DE102018213521A1 - Method for operating an automated vehicle - Google Patents

Abstract

The invention relates to a method for operating an automated vehicle (201), comprising the steps of: receiving a special trip release signal; Receiving environmental data; Determining additional vehicles (203a, 203b, 203c) based on the environment data; Determining a travel tube (204) that can be driven by the automatically operated vehicle (201) based on the determined further vehicles (203a, 203b, 203c); Sending out a signal for operating the vehicle (201) based on the determined driving hose (204) and the release signal.

Description

State of the art

The invention relates to a method for operating an automated vehicle, a device set up for executing the method, a computer program for executing the method, and a machine-readable storage medium on which this computer program is stored.

Methods for determining trajectories for automated vehicles are known from the prior art.

In the DE 10 2015 220 360 A1 For example, a method for generating a signal for transferring a partially or highly automated vehicle to a safe system state at a target pose is presented. The following method is carried out: determination of at least one target pose, determination of driving trajectories from the current vehicle position to the at least one target pose, evaluation of the driving trajectories, selection of one of the driving trajectories on the basis of the evaluation carried out and generation of the signal on the basis of the selected driving trajectory.

Disclosure of the invention

• • Empfangen eines Sonderfahrt-Freigabesignals;
• • Empfangen von Umfelddaten;
• • Ermitteln weiterer Fahrzeuge basierend auf den Umfelddaten;
• • Ermitteln eines von dem automatisiert betriebenen Fahrzeug befahrbaren Fahrschlauchs basierend auf den ermittelten weiteren Fahrzeugen;
• • Aussenden eines Signals zum Betreiben des Fahrzeugs basierend auf dem ermittelten Fahrschlauch und dem Freigabesignal.

The invention relates to a method for operating an automated vehicle, comprising the steps:

• • receiving a special trip release signal;
• • receiving environmental data;
• • Identify other vehicles based on the environment data;
• • Determining a driving hose that can be driven by the automatically operated vehicle based on the determined further vehicles;
• • Sending out a signal for operating the vehicle based on the determined driving hose and the release signal.

An automated or an automated vehicle can be understood as 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. The vehicle can also be other types of vehicles, such as two or three-wheelers. In particular, the automated vehicle is an emergency vehicle to which special rights in traffic can be assigned. This is done in this application by the special trip release signal. As a result, the emergency vehicle can use traffic routes in certain situations that are normally not allowed to be traveled by conventional vehicles without special rights.

The environment data can be recorded, for example, by vehicle sensors, such as external cameras, radar, lidar and / or ultrasonic sensors. This data can then be received, for example, by a control unit on which the method is running. 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.

Further vehicles are determined based on the environment data. The determination of these vehicles is used to determine a driving hose that can be driven by the automated vehicle. In the case of an emergency lane formed by the other vehicles, the vehicles determined form the lateral boundaries of the travel tube. The vehicles can be vehicles that are all traveling in the same direction as the automated vehicle and / or vehicles that are traveling in the opposite direction. The vehicles can be determined based on a classification method. In particular, the outlines of the vehicles are determined during the determination. It does not have to be possible to record the entire additional vehicle in order to determine a travel tube. A determination of the relevant extension or position of the further vehicle may be sufficient to determine the travel tube. In the case of vehicles traveling in the same direction of travel as the automated vehicle, in some cases, for example, only the rear area of the other vehicles could be directly detectable by the environment sensors of the automated vehicle, which means that a reliable determination is already possible.

The driving hose can represent a freely drivable area or an open area in which the edges are exactly adapted to the determined other vehicles and reflect their expansion. The driving hose can also correspond to a smaller area than the open area, in which, for example, minimum distances to obstacles such as the other vehicles are planned.

Based on the determined driving hose and depending on the release signal, a signal for operating the automated vehicle is output. This signal can be a direct one Actuate actuators, but can also only represent a further processable signal for controlling the automated vehicle. In particular, the vehicle is guided longitudinally and / or transversely based on the signal.

The special trip release signal can in particular be a received signal which includes a release for a special trip of the vehicle with a special right of way. For example, it can also be an emergency signal or emergency signal from which a right of way can be derived implicitly.

Only when the release signal contains the information that the automated vehicle has been granted or has been granted a right of way is there a corresponding signal for operating the automated vehicle, in particular along a determined trajectory within the determined travel tube.

With this procedure, an automated emergency vehicle (police, ambulance, emergency doctor, fire brigade, etc.) can plan and regulate a trajectory in the event of an emergency trip with right of way while driving in a lane, which allows a quick drive past other vehicles traveling aside and, if necessary enables oncoming traffic moving to the side. This enables the emergency services to move forward faster, even in heavy traffic, which can save lives.

