DE102018210450A1 - Method for outputting control signals for controlling an automated vehicle - Google Patents

Abstract

The invention describes a method for outputting control signals for controlling an automated vehicle to an exit position, comprising the steps of: • receiving (101) a destination of a vehicle occupant; • determining (102) a location of the vehicle occupant in the vehicle, in particular a seat of the vehicle occupant; • Receiving (103) environment data of an environment of the destination, • determining (104) an exit position at the destination based on the received environment data and the determined seat of the vehicle occupant, • outputting (105) control signals for controlling the automated vehicle to the determined exit position.

Description

State of the art

The invention relates to a method for outputting control signals for controlling an automated vehicle, a device and a computer program for executing the method and a machine-readable storage medium on which the computer program is stored.

Methods for the automated control of vehicles are known from the prior art.

In the DE 10 2004 005 225 A1 For example, a driver assistance device is proposed to avoid a collision of a vehicle door with an obstacle when the vehicle door is opened.

Disclosure of the invention

• • Empfangen eines Zielortes eines Fahrzeuginsassen;
• • Ermitteln eines Aufenthaltsortes des Fahrzeuginsassen im Fahrzeug, insbesondere eines Sitzplatzes des Fahrzeuginsassen;
• • Empfangen von Umfelddaten einer Umgebung des Zielorts;
• • Ermitteln einer Ausstiegsposition am Zielort basierend auf den empfangenen Umfelddaten und dem ermittelten Sitzplatz des Fahrzeuginsassen;
• • Ausgeben von Steuersignalen zur Steuerung des automatisierten Fahrzeugs an die ermittelte Ausstiegsposition.

The invention describes a method for outputting control signals for controlling an automated vehicle to an exit position, comprising the steps:

• Receiving a destination of a vehicle occupant;
• • Determining a location of the vehicle occupant in the vehicle, in particular a seat of the vehicle occupant;
• • receiving environmental data of an environment of the destination;
• • Determining an exit position at the destination based on the environment data received and the determined seat of the vehicle occupant;
• • Output of control signals for controlling the automated vehicle to the determined exit position.

An automated vehicle can be understood to mean a partially, highly or fully automated vehicle. In particular, the automated vehicle can be a driverless vehicle that can be operated at least partially without human intervention. The vehicle can be, for example, a classic car or a minibus or a shuttle or a bus. The vehicle can also be other types of vehicles, such as two or three-wheelers.

In the receiving step, a destination of a vehicle occupant is received, for example, via a suitable wired or wireless interface. The driver can enter his desired destination, for example in the vehicle and / or via an app with his mobile phone or computer. If the destination is not entered directly in the vehicle, it can be received wirelessly, for example, from a server or directly from a terminal device of the vehicle occupant.

The location of the at least one vehicle occupant can be determined, for example, via an interior sensor system of the vehicle. For example, an interior camera and / or seat mats, sensors on a holding device inside the vehicle, RFID chips, Bluetooth receiver and / or comparable sensors can be used for this. In determining the location of the occupant, the primary purpose is to determine through which exit of the vehicle, in particular through which door, the vehicle occupant will leave the vehicle. This information is used in the further course of the method to approach an optimized exit position. In order to ensure that the vehicle occupant gets out at this position, it must first be determined in which door he is leaving the vehicle.

The environment data of an environment of the destination can be recorded, for example, by vehicle sensors, such as external cameras, radar, lidar and / or ultrasound sensors. This data can then be received, for example, by a control unit on which the method runs. The environment data can also represent data from sensors of other vehicles and / or infrastructure devices. Furthermore, the environment data can be data from an external server. In particular, there are data from a map server on which detailed information about potential exit positions in the area of the destination is stored.

The exit position at the destination is determined based on the environment data received and the determined location of the vehicle occupant. The exit position is determined in such a way that the vehicle occupant gets out at an exit position that is also optimally suited for the exit. This means in particular that there are no puddles or large water accumulations at the exit point, that the curb has no damage and optimally offers a good exit height. Depending on the vehicle type of the automated vehicle, high or low curbs or exit positions can therefore preferably be approached without a curb. High curbs are understood to be curbs with a height greater than or equal to 10 cm. A low curb is understood to mean a curb with a height of less than 10 cm.

Control signals for controlling the automated vehicle are output based on the determined exit position. These control signals can directly actuate actuators, but can also only represent further processable signals for controlling the vehicle.

This method can be carried out, for example, on one or more control units in the automated vehicle. Alternatively, the method can also be carried out on an external server, which outputs or transmits the control signals output to an automated vehicle via a corresponding interface.

The fact that the method on which this invention is based offers the advantage that the exit can be made very comfortable and safe for the vehicle occupants.

By observing the nature of the exit position, injuries to the vehicle occupant can be prevented. This process increases the acceptance of such automated transportation methods.

In a further embodiment of the method, the environment data will be received from a server, in particular a map server.

