DE102019122819A1 - Automated opening of passenger doors - Google Patents

Abstract

Disclosed is a method for opening passenger doors of an automatically operated vehicle by a control device, wherein measurement data of a vehicle environment are received and evaluated, based on the received measurement data at least one potential passenger and a ride intention of the potential passenger are detected, an effect of opening passenger doors and a Taking the pedestrian is calculated on a schedule, and wherein the passenger door is opened for the pedestrian when a ride-sharing intention of the pedestrian is determined and there is no or negligible effect on the schedule. Furthermore, a control device, a computer program and a machine-readable storage medium are disclosed.

Description

The invention relates to a method for opening passenger doors of an automatically operated vehicle by a control device. The invention also relates to a control device, a computer program and a machine-readable storage medium.

State of the art

When using public transport, such as buses, situations arise in which a passenger arrives late at the stop. In such a situation, the bus driver can make a decision to open the passenger door or deny the passenger access.

This decision by the vehicle driver is usually influenced by various factors. For example, if the traffic light is switched to “red” or if there is a traffic jam, the bus stops so that the driver can open the passenger door again. This courteous behavior by vehicle drivers is often carried out independently of a required schedule.

If automated vehicles are used to transport passengers, the specified time schedules are usually precisely adhered to. In particular, in such an automatically operated vehicle, the passenger door would close as a function of time. The passenger door would remain locked in spite of possible possibilities to take in further passengers in order not to endanger the schedule.

Disclosure of the invention

The object on which the invention is based can be seen in proposing a method for increasing customer value and acceptance of automatically operated vehicles.

This object is achieved by means of the respective subject matter of the independent claims. Advantageous refinements of the invention are the subject matter of the respective dependent subclaims.

According to one aspect of the invention, a method for opening passenger doors of a vehicle that can be operated in an automated manner is provided by a control device. The control device can generate control commands for direct opening or for causing the passenger door to be opened.

In one step, measurement data from a vehicle environment is received and evaluated. The measurement data can be collected by a vehicle's environment sensor system. In addition, measurement data can be received from an external server unit, for example for assessing a traffic situation ahead along a probable route or trajectory

On the basis of the received measurement data, at least one potential passenger and the potential passenger's intention to ride are detected. As a result, the vehicle can weigh up the possibility of accepting additional passengers and thus also increase customer satisfaction. The potential passenger can be a pedestrian, a wheelchair user, a cyclist, a driver of an e-scooter and the like.

An optional step consists in determining a traffic situation on the basis of the received measurement data. The traffic situation can be determined in the immediate vicinity of the vehicle and / or along a probable or planned trajectory of the vehicle.

An effect of opening passenger doors and picking up the potential passenger on a schedule is then calculated. The effect can be calculated, for example, by a trained neural network, a simulation model and / or by at least one algorithm. When determining the effects, the determined traffic situation can optionally be taken into account.

In a further step, the passenger door is opened for the passenger if the potential passenger's intention to ride is determined and there is no or negligible effect on the schedule. The potential passenger becomes a passenger if he has an intention to ride and this has been determined by the control unit.

According to a further aspect of the invention, a control device is provided, the control device being set up to carry out the method. The control device can be, for example, a control device on the vehicle side or a control device external to the vehicle. For example, the control device can be connected to a vehicle control system for executing automated driving functions or can be integrated into such a vehicle control system. An externally configured control device can be, for example, a server unit external to the vehicle, which is based on cloud technology.

In addition, according to one aspect of the invention, a computer program is provided which comprises instructions that are used when executing the Computer program by a computer or a control device cause the latter to carry out the method according to the invention. According to a further aspect of the invention, a machine-readable storage medium is provided on which the computer program according to the invention is stored.

According to the BASt standard, the vehicle can be assisted, partially automated, highly automated and / or fully automated or can be operated without a driver. The vehicle can preferably be set up to transport or transport passengers. In particular, the vehicle can be designed as an automatically operated taxi, bus, transport unit, transfer vehicle, ferry or as an air taxi. Instead of the passenger door, access roads, walkways, bridges and the like can also be used.