In a further embodiment of the method, the route hose is determined independently of a lane marking, in particular independently of the line center marking.

This embodiment of the invention offers the advantage that the information about road markings, which is otherwise important for the determination of trajectories, is omitted, since due to the right of way of the automated vehicle, this has no or only minor relevance for the trajectory to be selected. The fact that the determination takes place independently of the line center marking means in particular that the driving tube and a trajectory determined in the driving tube may lie above the line center marking and the automated vehicle may consequently drive over it.

In a further embodiment of the method, the environment data received comprise sensor data of 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. In this way, a better determination of the travel tube can be achieved. Sensor data from infrastructure facilities can be understood to mean, for example, sensors attached to buildings, columns, lanterns, signs, bridges or other infrastructure facilities. The sensors can be, for example, cameras, radar, lidar and / or ultrasonic sensors. The sensor data recorded by other vehicles can be, for example, sensor data from an external camera or from radar, lidar and / or ultrasonic sensors or GPS or GNSS sensors.

In a further embodiment of the method, the environment data are received from a server.

This embodiment of the invention offers the advantage that it is possible to use aggregated sensor data or information. Data from a wide variety of sources can be aggregated on the server, for example from other vehicles, airplanes, helicopters, infrastructure facilities or satellite data.

In a further embodiment of the method, this comprises the additional step of predicting the movement of at least one determined further vehicle, in particular wherein the travelable driving hose is determined based on the prediction of the movement.

The movement can be predicted, for example, on the basis of determined movement states of the further vehicles or on the basis of information emitted by the vehicles. In a special embodiment, the driving tube is adjusted based on the prediction.

This embodiment of the invention offers the advantage that a more reliable determination of a safe trajectory for the automated vehicle can take place. This increases the safety of the vehicle occupants of the automated vehicle and the vehicle occupants of the other vehicles.

In a further embodiment of the method, the signal for operating the vehicle is sent out when the driving tube remains accessible for the automatically operated vehicle based on the predicted movement.

In this embodiment, the driving tube is not adapted based on the predicted movement, but the control is carried out as a function of the prediction. If there is a risk of a collision with another vehicle or a predefined one If the driving situation exceeds the threshold value due to the predicted movement of another vehicle, the automated vehicle in the driving tube is not activated. If the automated vehicle is already in the travel tube, this means, for example, that an emergency stop maneuver is initiated or the vehicle comes to a stop before the situation classified as dangerous is reached.

This embodiment of the invention offers the advantage that the safety for all road users is increased.

In a further embodiment of the method, the automated vehicle is operated based on the signal along a determined trajectory within the determined travel tube.

In this embodiment, the method consequently also contains the additional step of determining a trajectory within the determined travel tube. With this embodiment, reliable trajectory planning for driving past evasive vehicles can be guaranteed.

Furthermore, a device is claimed which is set up to carry out all steps of one of the methods on which this application is based. The device can in particular be a control unit. The device can also be a computer, which is part of a server cluster, for example.

A computer program is also claimed. This computer program comprises instructions which, when the computer program is executed by a computer, cause the computer to carry out a method according to the present application.

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

list of figures

• 1 shows a schematic process diagram.
• 2 shows an exemplary driving situation.

embodiments

In a first exemplary embodiment, an automated vehicle is equipped with environment sensors for determining infrastructure information, such as a road layout, in particular lane lines, and other vehicles. Video, radar, lidar and ultrasonic sensors as well as microphones are used as sensors. The vehicle also has path planning methods for deriving a trajectory from the current position to a target position, a vehicle motion method for implementing these trajectories in the vehicle and at least one control unit for carrying out these algorithmic methods. The control unit also runs a method which has the task of taking over and planning or regulating a trajectory for the overtaking of slowing vehicles by the automatically operated vehicle, which in this exemplary embodiment is an emergency vehicle in the form of an ambulance with signaling system and Martinshorn to generate corresponding control signals.

In 2 is the automated vehicle 201 pictured during a mission. That means in particular the vehicle 201 Right of way and other vehicles 203a . 203b . 203c the automated vehicle 201 should or should be able to drive past. In this embodiment, all vehicles are located 201 . 203a . 203b . 203c on a busy single-lane country road 202 with oncoming traffic 203c , The automated vehicle approaches two vehicles from behind 203a . 203b ,

In a control unit of the automated vehicle 201 does that run in 1 illustrated method, which in step 101 starts.

