DE102020214813A1 - System, method and computer program for adaptively controlling a longitudinal control of an ego vehicle depending on a position and/or a speed of a preceding other vehicle and vehicle that can be operated automatically - Google Patents

Abstract

System (10) for adaptively controlling a longitudinal control of an ego vehicle (EF) as a function of a position and/or a speed of a preceding other vehicle (FF) comprising at least one first sensor (1) which detects the position and/or the speed of the preceding vehicle ( FF) and provides these as first signals (S1), at least one second sensor (2) which detects traffic signal transmitters (20) in the vicinity of the host vehicle (EF) and provides these as second signals (S2), and an integrated circuit ( 3), which reads in the first and second signals (S1, S2), determines traffic rules specified by the traffic signal generator (20) by executing program commands, evaluates the first signals (S1) in conjunction with the traffic rules determined, and generates a third signal (S3) provides, through which the longitudinal regulation of the host vehicle (EV) is controlled depending on the specific traffic rules.

Description

The invention relates to a system, a method and a computer program for adaptively controlling a longitudinal control of a host vehicle as a function of a position and/or a speed of a preceding other vehicle. Furthermore, the invention relates to a vehicle that can be operated automatically.

Adaptive cruise controls are very common today. In addition to the pure adaptvie cruise control (ACC) function, there are more and more additional functions. For example, the ACC brakes before corners and is linked to the navigation system, which means that it also brakes before planned turning points. Many vehicles also have camera systems that are used, for example, for the lane departure warning system.

the DE 10 2015 213 078 A1 discloses a method and apparatus for determining a warning condition based on brake light detection. Image data is received from a front camera of a vehicle. It is determined whether your brake light of a vehicle ahead is active. A triggering threshold, such as a threshold for triggering a warning, a brake prefill, hydraulic brake assistance (HBA), or automatic emergency braking (AEB), is lowered or a confidence value is increased if the brake light is active in order to come to an earlier to reach the triggering decision.

the DE 10 2010 052 964 A1 discloses a method for operating a vehicle, in which energy is recuperated during overrun and/or braking phases of the vehicle and stored in a vehicle-internal energy store, the surroundings of the vehicle being detected by means of a detector device and depending on a detection of an object in the vehicle surroundings at least an object characteristic is evaluated and, depending on the evaluation of the object characteristic, the overrun and/or braking phase is automatically adapted to at least one parameter characterizing the energy store. The invention also relates to a driver assistance device for a vehicle.

In the prior art, a driver has to intervene in assisted driving with a distance cruise control if there is no other vehicle ahead and a traffic light switches to red. If you drive into a slower other vehicle and the ACC distance has been set very short, the ego vehicle drives into the other vehicle in front at a constant speed, possibly even accelerating and then braking very late. Even if the ego vehicle in front is already braking. This is another problem with the known distance cruise control.

The object of the invention was to provide a distance cruise control that solves situations autonomously, without the intervention of a driver. If a third-party vehicle in front stops at a traffic light in front of an ego vehicle, the intelligent adaptive cruise control should automatically stop the ego vehicle and start driving again. Even if there is no other vehicle ahead and a traffic light turns red, the adaptive cruise control should solve the driving task autonomously.

The objects of claims 1, 6, 9 and 10 each solve this problem. In particular, by using a camera, software recognizes the color of a traffic light. If it is red or yellow in transition to red, the host vehicle will brake in ACC mode even if there is no other vehicle around. This increases comfort. Linking the detection of traffic lights via camera software with an L1 ACC function is at the heart of the invention. According to the invention, such a link is also used to detect whether the brake light of the other vehicle driving ahead is on. If this is the case, at least the engine torque is reduced and braking is initiated in conjunction with the information from a front radar and/or front lidar. This increases driving comfort and reduces energy consumption.

