DE102020209291A1 - Method and emergency response system for operating an autonomous vehicle in an emergency event - Google Patents

Abstract

The present invention relates to a method for operating an autonomous vehicle (100) in an emergency event (128), the vehicle (100) being controlled into a safeguarding position (136) to secure an emergency location (130) of the emergency event (128) and an emergency communication (140) is set up with at least one person (126, 150) present at the emergency location (130).

Description

field of invention

The invention relates to a method for operating an autonomous vehicle in an emergency event and an emergency assistance system for executing a corresponding method.

State of the art

A vehicle can use sensors in the vehicle to detect an impact with an object, classify the impact as an accident and automatically make an emergency call if the accident has a predetermined minimum severity. After the accident, the vehicle's hazard warning lights can be activated automatically to visually warn other road users of the accident and to secure the scene of the accident.

Disclosure of Invention

Against this background, with the approach presented here, a method for operating an autonomous vehicle in an emergency event and a corresponding emergency assistance system, and finally a corresponding computer program product and a machine-readable storage medium are presented according to the independent claims. Advantageous developments and improvements of the approach presented here result from the description and are described in the dependent claims.

Advantages of the Invention

Embodiments of the present invention can advantageously enable a driverless vehicle not involved in an emergency event to protect the emergency event from other road users with its body and to activate the rescue chain as a mobile emergency telephone.

A method for operating an autonomous vehicle in an emergency event is proposed, the vehicle being steered into a safeguarding position for safeguarding an emergency location of the emergency event and emergency communication being set up with at least one person present at the emergency location.

Ideas for embodiments of the present invention can be regarded as being based, among other things, on the ideas and findings described below.

An autonomous vehicle is operated without a driver. The autonomous vehicle may be configured to carry passengers. Likewise, the autonomous vehicle may be configured to carry loads or perform any specialized task. The autonomous vehicle can have sensors and an evaluation device in order to independently recognize and evaluate situations. The autonomous vehicle can have a planning device and a control unit in order to plan and process a driving task according to predefined rules with actions adapted to the situation. The planning device can communicate with a higher-level control center if required. The vehicle can have actuators in order to execute control commands from the control unit. The autonomous vehicle can regularly coordinate its driving tasks or its actions with the control center and/or other vehicles or a traffic infrastructure.

An emergency event may affect at least one road user other than the autonomous vehicle. The autonomous vehicle can therefore not be involved in the emergency event. The emergency event can be an accident of the other road user. The other road user can in particular be a person, for example a pedestrian, a wheelchair user or a cyclist. The emergency event may be the person falling or other mishap such as a dropped object.

Likewise, the person may have experienced or are experiencing a medical emergency, such as a seizure. The emergency event can also be the person's loss of control of themselves or an object in use, such as a bicycle or wheelchair.

A spot where the person sits, lies, or crouches, or sits, lies down, falls, crouches, or loses control may be called an emergency site. The emergency location may include a security perimeter around the site. For example, the person may sway or stagger. When the person is still moving, the safety zone can be larger than when the person is essentially motionless.

A safeguarding position can be on a road surface that the vehicle can drive on. The safeguarding position can be opposite to the direction of travel of flowing traffic passing the emergency location in front of the emergency location. The vehicle can provide physical protection against following traffic at the safeguarding position. The vehicle can be controlled to approach the scene of the emergency until just before the scene of the emergency and then stop without entering or injuring the scene of the emergency. The hedging position can be on the same lane as the emergency location. If the emergency location is between two lanes, the backup position can also be on a boundary between the lanes. The safety position can be offset from the emergency location by a protective distance in the direction of the flow of traffic. For example, the safeguarding position can be on a left edge of a right lane if the emergency location is on the right edge of the right lane. The vehicle can be controlled to illuminate the emergency location with at least one headlight of the vehicle.

Emergency communication can, in particular, take place acoustically. The emergency communication can be two-way communication. Emergency communication takes place outside the vehicle. For example, an external loudspeaker and/or an external microphone of the vehicle can be activated for emergency communication. The external loudspeaker can be located in particular on a front of the vehicle. The vehicle can then drive up to the emergency site with the front. The emergency communication can take place with at least one person involved in the emergency event. Alternatively or additionally, the emergency communication can also take place with a person not involved in the emergency event. Emergency communication can also take place, for example, with a person providing assistance.

