DE102019211071A1 - Method and device for operating an automated vehicle - Google Patents

Abstract

Method (300) and device (110) for operating (340) an automated vehicle (100) with a step of detecting (310) a traffic intersection (210), a step of determining (320) a right-of-way control which occurs at the traffic intersection (210 ) is currently valid, a step of detecting (330) an environment (200) of the automated vehicle (100) in an area (220) of the traffic intersection (210) and a step of operating (340) the automated vehicle (100) to pass the traffic intersection (210), depending on the right of way and depending on the environment (200).

Description

The present invention relates, inter alia, to a method for operating an automated vehicle with a step of detecting a traffic intersection, a step of determining a right-of-way control that is currently valid at the traffic intersection, a step of detecting the surroundings of the automated vehicle in an area of the traffic intersection and a step of operating the automated vehicle to pass the traffic intersection, depending on the right of way control and depending on the surroundings.

Disclosure of the invention

The method according to the invention for operating an automated vehicle comprises a step of detecting a traffic intersection, a step of determining a right-of-way control that is currently valid at the traffic intersection, a step of detecting the surroundings of the automated vehicle in an area of the traffic intersection and a step of operating of the automated vehicle to pass the traffic intersection, depending on the right of way and depending on the environment.

An automated vehicle is understood to mean a vehicle that is designed according to one of SAE levels 1 to 5 (see standard SAE J3016).

Operating the automated vehicle includes, for example, determining a trajectory for the automated vehicle and / or following the trajectory by means of an automated lateral and / or longitudinal control and / or performing safety-relevant driving functions, such as outputting a warning signal (for example to a Occupants of the automated vehicle).

Detection of a traffic intersection is to be understood as meaning, for example, that the traffic intersection is detected by means of an environment sensor system of the automated vehicle. In a further embodiment, the traffic intersection is recorded, for example, by means of a map which is included in the automated vehicle, in that a movement profile of the automated vehicle is compared with the map.

An environment sensor system is to be understood as meaning, for example, at least one video and / or at least one radar and / or at least one lidar and / or at least one ultrasound and / or at least one further sensor which is designed to detect the surroundings of the automated vehicle , especially in the form of environmental data values. In one embodiment, the environment sensor system additionally includes evaluation means (processor, main memory, hard disk, software) which are designed to evaluate the environment data values and thus, for example, to detect and / or determine individual objects in the vicinity of the automated vehicle.

A map is to be understood as meaning, for example, a digital map which is present in the form of (map) data values on a storage medium. The map is designed, for example, in such a way that one or more map layers are included, one map layer showing, for example, a map from a bird's eye view (course and position of roads, buildings, landscape features, etc.). This corresponds, for example, to a map of a navigation system. A further map layer comprises, for example, a radar map, the environmental features that are mapped by the radar map being stored with a radar signature. Another map layer comprises, for example, a lidar map, environmental features that are mapped by the lidar map being stored with a lidar point cloud and / or objects. Another map layer comprises, for example, a video card, with environmental features that are mapped by the video card being stored with objects recognizable by a video sensor.

A currently valid right of way control is to be understood as a right of way control which is valid at the time the automated vehicle passes the traffic intersection.

An area of the traffic intersection is to be understood, for example, as the traffic intersection itself and / or sections of traffic routes which open into the traffic intersection or which form the traffic intersection. In a further embodiment, an area of the traffic intersection is to be understood as additionally or alternatively, for example, the area which can be detected by means of the environment sensors of the automated vehicle.

Passing the traffic intersection is to be understood as meaning that the automated vehicle crosses the traffic intersection in compliance with the applicable laws (such as the StVO in Germany), in compliance with specified safety standards, which possible occupants of the automated vehicle and / or other road users (pedestrians, cyclists, other vehicles, etc.), as well as happens depending on a destination or a predetermined trajectory of the automated vehicle.

The method according to the invention advantageously achieves the object of providing safe operation of an automated vehicle for passing a traffic intersection. An accumulation of accidents can be observed especially at or in traffic intersections, which is mainly due to the fact that right of way regulations are disregarded or sometimes very confusing traffic situations exist. Nevertheless, it should be ensured that all vehicles pass a traffic intersection as quickly as possible, otherwise backlogs can arise quickly. This (safe and rapid passage through a traffic intersection) represents a major challenge, especially for automated vehicles which - depending on the SAE level - are to pass a traffic intersection exclusively on their own, i.e. without human assistance. The method according to the invention leads to one The solution to the problem by taking into account both the right of way control and the surroundings of the automated vehicle for passing the intersection.

The right of way control is preferably determined as a function of traffic signs in the vicinity of the automated vehicle and / or as a function of a map which is included in the automated vehicle.