• • wenigstens einen ersten Sensor, der die Position und/oder die Geschwindigkeit des vorausfahrenden Fahrzeuges misst und diese als erste Signale bereitstellt,
• • wenigstens einen zweiten Sensor, der Verkehrssignalgeber in einem Umfeld des Egofahrzeuges erfasst und diese als zweite Signale bereitstellt, und
• • einen integrierten Schaltkreis, der
  • ◯ die ersten und zweiten Signale einliest,
  • ◯ durch Ausführen von Programmbefehlen durch die Verkehrssignalgeber angegebenen Verkehrsregeln bestimmt,
  • ◯ die ersten Signale in Zusammenschau mit den bestimmten Verkehrsregeln auswertet und
  • ◯ ein drittes Signal bereitstellt, durch das die Längsregelung des Egofahrzeug in Abhängigkeit der bestimmten Verkehrsregeln geregelt wird.

One aspect of the invention relates to a system for adaptively controlling a longitudinal control of a host vehicle as a function of a position and/or a speed of a preceding other vehicle. The system includes

• • at least one first sensor that measures the position and/or the speed of the vehicle driving ahead and provides these as the first signals,
• • at least one second sensor that detects traffic signal transmitters in the vicinity of the host vehicle and provides these as second signals, and
• • an integrated circuit that
  • ◯ reads the first and second signals,
  • ◯ determined by executing program commands specified by the traffic signaller traffic rules,
  • ◯ evaluates the first signals in combination with the determined traffic regulations and
  • ◯ provides a third signal through which the longitudinal control of the host vehicle is dependent bility of the specific traffic rules is regulated.

• • Messen von Position und/oder von Geschwindigkeit des vorausfahrenden Fremdfahrzeuges,
• • Erfassen von Verkehrssignalgebern in einem Umfeld des Egofahrzeuges,
• • Bestimmen von durch die Verkehrssignalgeber angegebenen Verkehrsregeln,
• • Auswerten der Position und/oder der Geschwindigkeit des vorausfahrenden Fremdfahrzeuges in Zusammenschau mit den bestimmten Verkehrsregeln und
• • Regeln der Längsregelung des Egofahrzeuges in Abhängigkeit der bestimmten Verkehrsregeln.

A further aspect of the invention relates to a method for adaptively controlling a longitudinal control of an ego vehicle as a function of a position and/or a speed of a preceding other vehicle. The procedure includes the steps

• • measuring the position and/or speed of the vehicle ahead,
• • Detection of traffic signal transmitters in an environment of the ego vehicle,
• • Determination of traffic rules indicated by traffic signallers,
• • Evaluation of the position and/or the speed of the vehicle ahead in conjunction with the specific traffic rules and
• • Rules of the longitudinal regulation of the ego vehicle depending on the determined traffic rules.

According to one aspect of the invention, the method is computer implemented.

A further aspect of the invention relates to a computer program for adaptively controlling a longitudinal control of an ego vehicle depending on a position and/or a speed of a preceding other vehicle. The computer program includes program instructions that cause a computer to carry out the steps of the method according to the invention when the computer program runs on the computer.

According to one aspect of the invention, the computer program is executed by the integrated circuit of the system according to the invention. A further aspect of the invention relates to a data carrier on which the computer program is stored. For example, the system includes a data carrier input, for example a USB or SD card slot, into which the data carrier, for example a USB stick or an SD card, can be inserted. A further aspect of the invention relates to a data carrier signal which transmits the computer program, for example using radio technology. For example, the computer program is transferred from cloud storage to the system according to the invention on demand using a WLAN standard. In this case the system includes a WLAN interface.

A further aspect of the invention relates to a vehicle that can be operated automatically, comprising a system according to the invention. The at least first and second sensors are designed as front sensors of the vehicle and/or the integrated circuit is integrated in a control unit for longitudinal control or for automated driving. In relation to the system according to the invention, the vehicle that can be operated automatically is the host vehicle.

Advantageous refinements of the invention result from the definitions, the dependent claims, the drawings and the description of preferred exemplary embodiments.

A radiation sensor emits rays and receives reflected rays from objects or target points of objects. A cycle involving the transmission and reception of rays is a sweep or scan. For example, a radiation sensor measures distance, azimuth and elevation angles, and thus 3D localization, and speeds of objects or target points, for example radial speeds. The individual scans are provided as target lists or point clouds, also known as point clouds. The solution according to the invention can be implemented with any sensor that measures 3D positions and radial speeds. According to one aspect of the invention, the radiation sensor is a radar or a lidar.

