DE102018119834A1 - Method for operating an autonomously driving vehicle - Google Patents
Method for operating an autonomously driving vehicle Download PDFInfo
- Publication number
- DE102018119834A1 DE102018119834A1 DE102018119834.5A DE102018119834A DE102018119834A1 DE 102018119834 A1 DE102018119834 A1 DE 102018119834A1 DE 102018119834 A DE102018119834 A DE 102018119834A DE 102018119834 A1 DE102018119834 A1 DE 102018119834A1
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- Germany
- Prior art keywords
- vehicle
- curve
- lane
- oncoming vehicle
- determined
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00272—Planning or execution of driving tasks using trajectory prediction for other traffic participants relying on extrapolation of current movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4023—Type large-size vehicles, e.g. trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
Abstract
Die Erfindung betrifft ein Verfahren zum Betrieb eines autonom fahrenden Fahrzeuges (1), wobei erfindungsgemäß vorgesehen ist, dass bei einem erfassten Fahrkorridor eines eine Kurve (K) durchfahrenden, entgegenkommenden Fahrzeuges (2), wobei der Fahrkorridor zumindest aufgrund der Abmessungen des entgegenkommenden Fahrzeuges (2) in eine Fahrspur (F1) des Fahrzeuges (1) hineinragt, das Fahrzeug (1) an einem ermittelten Haltepunkt vor der Kurve (K) in den Stillstand versetzt wird und/oder derart verzögert wird, dass dem entgegenkommenden Fahrzeug (2) ausreichend Freiraum zum Durchfahren der Kurve (K) zur Verfügung gestellt wird.The invention relates to a method for operating an autonomously driving vehicle (1). 2) protrudes into a lane (F1) of the vehicle (1), the vehicle (1) is brought to a standstill at a determined stopping point before the curve (K) and / or is decelerated in such a way that the oncoming vehicle (2) is sufficient Free space for driving through the curve (K) is made available.
Description
Die Erfindung betrifft ein Verfahren zum Betrieb eines autonom fahrenden Fahrzeuges.The invention relates to a method for operating an autonomously driving vehicle.
Aus der
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zum Betrieb eines autonom fahrenden Fahrzeuges anzugeben.The invention is based on the object of specifying a method for operating an autonomously driving vehicle which is improved compared to the prior art.
Die Aufgabe wird erfindungsgemäß durch die in Anspruch 1 angegebenen Merkmale gelöst.The object is achieved by the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
Ein Verfahren zum Betrieb eines autonom fahrenden Fahrzeuges sieht erfindungsgemäß vor, dass bei einem erfassten Fahrkorridor eines eine Kurve durchfahrenden entgegenkommenden Fahrzeuges, wobei der Fahrkorridor aufgrund der Abmessungen des entgegenkommenden Fahrzeuges in eine Fahrspur des Fahrzeuges hineinragt, das Fahrzeug an einem ermittelten Haltepunkt vor der Kurve in den Stillstand versetzt wird und/oder derart verzögert wird, dass dem entgegenkommenden Fahrzeug ausreichend Freiraum zum Durchfahren der Kurve zur Verfügung gestellt wird.According to the invention, a method for operating an autonomously driving vehicle provides that, in the case of a detected driving corridor of an oncoming vehicle traveling through a curve, the driving corridor projecting into a lane of the vehicle due to the dimensions of the oncoming vehicle, the vehicle at a determined stopping point in front of the curve in the standstill is offset and / or decelerated in such a way that the oncoming vehicle is provided with sufficient space to pass the curve.
Durch Anwendung des Verfahrens kann das Entstehen einer Blockadesituation für beide Fahrzeuge, die sich bei nachfolgendem Verkehr vergleichsweise schwierig wieder auflösen lässt, weitestgehend ausgeschlossen werden. Somit kann ein Verkehrsfluss im Wesentlichen aufrechterhalten werden.By using the method, the occurrence of a blockage situation for both vehicles, which is comparatively difficult to dissolve in subsequent traffic, can be largely excluded. A traffic flow can thus be essentially maintained.
Das Fahrzeug verhält sich dem entgegenkommenden Fahrzeug gegenüber kooperativ, so dass eine unangenehme Situation für Insassen des Fahrzeuges, beispielsweise durch Hupen des entgegenkommenden Fahrzeuges oder nachfolgender Fahrzeuge, weitestgehend vermieden werden kann.The vehicle behaves cooperatively towards the oncoming vehicle, so that an uncomfortable situation for occupants of the vehicle, for example by honking the oncoming vehicle or following vehicles, can be largely avoided.