A protection trajectory can be planned from a current position of the vehicle to the protection position. The vehicle can be steered to the protection position along the protection trajectory. The protection trajectory can be planned autonomously by the planning device. The protection trajectory may include maneuvers that allow the vehicle to navigate to the protection position. In addition, the protection trajectory can end with a protection maneuver at the protection position. The safety trajectory can, for example, include a lane change to the lane in which the emergency location is located. The safety maneuver can include a controlled approach to the emergency location in order to come to a controlled standstill in front of the emergency location. The safety maneuver can also include tilting the vehicle in front of the emergency location. By rolling up, following vehicles can be brought to a standstill without abrupt braking and the risk of collisions can be reduced. The backup maneuver may also include an offset maneuver to offset the vehicle from the scene of the emergency and provide increased protection from moving traffic.

A current task of the vehicle can be interrupted and an emergency task initiated. The emergency task may include backup and emergency communications. The task can be interrupted when the emergency event is detected. The task may also be suspended in response to an emergency notification from the dispatcher. The task can be resumed when an end of the emergency event is detected. The task can also be resumed if the control center issues a release. Alternatively, a new task can be run. The new task can be transmitted by the control center. A current task can be, for example, a journey from a starting point to a destination. The vehicle may be between the starting location and the destination location on a planned route to the destination location. The emergency location may be along the route. With the initiation of the emergency task, the vehicle may deviate from the route and travel to the emergency location. After the end of the emergency event, the vehicle can follow a new route to the destination to complete the original task. If another vehicle has taken over the task in the meantime, for example picking up a shipment or a person at the destination, the vehicle can take on a new task.

Emergency communication can be established between an external emergency service and the person. The emergency communication can be set up as audio communication and/or video communication. An external emergency service may have a communications center. The communication center can be referred to as a rescue control center, for example. The vehicle can establish a connection between an employee of the communication center and the person. Video communication can also be one-way, i.e. a video signal depicting the person can be recorded by the vehicle and sent to the communication center. In this way, the emergency event can be inspected by the employee and better assessed. As an alternative or in addition, graphic instructions for the person can be sent from the communication center and made available to the person by a display device in the vehicle. For example, first-aid instructions can be graphically displayed to a passer-by who provides assistance.

The emergency location can also be secured by activating the vehicle's signaling devices. The emergency location can be highlighted visually as quickly as possible by the vehicle's hazard warning lights. This allows other vehicles to be warned at a greater distance.

The emergency event can be communicated to passengers of the vehicle. When the vehicle is carrying passengers, the passengers can be informed that securing the emergency site is a high priority and the currently active mission will be suspended. Passengers can be informed about their respective first aid options. The passengers can be asked for their understanding of the resulting delay.

Dressing material can be provided for the person. First aid material can be provided in the form of a first aid kit in the vehicle. The bandage material can also be provided as a standardized bandage pack. The first aid kit can be stored behind a door or hatch of the vehicle. The door or hatch can be opened or unlocked automatically when the emergency event is secured. The flap or door can have a first aid symbol. For example, the symbol can be illuminated when the lid is opened or unlocked. The first aid kit can also be moved automatically from a storage position to a ready position by a moving device. A bandage pack can be provided via a dispenser. The dispenser can have several bandage packs in stock.

An emergency call may be placed in response to detecting the emergency event. Coordinates of the emergency location can be communicated with the emergency call. The vehicle can detect the surroundings of the vehicle via the sensors and can evaluate sensor data in the evaluation device. The emergency event can be recognized in the sensor data. If the emergency event is detected in the vicinity of the vehicle, information about the emergency event can be sent as an emergency call. For example, the emergency call can be sent to a higher-level communication center and/or the control center. A current position of the vehicle can be sent as an approximation of the emergency location coordinates before the backup position is reached. This means that professional help can be provided quickly. When the vehicle has arrived at the backup position, the coordinates of the backup position can be accurately determined and a location of the emergency site can also be accurately detected via the sensors. The exact location of the accident site can be sent to the communication center as a late report. For example, a camera image of the emergency location can be sent to the communication center.

Other road users can be informed about the emergency event or the emergency location. The other road users can be informed, for example, about a traffic obstruction caused by the vehicle at the safety position. The other road users can be informed via a higher-level navigation database. This means that navigation devices in manually operated vehicles can also adapt a planned route and avoid the emergency location. Other autonomous vehicles can be contacted via a vehicle-to-vehicle (V2V) or vehicle-to-infrastructure (V2I) interface and available information can be transmitted directly.