Determining the right of way control as a function of the surroundings is to be understood as meaning, for example, that traffic signs (signs and / or traffic lights and / or other traffic signs) are detected and evaluated by means of the environment sensors of the automated vehicle. Determining the right of way control as a function of a card is to be understood as meaning, for example, that the right of way control is stored in this card and is read from this card.

This shows the advantage that the right of way regulation can be determined both up-to-date (for example, when determining by means of traffic signs, since this also includes short-term changes [construction sites, road blocks, etc.]) and quickly (for example, when determining by means of a map) .

The right of way control is preferably determined in that the right of way control is requested from an external server and then received by this external server.

An external server is, for example, an individual server or a network of servers (cloud) which exchange data by means of a connection (for example the Internet).

This shows the advantage that the right of way regulation can be determined both up-to-date and quickly.

The environment is preferably detected by detecting at least one dynamic object and / or a stationary object in this environment, with the advance of the at least one dynamic object being tracked in particular.

The at least one dynamic object is to be understood as meaning, for example, a further vehicle in the vicinity of the automated vehicle, the at least one further vehicle being located, for example, on a traffic route that leads to the traffic intersection or away from the traffic intersection. Tracking the course of the at least one further object is to be understood as meaning, for example, that the environment is recorded by means of the environment sensor system at at least two different times and a position of the at least one further object, for example relative to the automated vehicle and / or by means of the map, is determined. A possible trajectory of the at least one further object can then be determined using the map, for example, and a course can thus be followed.

An object at rest is to be understood, for example, as an object which has not changed its position at the at least two different points in time. This can be, for example, a parked vehicle and / or a construction site area and / or other static objects.

This shows the advantage that the safety when operating the automated vehicle is increased both for the automated vehicle and for other road users, since dynamic and / or stationary objects in the vicinity of the automated vehicle pose an increased safety risk - for example due to an increased risk of collision - represent and can have a significant influence on a possible operation of the automated vehicle (for example, on driving a specified trajectory).

Preferably, the at least one dynamic object and the stationary object block the at least one area of the traffic intersection in such a way that no other vehicle, in particular no vehicle with right of way with respect to the automated vehicle, can approach the traffic intersection.

This shows the advantage that the automated vehicle can pass the traffic intersection quickly and without additional computing capacity.

The device according to the invention, in particular a control device, is set up to carry out all steps of the method according to one of the method claims for operating an automated vehicle.

The device is designed, for example, as a control unit of the automated vehicle and comprises a computing unit (processor, main memory, hard disk) and suitable software to carry out the method according to one of the method claims. In one embodiment, the device comprises a transmitting and / or receiving unit which is designed to exchange data values - in particular with an external server or a cloud and / or a transmitting and / or receiving unit of a vehicle. In a further embodiment, the device comprises a data interface which is designed to exchange data values - in particular with an external server or a cloud - by means of a transmitting and / or receiving unit comprised by the vehicle.

Furthermore, the device comprises, for example, an interface for requesting map data values that represent a map and / or for requesting environment data values that represent the environment of the automated vehicle. In one embodiment, the card is included in the device, for example by being stored on the hard disk.

Furthermore, a computer program is claimed, comprising instructions which, when the computer program is executed by a computer, cause the computer to execute a method according to one of the method claims for operating an automated vehicle. In one embodiment, the computer program corresponds to the software comprised by the device.

A machine-readable storage medium on which the computer program is stored is also claimed.

Advantageous further developments of the invention are given in the subclaims and listed in the description.

Figure list

• 1 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens; und
• 2 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens in Form eines Ablaufdiagramms.

Exemplary embodiments of the invention are shown in the drawings and are explained in more detail in the following descriptions. Show it:

• 1 an embodiment of the method according to the invention; and
• 2 an embodiment of the method according to the invention in the form of a flow chart.

Embodiments of the invention

1 shows an embodiment of the method 300 for operating an automated vehicle 100 which is a device 110 to carry out the procedure 300 includes. In this example, the automated vehicle is approaching 100 a traffic intersection 210 which, for example, by means of an environment sensor system of the automated vehicle 100 and / or is recorded by means of a card. The “and” link refers, for example, to the fact that the traffic intersection is by means of the environment sensor system 210 recorded, with the environmental data values then being checked for plausibility using the map.

Here is the intersection 210 shown purely by way of example as the intersection of two traffic routes, which are located in a residential area with residential units shown as an example 260 are located.

