DE102021208482A1 - Providing data from a collection of stationary vehicles - Google Patents

Abstract

In order to provide a method for providing data from a collection of stationary vehicles (11, 12, 13, 14), which allows safe and comfortable passage of stationary vehicles (11, 12, 13, 14) parked at the roadside, it is proposed that a Initial position (P1) and an end position (Pend) of the collection (15) of stationary vehicles (11, 12, 13, 14) by at least one stationary vehicle (11, 12, 13, 14) of the collection (15) based on measurement data from vehicle-side sensors (17) of at least one stationary vehicle (11, 12, 13, 14) of the collection (15) and/or based on data determined externally to the vehicle, using the determined starting position (P1) and the end position (Pend) to determine a dimension the collection (15) of the stationary vehicles (11, 12, 13, 14) and to define the stationary vehicles (11, 12, 13, 14) as a single stationary object (30) with the calculated dimension and by at least one station nary vehicle (11, 12, 13, 14) of the collection data of the collection, in particular the dimensions of the stationary object (30), at least one vehicle (21, 23) to provide.

Description

The invention relates to a method for providing data from a collection of stationary vehicles and a method for passing a collection of stationary vehicles by at least one vehicle.

Vehicles parked at the side of the road represent a collection of stationary objects that is difficult to assess for many driver assistance systems, but also for the driver himself. and correspondingly decelerate the vehicle relative to the parked vehicle. In addition, it can be difficult for the driver to assess whether it is possible to safely pass the accumulation of parked vehicles.

Methods for forming object clusters using external, stationary sensors are already known. However, this requires increased technical effort, which cannot be implemented across the board.

In the US 10,424,204 B1 describes a method in which a stationary vehicle determines measurement data using on-board sensors and checks for a risk of collision. If there is a risk of a collision, the stationary vehicle initiates collision warning measures.

The U.S. 2007/0197230 A1 discloses a car-to-car communication system for avoiding accidents, in which warning messages are sent from road users to neighboring road users if, for example, covered obstacles or poorly visible parked vehicles are detected.

The invention is based on the object of creating a method which enables vehicles parked at the side of the road to be passed safely and comfortably. This object is achieved by the features specified in claim 1. Further advantageous configurations of the invention are described in the dependent claims.

According to one aspect of the invention, a method for providing data of a collection of stationary vehicles is provided. For example, the collection of stationary vehicles may be a line of multiple parked vehicles parked next to or in a lane. Such stationary vehicles can be parked or stopping vehicles. The stationary vehicle concept is not limited to passenger cars. In particular, a stationary vehicle can be configured as a powered or non-powered vehicle. In particular, a stationary vehicle may be a trailer, truck, container, unloaded cargo, utility vehicle, and the like.

In one step, a starting position and an end position of the collection of stationary vehicles are determined by at least one stationary vehicle in the collection based on measurement data from the on-board sensors of at least one stationary vehicle in the collection and/or based on data determined externally to the vehicle. The at least one stationary vehicle can be, for example, a vehicle that can be operated in an automated or partially automated manner and has on-board sensors. Alternatively or additionally, measurement data from external sensors, such as an infrastructure unit, can be received and processed. The measurement data and/or the data can be received and processed by a control unit on the vehicle or external to the vehicle.

A dimension of the stationary vehicle aggregation is calculated from the determined initial position and the determined end position, and the stationary vehicle aggregation is defined as a single stationary object having the calculated dimension. Thus, the aggregation of a plurality of stationary vehicles and/or objects is defined as an extended object that can be driven around or passed.

At least one stationary vehicle in the cluster provides at least one vehicle with data from the cluster, in particular the stationary object and the dimensions.

According to a further aspect of the invention, a method for passing a collection of stationary vehicles by at least one vehicle is provided. To this end, data on the collection of stationary vehicles are received from at least one stationary vehicle in the collection, and the collection of stationary vehicles is taken into account as a stationary object when the collection is passed.

The method allows several parked or stationary vehicles lined up to be viewed as a combined object. All of the parked vehicles are defined as an object cluster or a stationary object.

For example, the respective stationary vehicles of the aggregation can check in which position they are located within the aggregation. A stationary vehicle may be at a start position or at an end position or at a position between the start position and the end position.

By the method for providing data of a aggregation of stationary vehicles, information about the aggregation in the form of an extended object can be collected and shared with passing road users. As a result, road users, such as other vehicles, can optimally assess the traffic situation, which increases traffic safety.

The data of the collection can be shared with passing road users in a particularly energy-saving and data-saving manner if they are provided cyclically or by the at least one stationary vehicle of the collection in response to a request from at least one vehicle.

According to a further exemplary embodiment, the data of the collection are provided as Car-to-X messages, in particular DENM messages, by the at least one stationary vehicle of the collection. This allows the data of the cluster to be transmitted using universally used communication links. The data can be shared or exchanged not only with other vehicles, but also with infrastructure units and the like via car-to-x communication links. The data can be transmitted in a so-called DENM (decentralized environmental notification message) format, for example, which can be used simultaneously by a large number of vehicles.

