maintenance vehicle and / or the probability of an overtaking maneuver with respect to the winter utility vehicle.

The computer program product according to the invention comprises computer executable program code sections having program code instructions configured to execute the aforementioned method, in particular by a processor of a computerized control unit.

• - Erkennen des anderen Fahrzeugs als ein Winterdienstfahrzeug, das einen Winterdienst ausführt, unter Verwendung mindestens eines Sensors, und
• - Anpassen mindestens eines Fahrparameters des Kraftfahrzeugs an die Fahrsituation mit dem Winterdienstfahrzeug.

According to the driving support system for automated control of a vehicle in the presence of another vehicle, which is a winter service vehicle for the winter service, in particular when driving behind the winter maintenance vehicle, the driving support system is adapted to:

• Recognizing the vehicle other than a winter service vehicle performing a winter service using at least one sensor, and
• - Adapting at least one driving parameter of the motor vehicle to the driving situation with the winter service vehicle.

According to a preferred embodiment of the invention, the driving support system is adapted to carry out the above-mentioned method.

According to a further preferred embodiment of the invention, the driving support system has a computer-aided control unit. The control unit has a processor and a memory. Preferably, the driving support system further comprises the at least one sensor.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All of 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 shown only in the figures are usable not only in the respectively indicated combination but also in other combinations or alone.

The invention will be explained in more detail below with reference to a preferred embodiment and with reference to the accompanying drawings.

• 1 ein Bild eines Winterdienstfahrzeugs auf einer Straße;
• 2 eine Draufsicht einer ersten Straßenszene, die ein mit einem Fahrunterstützungssystem ausgestattetes Kraftfahrzeug hinter dem Winterdienstfahrzeug zeigt;
• 3 eine Draufsicht auf eine zweite Straßenszene, die das mit dem Fahrunterstützungssystem ausgestattete Kraftfahrzeug hinter dem Winterdienstfahrzeug zeigt; und
• 4 eine Draufsicht einer dritten Straßenszene, die das mit dem Fahrunterstützungssystem ausgestattete Kraftfahrzeug hinter dem Winterdienstfahrzeug zeigt.

Show it.

• 1 an image of a winter maintenance vehicle on a road;
• 2 a plan view of a first road scene showing a motor vehicle equipped with a driving support system behind the winter maintenance vehicle;
• 3 a plan view of a second road scene, showing the equipped with the driving support system motor vehicle behind the winter maintenance vehicle; and
• 4 a plan view of a third street scene, showing the equipped with the driving support system motor vehicle behind the winter maintenance vehicle.

1 shows a picture of a street scene with a vehicle 10 , The vehicle 10 is a special winter service vehicle 11 for the winter service, ie a spreader truck that is on a road 12 moves. The vehicle 10 has a driver's cab 14 and a chassis 16 with adapters that enable him, specifically to carry constructed snow removal equipment. On the front side 18 of the winter utility vehicle 11 there is a snow shovel 20 , and at the back 22 there is a spreader 24 for sprinkling salt, split, etc.

For most winter maintenance vehicles 12 is a (salt) spreader 24 which is also known as a sand spreader, or to find a street spreader device. In fact, the spreader / street spreader device is 24 at winter service vehicles 11 so often to see that the terms are sometimes used interchangeably (street scattering device for scattered vehicle 11 ). spreading devices 24 are used to distribute grit (rock salt) on roads. The grit is in a funnel on the back 22 of the vehicle 10 stored, with a wire mesh is disposed over the top to prevent foreign bodies from entering the scattering mechanism and thus are trapped. The salt is generally distributed through a distributor on the roadway, which is attached to a small in-vehicle engine by a hydraulic drive system. However, until the 1970s, the grit was often manually using blades through at the rear of the vehicle 10 traveling men distribute, and some older scattering mechanisms still require that grit from the hopper is manually loaded into the distributor. In the 1 illustrated spreader 24 spread the salt over a scattered surface 26 behind the vehicle 10 while the vehicle 10 slowly at constant speed on the road 12 moves.

Salt reduces the melting point of ice by lowering the freezing point, causing it to melt at lower temperatures and drain towards the roadside, while sand increases traction by increasing the friction between the tire and the road surface. The amount of salt to be applied varies with the road condition; In order to prevent the formation of light ice, about 10 g / m ^{2 are} applied, while thick snow may require up to 40 g / m ^{2 of} salt, regardless of the volume of the sand applied. The grit is sometimes mixed with molasses to improve adhesion to the road surface. The sweet molasses, however, often attracts livestock on the street 12 licks.