The longitudinal control adaptively regulates engine and/or braking interventions. According to one aspect of the invention, the third signals determined by the integrated circuit of the system are provided to engine and/or brake actuators of the host vehicle.

Traffic signal transmitters include signal transmitters in a traffic infrastructure, such as traffic lights, and signal transmitters from other vehicles, such as brake lights.

The integrated circuit, also called Integrated Circuit, includes one or more Application Specific Integrated Circuits, one or more Field Programmable Gateway Arrays, one or more Central Processing Units, one or more Graphical Processing Units, multi-core processors, chips and/or systems on a chip . According to one aspect, the integrated circuit is embedded in a control unit, also called electronic control unit, ECU for short, of the ego vehicle or corresponds to the control unit. According to one aspect of the invention, the control unit is a control unit for longitudinal control or for assisted, automated/autonomous driving functions.

Computer-implemented means that the steps of the method are carried out by a data processing device, for example a computer, a computing system, a computer network, for example a cloud system, hardware of a control unit, or parts thereof.

The instructions of the computer program according to the invention include machine instructions, source text or object code written in assembly language, an object-oriented programming language, for example C++, or in a procedural programming language, for example C. The computer program is entirely or partially on an integrated circuit or in a remote system comprising a cloud executed.

An automated vehicle includes hardware components, such as environment detection sensors, such as imaging sensors and radiation sensors, control units, actuators, drive and chassis components, and software components, such as software for evaluating raw data from the environment detection sensors, for determining environment models or for planning a trajectory or mission. An automation level is determined by the SAE J3016 standard, for example. The invention relates in particular to SAE J3016 Level 1. According to one aspect of the invention, the vehicle is a road vehicle, for example a car, truck, bus, people mover, transport system or a motorcycle. The vehicle is, for example, a vehicle with an internal combustion engine, an electric motor, or a hybrid vehicle. Energy consumption refers to fuel consumption or charge consumption, for example an electric vehicle battery.

According to one aspect, the first sensor is a radiation sensor comprising radar and/or lidar technology. The second sensor is an imaging sensor comprising camera technology. For example, the radar works in a frequency range of 76-77 GHz or 77-81 GHz. For example, the lidar is a solid state lidar. The imaging sensor is, for example, a sensor of a mono camera or a 3D camera, for example a time-of-flight camera, also called time-of-flight (TOF).

According to a further aspect of the invention, the second sensor detects traffic light systems including traffic lights and/or brake lights of the other vehicle driving ahead.

According to one aspect of the invention, the system includes a stop-and-go function, for example implemented in the program commands, which is advantageous in stop-and-go traffic, for example. According to a further aspect of the invention, the system includes a follow-to-stop function, for example implemented in the program commands, by means of which the host vehicle follows the other vehicle in front until it comes to a standstill. According to the invention, the system also initiates a restart of the ego vehicle in the case of follow-to-stop, depending on the specific traffic rules.

According to a further aspect of the invention, an algorithm is formulated in the program commands that recognizes the switching state of a traffic light. For example, it is recognized which of the three lamps is on, for example bright at the top, middle and black/dark at the bottom. Red is assigned at the top, yellow/orange in the middle and green at the bottom.

According to a further aspect of the invention, an algorithm is formulated in the program commands, which algorithm determines the colors of the traffic signal transmitter and assigns the colors to associated traffic rules. The color is determined, for example, via positions of brightness values of the traffic signal generator. For example, in a traffic light, the red traffic light is at the top, the yellow/orange is below the red, and the green is below the yellow/orange. If, for example, brightness values are now measured at the upper traffic light sign, the algorithm knows that the traffic light has the color/phase red. The assignment of the colors to the associated traffic rules is determined, for example, using look-up tables or was learned by machine.

According to a further aspect of the invention, the system comprises a plurality of first and/or second sensors. A better, complete detection of the surroundings of the ego vehicle is thus realized.