The data of the accumulation can be transmitted bi-directionally to passing vehicles from all directions of travel if they are provided by a stationary vehicle at the starting position and/or by a stationary vehicle at the end position of the accumulation.

The at least one stationary vehicle of the collection can be used for additional tasks, such as oncoming traffic warning, if at least one vehicle approaching the collection by at least one stationary vehicle of the collection based on measurement data from the on-board sensors of at least one stationary vehicle of the collection and / or based is detected on vehicle-externally determined data. A position and a speed of the vehicle approaching the cluster are preferably determined and provided as part of the cluster data. Traffic safety can be increased by this measure, in particular on curves or road sections with poor visibility. In addition, the passing of particularly long or extensive accumulations can be optimized since a passing vehicle can plan its speed or the beginning of the passing in advance. These benefits are obtained regardless of whether the accumulation is blocking the lane of the vehicle or oncoming traffic.

According to a further embodiment, the data of the position and the speed of the vehicle approaching the aggregation are transmitted from a stationary vehicle at the starting position by a hopping method or by means of a direct communication link to a stationary vehicle at the ending position of the aggregation. The same also applies to the transmission of the data between the stationary vehicle at the end position and the stationary vehicle at the start position of the accumulation. In this way, data can be transmitted by direct communication links between the stationary vehicles in the case of accumulations with a small area. Is the direct data transmission due to the distance, for example in the case of long accumulations with a large number of vehicles, or when the direct communication connection is impaired, for example in the case of a collection of stationary vehicles, which runs along a curve or has walls or objects arranged between the stationary vehicles , not possible, the corresponding data of the collection can be transmitted vehicle by vehicle or by a hopping process. This keeps the distance between the individual communication links short, which ensures reliable transmission.

Driving off of parked vehicles, which were previously classified as stationary vehicles in the collection, can be efficiently taken into account if a mobilization of at least one stationary vehicle is detected based on the measurement data determined on the vehicle side and/or data determined external to the vehicle and as part of the data in the collection as an information or warning is provided. As a result, the passing of the accumulation of stationary vehicles by road users can be delayed or initiated at a reduced speed in order to rule out the risk of a collision.

In a further advantageous embodiment, the previously classified as stationary driving be supported in its mobilization, for example when leaving a parking space. For example, he can be given permission to drive if no other vehicle is passing the collection of stationary vehicles and a hazard is excluded. Thus, the data of the approaching road users and the data of the accumulation can also be made available to the stationary vehicles if required.

Correspondingly, vehicles that park in a parking space within the cluster can also be registered and made available to approaching road users as part of the data from the cluster.

According to one embodiment, the received data of the aggregation of stationary vehicles includes dimensions of the stationary object. Trajectory planning is preferably carried out based on the dimensions of the stationary object, or an existing trajectory planning is adapted. By knowing the dimension, in particular, a length of the stationary object can be assessed and the duration necessary for passing the accumulation of stationary vehicles can be determined. With knowledge of approaching oncoming traffic, the speed of the passing vehicle can be increased or decreased. In particular, an oncoming road user can be optimally waited for if the stationary object cannot be passed in good time within the framework of a permissible maximum speed.

According to a further exemplary embodiment, the received data from the collection of stationary vehicles has data about at least one oncoming vehicle, in particular a speed and a position of the oncoming vehicle. Based on the received data of the aggregation, passing of the aggregation of the stationary vehicles is delayed. Alternatively, passing the collection of stationary vehicles is initiated, or control commands are generated to generate a warning message. The corresponding control commands can be generated by the vehicle-side control unit of the vehicle that is passing or planning to pass the collection of stationary vehicles.

• 1 eine schematische Draufsicht auf eine Fahrzeuganordnung zum Veranschaulichen eines erfindungsgemäßen Verfahrens gemäß einer ersten Ausführungsform,
• 2 eine schematische Draufsicht auf eine Fahrzeuganordnung zum Veranschaulichen eines erfindungsgemäßen Verfahrens gemäß einer zweiten Ausführungsform, und
• 3 eine schematische Draufsicht auf eine Fahrzeuganordnung zum Veranschaulichen eines erfindungsgemäßen Verfahrens gemäß einer dritten Ausführungsform.

Exemplary embodiments of the invention are explained in more detail below with reference to the drawings. Show it:

• 1 a schematic plan view of a vehicle arrangement to illustrate a method according to the invention according to a first embodiment,
• 2 a schematic plan view of a vehicle arrangement to illustrate a method according to the invention according to a second embodiment, and
• 3 a schematic plan view of a vehicle arrangement to illustrate a method according to the invention according to a third embodiment.

In the figures, the same structural elements each have the same reference numbers.