Snow plows 11 , such as gritting vehicles, typically have a warning light 28 on top of the cab 14 on. In most countries have winter service vehicles 11 usually yellow light bars / signal lights 28 that are activated to indicate that the vehicle 11 operating below the local speed limit or otherwise posing a danger to other road users, either by covering roadways or by spreading debris or de-icing materials. In some areas use winter service vehicles 11 instead of yellow or orange lights used elsewhere, blue flashing lights associated with emergency services vehicles. Many authorities also paint their vehicles 11 in high-contrast orange or yellow, so that the vehicles 10 are more visible under white-glare conditions.

2 shows a plan view of a street scene that is a motor vehicle 32 with a driving support system 33 shows that behind the winter maintenance vehicle 11 on a highway 30 moves. The car 32 is a passenger car in the example shown. The driving support system 33 may be a driver assistance system (eg a normal motor vehicle) or a driving support system 33 an autonomous vehicle / autonomous car (also known as a driverless car, self-driving car, robotic car) or an unmanned ground vehicle that is a motor vehicle 32 which is able to capture its environment and navigate without human input.

Autonomous vehicles use a variety of techniques to detect their environment, such as radar, laser light, GPS, odometry, computer vision, etc. Advanced control systems, such as the driving assistance system 33 , interpret sensory information to identify appropriate navigational paths as well as obstacles and relevant signage. Autonomous vehicles must have control systems that are able to analyze sensory data in order to distinguish between different vehicles on the road 12 to distinguish.

1. i. Das Fahrunterstützungssystem 33 muss zuerst die mit dem Winterdienstfahrzeug, insbesondere einem Streufahrzeug, verknüpften Bedingungen erfassen;
2. ii. Auf dem vor dem autonomen Kraftfahrzeug (Host-Fahrzeug) 32 fahrenden Winterdienstfahrzeug 11 muss ein Warnlicht 28 erfasst werden.
3. iii. Winterbedingungen sind obligatorisch, sie basieren hauptsächlich auf niedrigen Umgebungstemperaturen - typischerweise unter 0°C.
4. iv. Das Winterdienstfahrzeug 11 muss durch einem Sensor 38, wie beispielsweise eine Frontkamera, erfasst werden.
5. v. Salzspray muss durch einen Ultraschallsensor 38 oder durch ein Mikrofon erfasst werden, der/das sich innerhalb oder außerhalb des Kraftfahrzeugs 32 befinden könnte.
6. vi. Eine Kombination der vorstehenden Eigenschaften.

The road shown in the examples 12 is a highway 30 with several lanes 34 . 36 , In the example shown drive the winter maintenance vehicle 11 and the motor vehicle 32 in a row on one of the lanes 34 , The car 32 has one or more corresponding sensors 38 for monitoring the environment of the motor vehicle 32 on. The sensors 38 may be cameras (imaging sensors), radar sensors, lidar sensors, ultrasonic sensors, acoustic sensors, etc.

1. i. The driving support system 33 must first record the conditions associated with the winter maintenance vehicle, in particular a scatter vehicle;
2. ii. On the front of the autonomous motor vehicle (host vehicle) 32 driving winter service vehicle 11 must have a warning light 28 be recorded.
3. iii. Winter conditions are mandatory, they are mainly based on low ambient temperatures - typically below 0 ° C.
4. iv. The winter service vehicle 11 must be through a sensor 38 , such as a front camera, are detected.
5. v. Salt spray must be through an ultrasonic sensor 38 or detected by a microphone located inside or outside the motor vehicle 32 could be located.
6. vi. A combination of the above features.

If the above condition is met, the longitudinal control of the driving assistance system must be performed 33 are capable of performing at least three actions:

1. The time interval between the moving littering vehicle 11 and the motor vehicle 32 with the driving support system 33 must be increased significantly, so that the motor vehicle 32 no longer in the scattered area 26 salt spray. Typically, the largest time interval, which can be set to 1.5 seconds, must be doubled up to 3 seconds. For a low speed ride, the change in the time interval corresponds to an increase in the distance between the two vehicles 11 , 32 from 15 m to 30 m. 2 shows the situation where the distance between the winter maintenance vehicle 11 and the motor vehicle 32 with the driving support system 33 (Double arrow 40 ) is smaller than the width 42 the scattered surface 26 ,