After capturing 310 the traffic intersection 210 is then a right of way, which at the intersection 210 is currently valid. In one embodiment, the determination takes place 320 the right of way depending on traffic signs 230 in an environment 200 of the automated vehicle 100 and / or depending on a card, which of the automated vehicle 100 is included. In this case, the card is, for example, taken directly from the device 110 and / or from a navigation system and / or a localization unit of the automated vehicle 100 includes. The localization unit includes, for example, a unit for determining a position of the automated vehicle 100 to be understood in GNSS coordinates.

In a further embodiment, the determination takes place alternatively or additionally 320 the right of way by giving the right of way to an external server 250 requested and then from this external server 250 Will be received. For example, the query occurs when the right of way control is determined as a function of traffic signs 230 in the neighborhood 200 of the automated vehicle 100 and / or depending on the card, which of the automated vehicle 100 is included, cannot or - depending on specified criteria - cannot be reliably determined. This is the case, for example, because the traffic sign is detected 230 leads to a different right of way regulation than to a right of way regulation stored in the card.

A recording then takes place 330 the environment 200 of the automated vehicle 100 in an area of the traffic intersection 210 . In one embodiment, the acquisition takes place 330 the environment 200 for example by having at least one dynamic object 240 and / or a stationary object 245 in this environment 200 is detected, in particular the advance of the at least one dynamic object 240 is pursued.

In one possible embodiment, the traffic intersection comprises 210 for example no traffic sign 230 whereby - depending on the respective national specifications and / or design of the traffic intersection 210 - “right before left” applies. Here shows 1 exemplary that the automated vehicle 100 want to turn left, being at least one dynamic object 240 a vehicle 241 Coming from the left, which is the intersection 210 happens, is captured. This is to be understood, for example, that the advance of this vehicle 241 - in particular in the form of a probable route (corresponding to a trajectory), based on a current speed and / or position - is followed. Furthermore, there is a stationary object here 245 records which is the traffic route to which the vehicle coming from the left 241 will follow - indicated by means of a trajectory 242 (which here corresponds to the course of the at least one dynamic object) of this vehicle 241 - so narrowed that, for example, another vehicle coming from the right 243 not the intersection for the time being 210 can happen. Thus, for example, the automated vehicle can 100 to pass the traffic intersection 210 such, depending on the right of way and depending on the environment 200 , operated that the automated vehicle 100 the intersection 210 - possibly taking into account other necessary requirements (no pedestrians crossing the street, etc.) - happens, because in this example shown constellation, due to the short-term blocking by the vehicle 241 and the stationary object 245 , no further vehicle from the right in or to the traffic intersection 210 can drive.

2 shows an embodiment of a method 300 to operate 340 an automated vehicle 100 .

In step 301 starts the process 300 .

In step 310 becomes a traffic intersection 210 detected.

In step 320 a right of way is determined, which at the intersection 210 is currently valid.

In step 330 becomes an environment 200 of the automated vehicle 100 in an area of the traffic intersection 210 detected.

In step 340 becomes the automated vehicle 100 to pass the traffic intersection 210 , depending on the right of way and depending on the environment 200 , operated.

In step 350 the procedure ends 300 .

Claims (8)

A method (300) for operating (340) an automated vehicle (100), comprising: - Detecting (310) a traffic intersection (210); - Determination (320) of a right of way control which is currently valid at the traffic intersection (210); - Detecting (330) an environment (200) of the automated vehicle (100) in an area of the traffic intersection (210); - Operating (340) the automated vehicle (100) to pass the traffic intersection (210), depending on the right of way control and depending on the surroundings (200). Method (300) according to Claim 1 , characterized in that the determination (320) of the right of way control takes place as a function of traffic signs (230) in the vicinity (200) of the automated vehicle (100) and / or as a function of a map which is included in the automated vehicle (100) . Method (300) according to Claim 1 or 2 , characterized in that the determination (320) of the right of way control takes place in that the right of way control is requested from an external server (250) and then received by this external server (250). Method (300) according to Claim 1 , characterized in that the detection (330) of the environment (200) takes place in that at least one dynamic object (240) and / or a stationary object (245) is detected in this environment (200), in particular the advance of the at least one dynamic object (240) is tracked. Method (300) according to Claim 4 , characterized in that the at least one dynamic object (240) and the stationary object (245) block the at least one area of the traffic intersection (210) in such a way that there is no other vehicle, in particular no vehicle with right of way of the automated vehicle (100) Traffic intersection (210) can approach. Device (110), in particular a control device, which is set up, all steps of the method (300) according to one of the Claims 1 to 4th execute. Computer program, comprising instructions which cause the computer program to be executed by a computer, a method (300) according to one of the Claims 1 to 4th execute. Machine-readable storage medium on which the computer program is based Claim 6 is stored.

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