In one embodiment of the method according to the invention, the host vehicle is braked when a traffic light is detected, the light signal of which is determined as red or as yellow/orange in the transition to red, and no other vehicle driving ahead is detected. This increases comfort. Additionally or alternatively, if the brake lights of the other vehicle driving ahead are detected, at least one engine torque of the host vehicle is reduced and/or braking of the host vehicle is initiated in conjunction with the first signals. This increases driving comfort and reduces energy consumption.

In the event that the traffic light is red and the other vehicle is outside the detection range of the host vehicle, the host vehicle is advantageously automatically braked to stop without a driver having to intervene.

In a further embodiment, the method is carried out with a system according to the invention.

• 1 eine schematische Darstellung eines Ausführungsbeispiels eines erfindungsgemäßen Systems,
• 2 eine schematische Darstellung eines Ausführungsbeispiels eines erfindungsgemäßen Verfahrens und
• 3 ein Ausführungsbeispiel eines automatisiert betreibbaren Fahrzeuges umfassend das in 1 gezeigte System,

The invention is illustrated in the following exemplary embodiments. Show it:

• 1 a schematic representation of an embodiment of a system according to the invention,
• 2 a schematic representation of an embodiment of a method according to the invention and
• 3 an exemplary embodiment of a vehicle that can be operated automatically, comprising the 1 shown system,

In the figures, the same reference symbols denote the same or functionally similar reference parts. For the sake of clarity, only the relevant reference parts are highlighted in the individual figures.

This in 1 The system 10 shown comprises a radar sensor as the first sensor 1, for example a radar sensor of a distance cruise control known from the prior art. The first sensor measures the positions and speeds of vehicles driving ahead and makes them available to the system 10 as a first signal S1. The system comprises a camera 2 as the second sensor 2, which detects traffic signal generators 20 and makes them available to the system 10 as a second signal S2. The integrated circuit IC is designed, for example, as a system-on-chip and reads in the first signal S1 and the second signal S2. The integrated circuit IC executes program commands and in the process determines prevailing traffic rules in a current situation from second signals S2. Depending on the first signals S1 and the determined traffic rules, the integrated circuit IC determines a third signal S3 for longitudinal control of the vehicle. For more information on this see 3 and description too 3 . The system 10 can be integrated into vehicles, for example as a retrofit part.

in the in 2 In the method step V1 shown, the position and/or speed of a preceding vehicle FF is measured based on reflection signals from radiation sensors using the Doppler effect. In a method step V2, traffic signal generators 20, for example traffic lights, are detected in the vicinity of a host vehicle EF. In a third method step V3, traffic rules specified by the traffic signal generator 20 are determined, for example stopping at a red traffic light. In a fourth method step V4, the position and/or the speed of the preceding other vehicle FF are evaluated in conjunction with the determined traffic rules. In a fifth method step V5, a longitudinal regulation of the host vehicle EF is regulated as a function of the determined traffic rules.

If, for example, a traffic light is detected and its light signal is determined to be red or yellow/orange in transition to red, and there is no other vehicle FF driving ahead in a detection range of the first 1 and/or the second sensor 2 of the host vehicle EF, the host vehicle EF is in decelerated in a sixth method step V6.

If brake lights are detected in the preceding third-party vehicle FF, an engine torque of the host vehicle EF is reduced in a seventh method step V7.

In combination with the first signals S1, braking of the host vehicle EF is initiated in an eighth method step V8.

• • Lichtzeichen rot 21 -> anhalten, nicht weiterfahren;
• • Lichtzeichen rot-gelb 22 -> bereit machen zum Anfahren;
• • Lichtzeichen grün 23 -> weiterfahren;
• • Lichtzeichen gelb 24 -> abbremsen, anhalten.

3 shows an application of the system 10 and/or the method according to the invention. The ego vehicle EF is an electric vehicle and is operated with assistance at level 2+. The host vehicle EF includes the system 10. The other vehicle FF is a truck. The other vehicle FF is outside a detection range of the first sensor 1 of the system 10. The host vehicle EF is approaching the traffic signal generator 20. The traffic signal generator 20 is a traffic light. The traffic light includes the following light signals with the associated traffic rules:

• • Light signal red 21 -> stop, do not continue;
• • Red-yellow light signal 22 -> get ready to drive away;
• • Light signal green 23 -> drive on;
• • Light signal yellow 24 -> slow down, stop.