The schedule of the automatically operated vehicle can have one or more points in time and / or time periods. The times can be in the form of times. The vehicle that can be operated in an automated manner must achieve predetermined goals at the times of the schedule and / or within the time periods of the schedule. The schedule can also have time tolerances, for example in order to compensate for an increased volume of traffic and associated delays when driving onto the destinations.

The environment sensor system of the vehicle can have at least one sensor. In particular, the at least one sensor can be a LIDAR sensor, radar sensor, ultrasonic sensor, camera sensor and the like. In addition, the at least one sensor can also be designed as a GNSS sensor and / or ultrasonic sensor.

The method can be used to adapt an automatically operated vehicle, such as, for example, RoboBus, RoboTaxi, FlugTaxi and the like, to the obliging behavior of a human vehicle driver. In particular, the reaction of the vehicle can thus be carried out in a more friendly manner and the acceptance of automatically operated vehicles can be increased.

According to one exemplary embodiment, the potential passenger's intention to ride is determined by a movement speed, a direction of movement, a probable trajectory and / or by a movement pattern of the potential passenger. Here, for example, a direction of movement and a path of the potential passenger can be predicted. With the aid of a map or the possible pedestrian paths or crossings, the intention to ride can be determined when the potential passenger is moving towards the vehicle and / or the passenger door.

According to a further embodiment, a traffic situation is determined on the basis of the received measurement data. The effects of opening passenger doors and picking up the potential passenger on a schedule are preferably calculated, taking into account the determined traffic situation. Minor variations or deviations from an existing plan or route can be taken into account. In particular, for example, an originally planned trajectory can be adapted or a stop can be omitted if no passenger gets on or gets off there.

According to a further exemplary embodiment, an estimated time of arrival of the potential passenger at the passenger door is calculated in order to determine an effect on the schedule. Based on the determination of the intention to ride, a time until the passenger arrives at the passenger door can be calculated. In this way, a check can be carried out to determine whether waiting by the passenger has a negligible effect on the schedule.

According to a further exemplary embodiment, the expected arrival time of the passenger at the passenger door is estimated on the basis of a movement speed of the passenger, a stop geometry, a traffic light position and / or on the basis of a direction of movement of the passenger. The arrival time of the passenger at the passenger door can be determined particularly precisely by means of these factors.

According to a further embodiment, the traffic situation in the immediate vicinity of the vehicle and / or along a planned trajectory is determined and used to estimate the effect on the schedule. For example, it can be checked whether traffic jams have formed along a planned trajectory or whether there is a low volume of traffic. Third-party providers or external server units can also be contacted to obtain the relevant information. If there is a high volume of traffic along the trajectory, the effect can be taken into account more critically or under stricter criteria than in the case of a likely unhindered journey. In this way, a forward-looking consideration of future delays can be used to make a decision to open the passenger door.

According to a further embodiment, an effect on the schedule is assessed on the basis of a time delay in departure, a negligible effect corresponding to a time delay which is below a tolerance threshold. As a result, a time value can be used as a comparison value in order to determine a Make the decision to open the passenger door or to leave the passenger door in the closed state. With this measure, the effect can be determined in a technically particularly simple manner.

According to a further embodiment, the tolerance threshold is determined statically or dynamically, a dynamic tolerance threshold being determined based on a traffic situation along the planned trajectory and / or based on a number of boarded passengers. If the vehicle can travel its planned route unhindered, the tolerance threshold can be increased so that greater time delays are made possible. In the event of a high volume of traffic and a likely longer period of time to drive on the planned trajectory, the tolerance threshold can be lowered in order to minimize the loss of time.

• 1 eine schematische Darstellung einer Anordnung zum Veranschaulichen eines erfindungsgemäßen Verfahrens und
• 2 ein schematisches Diagramm zum Veranschaulichen des Verfahrens gemäß einem Ausführungsbeispiel.