In step 102 is from the vehicle 201 received a special trip release signal. In this embodiment, the vehicle 201 An accident is reported via a wireless interface, which changes the status of the vehicle 201 changed to "in use" and the vehicle is granted a right of way. At the same time the signal system of the vehicle 201 , which is located on its roof, and activates the Martinshorn, if necessary, so that other road users can get on the approaching emergency vehicle 201 be pointed out.

In step 103 are from the vehicle 201 Receive environmental data. In this exemplary embodiment, this is done via an interface with the sensors installed in the vehicle.

Based on this environment data, step 104 in the 2 shown other vehicles 203a . 203b . 203c determined. Here, their position is detected.

In step 105 is based on the determined other vehicles 203a . 203b . 203c a driving tube 204 determined by which the vehicle 201 can be controlled.

In step 106 is based on the determined driving tube 204 a signal to operate the vehicle 201 sent out. Actuators of the vehicle can be triggered by the signal 201 can be controlled, the longitudinal and transverse guidance of the vehicle 201 cause.

The process ends in step 107 ,

In a further exemplary embodiment, the driving tube is determined ( 105 ) regardless of the line center marking, so that crossing this line is possible without any problems. The line center marking is recorded and recognized, but has no significant influence on the determined driving hose. When driving on the inner tube, an attempt is made to orientate as far as possible on the right-hand side (taking into account a safety distance) and to steer the vehicle accordingly on the right-hand side.

In a further exemplary embodiment, further road markings are also recorded, but these do not represent any restriction for the choice of the driving tube. On the contrary, they offer the additional potential of, for example, also determining a road hose that lies outside a roadside marking, if no other way of passing is possible and safe travel to the area outside the roadside marking can be ensured.

• Das Fahrzeug empfängt eine Freigabe für Sonderfahrt. Dies geschieht in diesem Ausführungsbeispiel über ein Sonderfahrt-Freigabesignal, welches von einem externen Server empfangen wird.

In a further exemplary embodiment, the following steps take place in an automated emergency vehicle:

• The vehicle receives an approval for special travel. In this exemplary embodiment, this is done via a special trip release signal which is received by an external server.

Using the vehicle's own environment sensors and other environment data from other nearby automated vehicles that communicate with the automated emergency vehicle via a Car2Car communication interface, vehicles in front are determined on their own and on neighboring lanes (possibly also with oncoming traffic). The other vehicles are associated on tracks and classified with appropriate models based on the surrounding data.

In addition, in this exemplary embodiment, the movement of the determined vehicles is predicted. This is done by means of movement parameters of the vehicles determined by the environment sensors. These can be received, for example, via a Car2Car communication interface or can be determined based on environmental data from sensors, for example using tracking algorithms.

Based on the environment data, a driving tube between the vehicles is determined, which also allows the line-center marking to be crossed.

It is then determined whether this driving hose remains sufficiently free even when the vehicles are predicted. If this is the case, an overtaking process or a control of the vehicle is carried out within the driving hose.

In a further exemplary embodiment, the automated vehicle is a police car with a siren and siren. A process runs in the automated vehicle in which vehicles in front are recognized and their movements are predicted. If the detection and prediction shows that a corridor is being created between the moving or already standing vehicles and is likely to still exist at the time the vehicle is driven through, a trajectory for the crossing is planned and regulated.

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 102015220360 A1 [0003]

Claims (10)

Method for operating an automated vehicle (201) with the steps: • receiving (102) a special trip release signal; • receiving (103) environment data; • determining (104) further vehicles (203a, 203b, 203c) based on the environment data; • determining (105) a travel tube (204) that can be driven by the automated vehicle (201) based on the determined further vehicles (203a, 203b, 203c); • Sending (106) a signal for operating the automated vehicle (201) based on the determined driving hose (204) and the release signal. Procedure according to Claim 1 , characterized in that the determination of the driving hose (105) takes place independently of a lane marking, in particular independently of the center line marking. Method according to one of the preceding claims, characterized in that the received environment data comprise detected sensor data of at least one further vehicle and / or an infrastructure device. Method according to one of the preceding claims, characterized in that the environment data are received from a server. Method according to one of the preceding claims, with the additional step of predicting the movement of at least one determined further vehicle (203a, 203b, 203c), in particular wherein the travelable travel tube is determined based on the prediction of the movement. Procedure according to Claim 5 The transmission (106) of the signal for operating the automated vehicle (201) takes place when the driving tube (204) remains accessible for the automated vehicle (201) based on the predicted movement. Method according to one of the preceding claims, wherein the automated vehicle (201) is operated based on the signal along a determined trajectory within the determined travel tube (204). Device which is set up to carry out all steps of a method according to one of the preceding claims. 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 according Claim 9 is saved.

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