The method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit. In order to carry out the method, the emergency assistance system can communicate with various hardware components, i.e. exchange signals and/or data. For example, a control unit can access data and signals provided by hardware components such as sensors, e.g. ultrasonic sensors, LIDAR sensors, RADAR sensors, etc. Hardware components such as a data memory or similar can also provide data and signals.

The approach presented here also creates an emergency aid system that is designed to carry out, control or implement the steps of a variant of the method presented here in corresponding facilities. The emergency assistance system can be implemented in control devices or devices of a driverless vehicle.

The emergency aid system can include electrical devices with at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, and at least one interface and/or one communication interface for reading in or outputting data that is embedded in a communication protocol . The arithmetic unit can be, for example, a signal processor, a so-called system ASIC or a microcontroller for processing sensor signals and outputting data signals as a function of the sensor signals. The storage unit can be, for example, a flash memory, an EPROM or a magnetic storage unit. The interface can be designed as a sensor interface for reading in the sensor signals from a sensor and/or as an actuator interface for outputting the data signals and/or control signals to an actuator. The communication interface can be designed to read in or output the data in a wireless and/or wired manner. The interfaces can also be software modules, for example are present on a microcontroller alongside other software modules.

A computer program product or computer program with program code, which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and/or controlling the steps of the method according to one of the embodiments described above, is also advantageous used, especially when the program product or program is run on a computer or device.

It is noted that some of the possible features and advantages of the invention are described herein with reference to different embodiments. A person skilled in the art recognizes that the features of the control device and of the method can be combined, adapted or exchanged in a suitable manner in order to arrive at further embodiments of the invention.

character list

• 1 zeigt eine Darstellung eines Fahrzeugs mit einem Nothilfesystem gemäß einem Ausführungsbeispiel;
• 2 zeigt ein Ablaufdiagramm eines Verfahrens gemäß einem Ausführungsbeispiel; und
• 3 zeigt eine Darstellung eines Systemkonzepts eines Nothilfesystems gemäß einem Ausführungsbeispiel.

Embodiments of the invention are described below with reference to the accompanying drawings, neither the drawings nor the description being to be construed as limiting the invention.

• 1 shows a representation of a vehicle with an emergency assistance system according to an embodiment;
• 2 shows a flowchart of a method according to an embodiment; and
• 3 shows a representation of a system concept of an emergency assistance system according to an embodiment.

The figures are merely schematic and not true to scale. In the figures, the same reference symbols denote the same features or features that have the same effect.

Embodiments of the invention

1 10 shows an illustration of a driverless vehicle 100 with an emergency assistance system 102 according to an exemplary embodiment. The vehicle 100 is currently executing a task 104 . The task 104 here is to drive from point A to point B. An external control center 106 for autonomous vehicles has assigned the order 104 to the vehicle 100 . The control center 106 is in contact with the vehicle 100 via radio data transmission.

The emergency response system 102 is distributed across multiple facilities of the autonomous vehicle 100 . Sensors 108 of vehicle 100 capture an environment of vehicle 100 and map this in sensor data 110 . An evaluation device 112 evaluates the sensor data 112 . The evaluation device 112 recognizes and classifies objects in a detection range of the sensors 108 and maps the objects and their assigned class in object data 114 . A planning device 116 of the vehicle plans a trajectory 118 for the vehicle 100 using the task 104 and the object data 114. A control unit 120 controls the vehicle 100 along the trajectory 118. Among other things, the drive, brakes, steering and signaling devices 122 are controlled via corresponding control signals 124 of the control unit 120 is activated.

Along the route from point A to point B, a cyclist falls 126.

In one embodiment, the fallen cyclist 126 is detected by the sensors 108 of the vehicle 100 and is mapped into the sensor data 110 . The evaluation device 112 recognizes the fallen cyclist 126 and classifies the fall as an emergency event 128. The evaluation device 112 classifies an area around the cyclist 126 as an emergency location 130. The planning device 116 interrupts the task 104 and initiates an emergency task 132. The planning device 116 plans a safety trajectory 134 from a current position of the vehicle 100 to a safety position 136 in front of the emergency location 130.