This embodiment of the invention offers the advantage that even automated vehicles without suitable sensors or suitable means for evaluating exit positions can approach an optimized exit position. Furthermore, receiving card data offers the possibility of using aggregated knowledge or aggregated sensor data. By aggregating different measured values and, if necessary, experience values associated with them (for example, by evaluating a journey by vehicle occupants), highly precise map data can be generated, which in turn contribute to the control of improved or optimized exit positions.

In a further embodiment of the method, the environment data received represent sensor data acquired from at least one further vehicle and / or an infrastructure device.

This embodiment of the invention offers the advantage that sensor data which have not been recorded by the vehicle's own sensor system can be used. This can ensure a better determination of the optimized exit position. Sub-sensor data of infrastructure facilities can be understood, for example, sensors attached to buildings, columns, lanterns, bus stops or other infrastructure facilities. The sensors can be, for example, cameras, radar, lidar and / or ultrasonic sensors.

In a further embodiment of the method, the environment data comprise information about the nature of potential exit positions in the environment of the destination, in particular about the presence of puddles of water.

This embodiment of the invention offers the advantage that a further optimization of the exit position is possible. By recognizing puddles of water, both the risk of injury and contamination of the vehicle occupant when exiting the automated vehicle can be reduced.

In a further embodiment of the method, the environment data comprise information about the nature of curbs in the vicinity of the destination, in particular about the height and / or damage to the curb.

This embodiment of the method also offers the advantage that an optimized exit position can be determined. An analysis of curbs can prevent injuries, for example by bending or slipping when getting out of the vehicle. In addition, depending on the height of the curb, an automated change in the vehicle height at the curb of the vehicle can be changed. This is possible, for example, using the vehicle's hydraulic or pneumatic suspension systems, which are already used in buses today.

In a further embodiment of the method, at least the whereabouts of two vehicle occupants who have the same destination are determined in the vehicle. The exit position is determined based on both locations.

This embodiment of the invention offers the advantage that an optimized exit position can also be reliably determined if two occupants want to leave the vehicle at the same destination at the same time. This can optionally be done through different doors or exits of the vehicle. The present circumstances therefore influence the choice of a suitable exit position. If the vehicle passengers get out through two different doors, the exit position becomes this way in this process chosen so that both occupants can get out safely.

If an exit is only possible through a vehicle exit or a vehicle door, in a further embodiment of the method only one door can be opened or opened for opening. After the exit of a first vehicle occupant, a second exit position is actuated, this being selected such that the further vehicle occupant also finds an optimized exit situation. The two exit positions are selected in particular in such a way that both vehicle passengers exit at the same point.

Instead of opening only one door or releasing only one door, a warning can alternatively be given to the vehicle occupants or a message can be issued that only one exit position is optimized for the exit. The other vehicle occupant can be advised to remain in the vehicle until the vehicle has been steered into an exit position optimized for the second occupant.

In a further embodiment of the method, a warning device is activated based on the determined exit position and the environmental data and / or the location of the vehicle occupant in the vehicle.

The warning device can be, for example, an acoustic, visual and / or haptic goods device.

The embodiment of this method offers the advantage that the occupant is prepared early for possibly not optimal exit conditions. This can increase his attention when exiting, which in turn increases his safety.

Furthermore, a device is claimed which is set up to carry out all steps of one of the methods described above. The device can be, for example, a control device or a computer, which is part of a server cluster, for example.

In addition, a computer program is claimed which comprises commands which, when the computer program is executed by a computer, cause the computer to carry out all steps of one of the methods listed above.

In addition, a machine-readable storage medium is claimed on which this computer program is stored.

list of figures

• 1 shows a schematic flow diagram.
• 2 shows a further schematic flow chart.

embodiments

In 1 a schematic process sequence of a first embodiment is shown. In this exemplary embodiment, the automated vehicle is a driverlessly operated car. This has several environment sensors, including several cameras, radar sensors and ultrasonic sensors. In addition, the car has two interior cameras and seat mats, which are used to determine the locations of vehicle occupants in the vehicle. In addition, the car has several powerful control units, by means of which the vehicle is controlled automatically. It runs in on one of the control units 1 illustrated procedures.

In step 101 a destination of a vehicle occupant is received. This information is provided by a central server that is sent out via an interface in the vehicle. In this exemplary embodiment, the destination is received before the vehicle occupant actually gets into the vehicle.

In step 102 the seat of the vehicle occupant is determined based on the interior cameras and the seat mats. Based on this information, the most likely exit point, in this embodiment the most likely door to exit, is determined.

In step 103 Environment data of an environment of the destination are received by the control device via a corresponding interface. In this exemplary embodiment, the data of the vehicle sensor system and additionally map data are received from an external server.