Zudem kann durch Anwendung des Verfahrens eine Akzeptanz gegenüber autonom fahrender Fahrzeuge gesteigert werden.In addition, acceptance of autonomous vehicles can be increased by using the method.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Exemplary embodiments of the invention are explained in more detail below with reference to a drawing.
Dabei zeigt die:
-
1 schematisch eine Verkehrssituation mit einem eine Kurve durchfahrenden, einem Fahrzeug entgegenkommenden Fahrzeug.
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1 schematically shows a traffic situation with a vehicle traveling through a curve and coming towards a vehicle.
In der einzigen Figur ist eine Verkehrssituation mit einem als Fahrzeug
Im Detail zeigt die
Das entgegenkommende Fahrzeug
Das Fahrzeug
Weiterhin weist das Fahrzeug
Erfasste Signale werden einer ebenfalls nicht näher dargestellten Auswerteeinheit zugeführt, wobei die Signale mittels Algorithmen zur Erfassung und Interpretation einer Umgebungssituation ausgewertet und verarbeitet werden.Acquired signals are fed to an evaluation unit, also not shown in more detail, the signals being evaluated and processed using algorithms for acquiring and interpreting an environmental situation.
Insbesondere werden die Signale in Bezug auf eine Erkennung einer Fahrspurgeometrie, einer Lokalisierung des Fahrzeuges
Gemäß dem in
Anhand erfasster Signale der Umgebungssensorik und/oder anhand von Karteninformationen wird die Fahrspurgeometrie, die auch als Fahrbahn- oder Straßengeometrie bezeichnet werden kann, ermittelt. Insbesondere werden geometrische Fahrspurinformationen, wie eine Fahrbahnbreite, eine Fahrspurbreite, eine Krümmung u. ä. ermittelt.The lane geometry, which can also be referred to as the lane or road geometry, is determined on the basis of detected signals from the environmental sensor system and / or on the basis of map information. In particular, geometric lane information, such as a lane width, a lane width, a curvature and the like. Ä. determined.
Zudem erfolgt eine Assoziation von dem erkannten entgegenkommenden Fahrzeuges
Wird ermittelt, dass der Fahrkorridor des entgegenkommenden Fahrzeuges
In dem Fahrzeug
Bezüglich dieses Punktes wird für das Fahrzeug
Eine Weiterfahrt des Fahrzeuges
In einer Ausführungsform eines oben beschriebenen Verfahrens zur weitestgehenden Vermeidung der Blockadesituation kann zusätzlich zu dem Haltepunkt auch ein prädizierter Zeitpunkt bei der Ermittlung der Haltetrajektorie bestimmt werden, zu welchem das entgegenkommende Fahrzeug
Insbesondere eignet sich das Verfahren für fahrerlose Fahrzeuge
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- 22
- entgegenkommendes Fahrzeug oncoming vehicle
- FF
- Fahrbahnabschnittroad section
- F1F1
- Fahrspurlane
- F2F2
- gegenläufige Fahrspuropposite lane
- KK
- KurveCurve
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of documents listed by the applicant has been generated automatically and is only included 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.
Zitierte PatentliteraturPatent literature cited
- DE 102016203086 A1 [0002]DE 102016203086 A1 [0002]
Claims (3)
Priority Applications (1)
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DE102018119834.5A DE102018119834A1 (en) | 2018-08-15 | 2018-08-15 | Method for operating an autonomously driving vehicle |
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DE102018119834.5A DE102018119834A1 (en) | 2018-08-15 | 2018-08-15 | Method for operating an autonomously driving vehicle |
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DE102018119834A1 true DE102018119834A1 (en) | 2020-02-20 |
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DE102018119834.5A Pending DE102018119834A1 (en) | 2018-08-15 | 2018-08-15 | Method for operating an autonomously driving vehicle |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020005013B3 (en) | 2020-08-17 | 2021-08-12 | Daimler Ag | Method for operating an automated vehicle |
WO2022073882A1 (en) * | 2020-10-08 | 2022-04-14 | Volkswagen Aktiengesellschaft | Method and control device for determining a collision-relevant time variable for a motor vehicle |
-
2018
- 2018-08-15 DE DE102018119834.5A patent/DE102018119834A1/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020005013B3 (en) | 2020-08-17 | 2021-08-12 | Daimler Ag | Method for operating an automated vehicle |
WO2022073882A1 (en) * | 2020-10-08 | 2022-04-14 | Volkswagen Aktiengesellschaft | Method and control device for determining a collision-relevant time variable for a motor vehicle |
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