In one embodiment, the fall of the cyclist 126 is detected by infrastructure sensors 138 . The infrastructure sensors 138 send their sensor data 110 to the control center 106. The fall is recognized in the control center 106 and classified as an emergency event 128. Since the vehicle 100 is in a good position, the vehicle 100 task 104 is suspended and an emergency task 132 is sent to the vehicle 100 . The emergency task 132 may include the backup trajectory 134 to the backup location 136 in front of the emergency location 130 . At least the emergency task contains coordinates of the emergency location 130. In this case, the planning device 116 plans the safety trajectory 134 to the safety position 136.

The control unit 120 controls the vehicle 100 along the safety trajectory 134 to the safety position 136. At the safety position 136, the vehicle 100 stops the emergency location at least using the signaling devices 122 and establishes an emergency communication 140 with the fallen cyclist 126. In the safety position 136, the vehicle 100 shields the cyclist 126 from following vehicles. The following traffic is optically warned by the signaling devices 122 .

In one embodiment, the controller 120 activates an exterior speaker 142 of the vehicle 100 and broadcasts an emergency query. For example, the controller 120 activates a voice output and sends "Are you hurt? Do you need help?” A response from the cyclist 126 is recorded via an external microphone 144 . The answer is evaluated. In this case, the response can be evaluated in the evaluation device 112 . Alternatively, a voice connection to the control center 106 can be set up via the external loudspeaker 140 and the external microphone 142 .

In one embodiment, a camera 146 of the vehicle 100 records an image or video of the emergency scene 130 . The image or video can be evaluated in the evaluation device 112 . Alternatively, the image or video can be transmitted to the control center 106 . If the scene of an emergency 130 is insufficiently illuminated, the scene of an emergency 130 may be illuminated by headlights of the vehicle 100 .

In one embodiment, an emergency call 148 is made when the sensors 108 detect the emergency event 128 . The current position of the vehicle 100 can be sent as an approximation of the emergency location 130 . When the vehicle 100 has arrived at the safeguarding position 136, the position of the emergency location 130 can be specified in order to make it easier for the emergency services to arrive. Alternatively, the emergency call 148 can also be made by the control center 106.

In one exemplary embodiment, the emergency communication 140 takes place with a third person 150 providing assistance. The control unit 120 can also control a door or hatch of the vehicle 100, behind which the first-aid box or bandage material carried along is kept ready.

In one embodiment, as part of the emergency communication 140, first aid reminders are provided to the person 150. For example, 100 pictograms for first aid can be shown on a display device of the vehicle.

2 shows a flow chart of a method according to an embodiment. The method can, for example, be based on an emergency assistance system of a driverless vehicle, as described in 1 is shown to be executed. The method has a perception step 200 , a maneuvering step 202 , a securing step 204 , a contacting step 206 , an emergency call step 208 , a communicating step 210 and a waiting step 212 .

In step 200 of perception, the emergency assistance system perceives a person in need of help. In response to the perception, the emergency assistance system initiates a special driving maneuver to protect the person in step 202 of maneuvering. In step 204 of safeguarding, the emergency assistance system provides safeguarding measures, such as a hazard warning flasher for the vehicle. In step 206 of contacting, the emergency assistance system actively tries to establish verbal contact with the person in need of help. In step 208 of the emergency call, the emergency assistance system issues an emergency call and warns other road users via vehicle-to-vehicle or vehicle-to-infrastructure communication. In step 210 of communicating, the emergency assistance system sets up a communication channel between an emergency call center and the person in need of assistance and/or a first responder. The communication channel can include an audio channel and/or a video stream. The communication channel enables direct care of the person in need of help. The emergency call center can get an initial overview of the situation on site and plan the deployment of the rescue service. In step 212 of waiting, the emergency response system secures the hazardous area using the vehicle until the emergency services arrive.

In one embodiment, the method further includes a step 214 of issuing. In step 214 of issuing, the emergency assistance system causes the first-aid kit to be issued by a special device of the vehicle.

3 10 shows an illustration of a system concept of an emergency assistance system 102 according to an embodiment. The emergency aid system 102 essentially corresponds to the emergency aid system in 1 . The emergency aid system is as in 1 divided over several devices of the vehicle.

The individual devices communicate via a vehicle-internal communication channel 300.

Here the vehicle has a radar system 302 and a lidar system 304 as sensors 108 in addition to the camera 146 and the external microphone 144 .