In the following, preferred exemplary embodiments of the invention are explained in more detail with the aid of greatly simplified schematic representations. Show here

• 1 a schematic representation of an arrangement for illustrating a method according to the invention and
• 2 a schematic diagram to illustrate the method according to an embodiment.

The 1 shows a schematic representation of an arrangement 1 to illustrate a method according to the invention 2 . The order 1 shows a vehicle that can be operated automatically 4th .

The automated vehicle 4th is a bus according to the embodiment. The vehicle 4th however, it can be any other vehicle, such as a passenger car or a so-called RoboTaxi, a flight taxi, a ferry and the like.

The vehicle 4th is in a stop 6th and already has its passenger door 8th closed to continue your journey. Two road users block due to a traffic jam 9 , 10 the vehicle 4th the exit from the stop 6th .

The vehicle 4th has an environment sensor system which, for example, consists of two camera sensors 12th , 14th consists. A camera sensor 12th is in the direction of travel F. directed. A second camera sensor 14th is opposite to the direction of travel F. directed. The through the environment sensors 12th , 14th determined measurement data can from a control unit 16 of the vehicle 4th can be received and evaluated.

A potential passenger 18th approaches the vehicle 4th and is through the second camera sensor 14th detected. The potential passenger 18th is designed according to the embodiment as a pedestrian. Based on a movement pattern of the potential passenger 18th can the control unit 16 the pedestrian by evaluating the measurement data 18th classify as "running" and a trajectory 20th of the potential passenger 18th calculate which one to the passenger door 8th of the vehicle 4th leads. This means that the potential passenger may want to take a ride 18th can be assumed. Based on the determined intention of the potential passenger to ride 18th the potential passenger becomes a passenger 18th .

Based on an estimate of an impact on a schedule of the vehicle 4th can the passenger door 8th be reopened to the passenger 18th as a passenger or the passenger door 8th remain locked to ensure that you can continue your journey quickly.

In the 2 Figure 3 is a schematic diagram illustrating the process 2 shown according to an embodiment. The procedure 2 is used in particular to open passenger doors 8th of an automatically operated vehicle 4th . The corresponding control commands can be sent by the control unit 16 to be generated.

In one step 21 are measurement data from an environment sensor system of the vehicle 4th through the control unit 16 receive. The corresponding measurement data can, for example, come from the first camera sensor 12th and the second camera sensor 14th can be obtained.

In addition, other sensors, such as radar sensors 22nd and LIDAR sensors 24 can be used for collecting measurement data. In addition, data and information from external units 25th , for example to obtain traffic information. The collected measurement data can be sent by the control unit 16 to be merged.

As further sources 26th Long-term storage and learned behavioral patterns can be used for data. In particular, such sources 26th Passenger movement patterns and trajectories 18th at the respective stops 6th include.

So that the vehicle that can be operated automatically 4th his trajectory planning in the execution of the method 2 through the control unit 16 can involve is a card 27 such as a HAD card is necessary.

From the received measurement data 21 the vehicle sensors 12th , 14th , 22nd , 24 and the other data 25th , 26th , 27 that are already stored, for example, or obtained from external server units or road users, can be an environment model in a further step 28 to be created.

Based on the created environment model 28 become potential passengers 18th in the vicinity of the vehicle 4th detected 29 . In addition to the detection of potential passengers 18th becomes their trajectory 20th estimated. The trajectory 20th can, for example, based on the direction of movement, the speed of movement and the already known trajectories of potential passengers 18th within the stop 6th be determined. Furthermore, specific movement patterns, such as the vehicle 4th waving or sprinting, and the like can be determined and classified. Based on the results of these calculations, a rider intent 30th of the potential passenger 18th to be established.

At the same time, in a further step 31 a traffic situation is determined based on the received measurement data. Data from dynamic objects such as road users can be used for this purpose 9 , 10 , Road maps, traffic flow data, traffic forecasts and the like can be used.

Taking into account the determined traffic situation 31 will be in a further step 32 Effects of opening passenger doors 8th and picking up the passenger 18th in the vehicle 4th on a schedule of the vehicle 4th calculated.