3 shows the situation after increasing the time interval between the scatter vehicle 11 and the motor vehicle 32 , where the distance between the winter maintenance vehicle 11 and the motor vehicle 32 with the driving support system 33 (Double arrow 40 ) is significantly larger than the width 42 the scattered surface 26 ,

2. To check if the scatter vehicle 11 or the spreader 24 of the vehicle 11 is still operating, the time interval should be periodically reduced to check if the salt spray of the spreader 24 is still active. Another way to find out if the salt spreader process is still in service is to have V2X communication (V2X: vehicle-to-everything) between the spreader vehicle 11 and the motor vehicle 32 using the driving assistance system 33 to use.

3. The host vehicle should be the winter service vehicle 11 do not overtake until it's the highway 30 leaves or until the operational test (see second action) is not negative (the winter service vehicle / littering vehicle 11 has finished his operation).

4 shows the corresponding situation. The driving support system 33 of the motor vehicle 32 detects using the at least one sensor 38 that the preceding vehicle 10 a winter service vehicle 11 is (for example, by detecting a funnel and a distributor of the spreader 24 ), and that this winter service vehicle 11 actually performs a winter service (eg, by detecting a scattering operation of the detected spreader 24 ). Then the driving support system fits 33 at least one driving parameter of the motor vehicle 32 to the driving situation with the winter service vehicle 11 at. In the case shown suppressed the driving support system 33 an otherwise planned overtaking maneuver (crossed arrow 44 indicating a corresponding trajectory of said maneuver) of the motor vehicle 32 with respect to the winter service vehicle 11 by determining a corresponding driving parameter.

LIST OF REFERENCE NUMBERS

vehicle 10 Winterdienstfahrzeug 11 Street 12 cab 14 chassis 16 front 18 snow shovel 20 back 22 spreader 24 diffusing surface 26 warninglight 28 Highway 30 vehicle 32 Driving assistance system 33 lane 34 other lane 36 sensor 38 Double arrow (distance) 40 Width of the scattered surface 42 Trajectory (overtaking the winter maintenance vehicle) 44

Claims (10)

A method of controlling a motor vehicle (32) using a driving assistance system (33) in the presence of another vehicle (10) which is a winter service vehicle (11), in particular when the motor vehicle (32) travels past the winter maintenance vehicle (10), the method the following steps performed by the driving support system (33) include: Recognizing the other vehicle (10) as a winter service vehicle (11) performing a winter service using at least one sensor (38); and Adapting at least one driving parameter of the motor vehicle (32) to the driving situation with the winter service vehicle (11). Method according to Claim 1 characterized in that the other vehicle (10) is detected by detecting at least one of the following features of the winter maintenance vehicle (11) as a winter service vehicle (11), in particular as a scatter vehicle: a warning light (28) of the vehicle (10); a spreader (24) or a spreader component of the vehicle (10); and a warning and / or information sign. Method according to Claim 1 or 2 , Characterized in that characterized in that the execution of the winter service is recognized by at least one of the following operations: acquiring winter conditions; and detecting a scattering operation of the detected spreader (24). Method according to Claim 3 , characterized in that the winter conditions are detected by a temperature below a temperature limit and / or the presence of snow and / or ice. Method according to Claim 3 or 4 , characterized in that the scattering process of the detected scattering device (24) by means of at least one ultrasonic sensor (38) and / or an acoustic sensor (38) is detected. Method according to one of Claims 1 to 5 , characterized in that the at least one driving parameter to be adapted is a parameter from the distance to the winter service vehicle (11); and the likelihood of an overtaking maneuver with respect to the winter service vehicle (11). A computer program product comprising computer executable program code portions having program code instructions configured to perform the method of any one of Claims 1 to 6 perform. A driving assistance system (33) for automatically controlling a motor vehicle (32) in the presence of another vehicle (10) which is a winter service vehicle (11), in particular when driving past the winter maintenance vehicle (11), wherein the driving support system (33) is arranged to: Recognizing the other vehicle (10) as a winter service vehicle (11) using at least one sensor (38); and adapting at least one driving parameter of the motor vehicle (32) to the driving situation with the winter maintenance vehicle (10). System after Claim 8 , characterized in that the driving support system (33) is adapted to perform the method according to any one of Claims 1 to 6 perform. System after Claim 8 or 9 characterized in that the driving support system (33) comprises a computer-based control unit having a processor and a memory.

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