The evaluation device 112 can be referred to as a perception device or as a data fusion device. Various function blocks are executed in the evaluation device 112 . In a first functional block 306, endangered road users in the detection range of the sensors 108 are identified. In a second functional block 308, the identified road users are checked to see whether they represent an obstacle in their own lane. In a third functional block 310, a recognized obstacle is classified as a person at risk. A fourth optional function block 312 checks whether the endangered road user identified in the first function block 306 is an endangered person in the adjacent lane.

The scheduler 116 may be referred to as a behavior scheduler. The planning device 116 contains two subsystems here. The first subsystem is called the Mission Processor. The second subsystem is called the driving task planner. An external mission is interrupted in a first function block 314 in the mission processor. In a second functional block 316, an emergency mission is initiated. A new safety trajectory is then planned in the driving task planner in a first function block 318, with the lane being changed if necessary.

The controller 120 may be referred to as an actuator controller or motion controller and communication device. In control unit 120, in a first function block 320, the vehicle is steered to the other lane, if necessary, and the vehicle is stopped in the safety position in order to protect the person.

In the planning device 116, a decision is made in a second function block as to whether the hazard warning system 122 of the vehicle should be activated. If yes, the hazard warning lights 122 are activated by the control unit 120 .

In a third function block 324 of the mission processor, collaboration with the rescue service is initiated. The control unit then establishes an emergency communication via a second function block 326 . The emergency call can be made through a remote service provider 328. The service provider 328 provides a certified interface to the public emergency call. The emergency communication may include emergency metadata. The emergency communication can be supplemented by a GNSS position and a number of the relevant objects.

In a fourth function block 330 of the mission processor, an interaction with external people, ie victims and/or first responders, is initiated. The interaction also takes place via the second function block 326 and the service provider 328. The interaction can take place as a voice connection or audio connection and/or video connection. The interaction can take place via the external microphone 144 and the external loudspeaker 142 . The service provider 328 can forward the audio connection and/or video connection to the emergency services. The video link can be commented on. A third functional block 332 of the control device 120 can control a panning of the camera 146 for the video connection. Optionally, a fourth functional block 334 of the controller 120 can control an opening of the access flap to the first aid box of the vehicle.

If the situation is no longer classified as an emergency and is documented as such, a fifth mission worker function block 336 terminates the emergency mission, whereupon a sixth mission worker function block 138 resumes the previous mission or begins a new mission. A decision is then made in a third function block 340 of the driving task planner to deactivate the hazard warning flasher system 122 and to activate it accordingly by the control unit 120 .

Finally, it should be noted that terms such as "comprising," "comprising," etc. do not exclude other elements or steps, and terms such as "a" or "an" do not exclude a plurality. Any reference signs in the claims should not be construed as limiting.

Claims (12)

Method for operating an autonomous vehicle (100) in an emergency event (128), wherein the vehicle (100) is steered into a safeguarding position (136) for safeguarding an emergency location (130) of the emergency event (128) and an emergency communication (140) with at least a person (126, 150) present at the emergency location (130). procedure according to claim 1 , in which a protection trajectory (134) is planned from a current position of the vehicle (100) to the protection position (136) and the vehicle (100) is controlled along the protection trajectory (134) to the protection position (136). Method according to one of the preceding claims, in which a current task (104) of the vehicle (100) is interrupted and an emergency task (132) is initiated, the emergency task (132) comprising backup and emergency communication (140). Method according to one of the preceding claims, in which the emergency communication (149) is established between an external emergency service and the person (126, 150), the emergency communication (140) being established as audio communication and/or video communication. Method according to one of the preceding claims, in which the emergency location (130) is further secured by activating signaling devices (122) of the vehicle (100). A method according to any one of the preceding claims, wherein the emergency event (128) is communicated to passengers of the vehicle (100). A method as claimed in any one of the preceding claims, in which dressing material is provided for the person (126, 150). Method according to one of the preceding claims, in which an emergency call (148) is dispatched in response to a detection of the emergency event (128). Method according to one of the preceding claims, in which other road users are informed about the emergency event (128) and/or the emergency location (130). Emergency aid system (102), wherein the emergency aid system (102) is designed to execute, implement and/or control the method according to one of the preceding claims in corresponding devices. Computer program product that is set up to guide a processor when executing the computer program product to perform the method according to one of Claims 1 until 9 to execute, implement and/or control. Machine-readable storage medium on which the computer program product according to claim 11 is saved.

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