Opening the passenger door 8th corresponds to a renewed opening of the passenger door 8th as the vehicle 4th at the in 1 the situation shown is the passenger door 8th has closed and is already waiting for another journey.

The effect 32 the time schedule can preferably be assessed using a time tolerance threshold. There is therefore no effect on the schedule if there is no loss of time. A negligible impact on the vehicle's schedule 4th can exist if there is a loss of time, which is caused by waiting and picking up the passenger 18th arises, is within the tolerance threshold.

The tolerance threshold can preferably be defined statically or dynamically. With a dynamic tolerance threshold, for example, the traffic situation 31 can be used to increase or decrease the tolerance threshold.

The next step is the passenger door 8th for the passenger 18th open 33 if the potential passenger intends to ride 18th and there is no or negligible impact on the schedule. If these criteria are not met, the passenger door remains 8th closed 34 so that the vehicle 4th can initiate its onward journey.

List of reference symbols

1

arrangement

2

Procedure

4th

automatically operated vehicle

6th

bus stop

8th

Passenger door

9

first road user

10

second road user

12th

first camera sensor

14th

second camera sensor

16

Control unit

18th

pedestrian

20th

Pedestrian trajectory

21

Receiving measurement data

22nd

Radar sensors

24

LIDAR sensors

25th

Information from external entities

26th

Data from long-term storage and learned behavioral patterns

27

Card data

28

Creation of an environment model

29

Detecting pedestrians

30th

Determine a ridesharing intention

31

Determining a traffic situation

32

Determine the effects of opening passenger doors

33

Reopening the passenger door

34

The passenger door remains closed

F.

Direction of travel

Claims (11)

Method (2) for opening passenger doors (8) of an automatically operated vehicle (4) by a control device (16), wherein - measurement data of a vehicle environment are received and evaluated (21), - at least one potential passenger based on the received measurement data (21) (18) and one A ride-sharing intention (29, 30) of the potential passenger (18) are detected, - an effect (32) of opening passenger doors (8) and picking up the potential passenger (18) on a schedule is calculated, - the passenger door (8) for the passenger (18) is opened (33) when the passenger (18) determines a ride-along intention (30) and there is no or negligible effect (32) on the schedule. Procedure according to Claim 1 , wherein the intention of the potential passenger (18) to ride is determined by a speed of movement, a direction of movement, a probable trajectory (20) and / or by a movement pattern of the potential passenger (18). Procedure according to Claim 1 or 2 , wherein a traffic situation is determined (31) based on the received measurement data (21), the effects of opening passenger doors (8) and picking up the potential passenger (18) on a schedule taking into account the determined traffic situation (31) being calculated. Method according to one of the Claims 1 to 3rd wherein an estimated time of arrival of the potential passenger (18) at the passenger door (8) is calculated for determining an effect (32) on the schedule. Procedure according to Claim 4 , wherein the expected arrival time of the potential passenger (18) at the passenger door (8) is estimated based on a movement speed of the potential passenger (18), a stop geometry, a traffic light position and / or based on a direction of movement of the potential passenger (18). Method according to one of the Claims 1 to 5 , the traffic situation in the immediate vicinity of the vehicle and / or along a planned trajectory of the vehicle (4) being determined and used to estimate the effect on the schedule. Method according to one of the Claims 1 to 6th , an effect on the schedule is assessed on the basis of a time delay in departure, a negligible effect corresponding to a time delay which is below a tolerance threshold. Procedure according to Claim 7 , the tolerance threshold being determined statically or dynamically, a dynamic tolerance threshold being determined based on a traffic situation along the planned trajectory of the vehicle (4) and / or based on a number of boarded passengers. Control device (16) which is set up to carry out the method (2) according to one of the preceding claims. A computer program which comprises commands which, when the computer program is executed by a computer or a control device (16), cause the latter to carry out the method (2) according to one of the Claims 1 to 8th to execute. Machine-readable storage medium on which the computer program according to Claim 10 is stored.

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