The meaning of these lights is implemented in the program instructions executed by the system 10 integrated circuit IC.

In the event that the traffic light is red 21 and the other vehicle FF is outside the detection range of the host vehicle EF, the host vehicle EF is automatically braked to stop without a driver having to intervene. With conventional distance cruise control, which would only detect an “infinite” distance because it is outside the detection range and not a red traffic light, the distance cruise control would continue to regulate the previous speed of the ego vehicle EF to a constant value. In order to stop at the red traffic light, the driver would have to intervene in the braking of the ego vehicle EF himself.

Reference List

10

system

1

first sensor

2

second sensor

IC

integrated circuit

S1

first signal

S2

second signal

S3

third signal

EF

ego vehicle

FF

foreign vehicle

20

traffic signaller

21

color

22

color

23

color

24

color

V1-V8

process steps

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely 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 102015213078 A1 [0003]
• DE 102010052964 A1 [0004]

Claims (10)

System (10) for adaptively controlling a longitudinal control of a host vehicle (EF) as a function of a position and/or a speed of a preceding foreign vehicle (FF). • at least one first sensor (1), which measures the position and/or the speed of the vehicle driving ahead (FF) and provides these as first signals (S1), • at least one second sensor (2) which detects traffic signal generators (20) in the vicinity of the host vehicle (EF) and makes them available as second signals (S2), and • an integrated circuit (3) that ◯ reads the first and second signals (S1, S2), ◯ determined traffic rules indicated by the traffic signal generator (20) by executing program commands, ◯ evaluates the first signals (S1) in conjunction with the specific traffic rules and ◯ provides a third signal (S3) by which the longitudinal control of the ego vehicle (EV) is regulated depending on the specific traffic rules. system (10) according to claim 1 , wherein • the first sensor (1) is a radiation sensor comprising radar and/or lidar technology and • the second sensor (2) is an imaging sensor comprising camera technology. system (10) according to claim 1 or 2 , The second sensor (2) traffic light systems including traffic lights and / or brake lights of the preceding other vehicle (FF) detected. System (10) according to one of Claims 1 until 3 , wherein an algorithm is formulated in the program commands that recognizes the switching status of a traffic light, comprising an algorithm that determines the colors (21, 22, 23, 24) of the traffic signal heads (20) and the colors (21, 22, 23, 24) associated traffic rules. system according to one of the Claims 1 until 4 comprising a plurality of first (1) and/or second sensors (2). Method for adaptively controlling a longitudinal control of a host vehicle (EF) depending on a position and/or a speed of a preceding foreign vehicle (FF) comprising the steps • Measuring the position and/or speed of the vehicle ahead (FF) (V1), • Detection of traffic signal transmitters (20) in an environment of the ego vehicle (EF) (V2), • Determination of traffic rules (V3) indicated by the traffic signal transmitter (20), • Evaluation of the position and/or the speed of the preceding foreign vehicle (FF) in conjunction with the specific traffic rules (V4) and • Rules of the longitudinal regulation of the ego vehicle (EF) depending on the determined traffic rules (V5). procedure after claim 6 , where • if a traffic light is detected, the light signal of which is determined to be red or yellow/orange in transition to red, and no other vehicle (FF) driving ahead is detected, the ego vehicle (EF) is braked (V6), and/or • if detected brake lights of the preceding other vehicle (FF) at least one engine torque of the host vehicle (EF) is reduced (V7) and / or in conjunction with the first signals (S1) braking of the host vehicle (EF) is initiated (V8). procedure after claim 6 or 7 , The method with a system (10) according to one of Claims 1 until 5 is performed. Computer program for adaptively controlling a longitudinal control of an ego vehicle (EF) depending on a position and/or a speed of a preceding foreign vehicle (FF) comprising program instructions which cause a computer to follow the steps of the method claim 6 or 7 executes when the computer program runs on the computer. Automated vehicle (EF) comprising a system (10) according to one of the claims, wherein the at least first (1) and second sensor (2) are designed as front sensors of the vehicle (EF) and/or the integrated circuit (IC) in one Control unit for longitudinal control or for automated driving is integrated.

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