In step 104 an exit position at the destination is determined based on the determined seat of the vehicle occupant and the environment data received. The seating position, or the door for exiting based on the seating position, is used to precisely determine the stopping position of the vehicle. The environmental data can be used to analyze potential exit positions in the immediate vicinity of the destination. In this exemplary embodiment, an exit position is preferably selected at which there is neither water accumulation nor damage to the curb.

In step 105 control signals for controlling the automated vehicle are output to the determined exit position. These control signals are further processed in the vehicle and ultimately result in actuation of actuators to influence the longitudinal and transverse guidance of the vehicle.

In 2 a schematic process sequence of a further exemplary embodiment is shown. In this exemplary embodiment, the automated vehicle is an automated and driverless minibus. This minibus also has environmental sensors and corresponding control units to take part in road traffic fully automatically. To determine the whereabouts of vehicle occupants, the minibus includes several interior cameras, as well as touch sensors on handrails and seats in the minibus.

In step 201 a destination of a vehicle occupant is recorded in the minibus. The destination is entered using a touchscreen arranged in the minibus, which shows different destinations for selection.

In step 202 the location of the vehicle occupant in the vehicle is determined. Here, the driver is tracked by means of the interior sensor system present in the vehicle.

This means that the location of the vehicle occupant is tracked over time and monitored for changes.

In step 203 environment data of an environment of the destination are received. Since this exemplary embodiment involves predefined destinations, the surroundings data include sensors data, which are attached to infrastructure devices in the surroundings of the destination, in addition to the sensor data of the vehicle's own sensor system. In particular, camera data are received that permanently record potential exit positions at the specified destinations.

In step 204 an exit position is determined at the destination. This determination is based on the received environment data and the determined location of the vehicle occupant. Since the minibus offers several doors for getting in and out, the location of the vehicle occupant shortly before reaching the exit position is taken into account in order to determine the exact exit position. The location is chosen in such a way that a safe and comfortable exit of the vehicle occupant can be guaranteed. The exit position is granted in such a way that there are no puddles and no damaged curbs in the exit area. The curb in the exit area should preferably have a uniform height so that there is no risk of slipping.

In step 205 control signals for controlling the automated minibus are output to the determined exit position.

Due to heavy rain, no dry exit position can be determined in this embodiment. Therefore, before opening the doors, step in 206 an activation of a warning device. The vehicle occupant is warned acoustically and visually to exercise caution when getting out due to wet conditions.

In a further exemplary embodiment, several people want to get out through several doors of the minibus at the same time. Due to heavy rain, only one exit position can be determined, which can only ensure the safe and dry exit from one of the doors of the minibus. The corresponding exit position is approached, and at the same time a warning is issued to the other vehicle passengers that only one exit is available for the safe and dry exit. At the same time, the vehicle occupants are advised that after the first passengers have disembarked, the same destination will be approached again, the exit position being changed in such a way that a dry and safe exit is ensured by another door. After this warning, the minibus is actuated accordingly in such a way that the further exit position is approached.

In a further exemplary embodiment, the height of the curb is also determined on the basis of the surrounding data. Depending on the determined height of the curb in the exit area, the pneumatic suspension of the minibus is automatically controlled so that an optimized exit height is set.

QUOTES INCLUDE IN THE DESCRIPTION

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.

Patent literature cited

• DE 102004005225 A1 [0003]

Claims (10)

Method for outputting control signals for controlling an automated vehicle to an exit position, comprising the steps: • receiving (101, 201) a destination of a vehicle occupant; • determining (102, 202) a location of the vehicle occupant in the vehicle, in particular a seat of the vehicle occupant; • receiving (103, 203) environment data of an environment of the destination; • determining (104, 204) an exit position at the destination based on the environment data received and the determined location of the vehicle occupant; • Output (105, 205) of control signals for controlling the automated vehicle to the determined exit position. Procedure according to Claim 1 , characterized in that the environment data are received by a server, in particular a map server. Method according to one of the preceding claims, characterized in that the environment data received represent sensor data acquired from at least one further vehicle and / or an infrastructure device. Method according to one of the preceding claims, characterized in that the surroundings data comprise information about the nature of potential exit positions in the surroundings of the destination, in particular about the presence of puddles of water. Method according to one of the preceding claims, characterized in that the environmental data comprise information about the nature of curbs in the vicinity of the destination, in particular about the height and / or damage to the curb. Method according to one of the preceding claims, characterized in that at least the whereabouts of two vehicle occupants with the same destination in the vehicle are determined and the exit position is determined based on both whereabouts. Method according to one of the preceding claims, characterized in that a warning device is activated (206) based on the determined exit position and the environmental data and / or the location of the vehicle occupant in the vehicle. Device that is set up all the steps of the method according to one of the Claims 1 to 7 perform. Computer program, comprising commands which cause the computer program to be executed by a computer, a method according to one of the Claims 1 to 7 perform. Machine-readable storage medium on which the computer program is based Claim 9 is saved.

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