1 shows a schematic plan view of a vehicle arrangement 10 to illustrate a method according to the invention according to a first embodiment. The vehicle arrangement 10 has a plurality of parked or stationary vehicles 11 , 12 , 13 , 14 which are defined as a collection 15 of stationary vehicles 11 , 12 , 13 , 14 and are parked in a lane 20 .

A total of the parked vehicles or the stationary vehicles 11, 12, 13, 14 is treated as an object cluster or as a single stationary object 30. The stationary vehicles 11, 12, 13, 14 only belong to the stationary object 30 if they can be viewed as parked or stationary.

For this purpose, the stationary vehicles 11 , 12 , 13 , 14 check the position in which they are located within the accumulation 15 . Possible positions are: starting position P ₁ of cluster 15, within cluster P ₂ - P _n and end position P _end of cluster 15.

This check can be carried out with the aid of on-board sensors 17 of the stationary vehicles 11, 12, 13, 14 or by receiving data from sources 16 external to the vehicle. A vehicle-external source 16 can be, for example, an infrastructure unit or a vehicle driving past, which can supply the stationary vehicles 11, 12, 13, 14 with additional data.

The corresponding processing of the measurement data received from the vehicle's own sensors 17 or the data received from sources 16 external to the vehicle can be carried out by a control unit 18 which can store the measurement data and/or data at least temporarily in an internal memory. The on-board sensors 17 can be cameras, radars and/or parking sensors, for example.

All of the information and data collected is transmitted to a fourth vehicle 14 at the end position P _end , which processes this data and makes it available via a car-to-x communication link 19 .

The vehicle 14 at the end position P _end thus defines a cluster end and sends a car-to-X message cyclically (beacon) or activates the cyclic transmission mode after receiving a car-to-X message to the end position P _end moving vehicle 21.

The content of the corresponding Car-to-X message can enable identification of the cluster 15 as an object 30 and the fourth vehicle 14 as an object beginning from the perspective of the vehicle 21 . For this purpose, the end position P _end can be transmitted to the vehicle 21 as the start of the object as part of a data transmission. In addition, the object length (distance between the start position and end position) and the position of the first stationary vehicle 11 or the end of the object as seen from the vehicle 21 can be transmitted.

The information about the stationary object 30 helps the vehicle 21 or a vehicle driver of the vehicle 21. In particular, assistance systems can prevent the deceleration onto the stationary vehicles 11, 12, 13, 14 in the cluster 14 when the vehicle 21 is detected to swerve into an oncoming lane 22. Furthermore, a second vehicle 23 following the first vehicle 21 can be controlled more predictively if both the stationary vehicles 11, 12, 13, 14 and the vehicle 21 driving ahead are known. If the first vehicle 21 (automatically) initiates a passing maneuver, the second vehicle 23 could also initiate this (automatically) or suggest a passing maneuver to the driver.

Alternatively or additionally, the second vehicle 23 can also be warned of the stationary vehicles 11, 12, 13, 14 that are still hidden.

In the 2 1 is a schematic plan view of a vehicle arrangement 10 to illustrate a method according to the invention according to a second specific embodiment. Based on the determined and in 1 described data of the accumulation 15 can also be warned of oncoming vehicles 24 in addition to the improved passing maneuver.

For this purpose, the length L of the stationary object 30, L, the speed of the (soon) passing first vehicle 21 and the speed of the oncoming vehicle 24 are provided as part of the data of the collection 15 via the car-to-X communication link 19. Depending on the configuration of the vehicle arrangement 10 , the first stationary vehicle 11 can likewise provide the data for the collection 15 with the aid of the car-to-X communication link 19 .

The collected information about the stationary object 30 and about the oncoming traffic or the oncoming vehicle 24 is then forwarded to the first vehicle 21 and the second vehicle 23 via the car-to-x communication link 19 . A passing warning in the vehicles 21, 23 can thus be triggered.

Alternatively or additionally, the oncoming vehicle 24 can be detected by at least one stationary vehicle 11, 12, 13, 14 via the vehicle's own sensors 17, for example if the oncoming vehicle 24 has no possibility of communication. In the exemplary embodiment shown, oncoming vehicle 24 is detected by on-board sensors 17 of first stationary vehicle 11 .

The 3 shows a schematic plan view of a vehicle arrangement 10 to illustrate a method according to the invention according to a third specific embodiment.

If a stationary vehicle 12 wants to move away from the stationary object 30 or the accumulation 15, it can also be checked whether it is possible to leave the accumulation 15 without risk. For this purpose, indicators such as switched on ignition, engaged gear, turning indicators on, steering wheel angle change and the like can be detected by the mobilized vehicle 12 or by at least one stationary vehicle 11 , 13 , 14 .

If vehicles 21, 23 are already in a passing manoeuvre, both the passing vehicles 21, 23 can be warned of a vehicle 12 swerving. In addition, a corresponding warning can also be displayed to vehicle 12 pulling out of a parking space.

The corresponding data of the collection 15, which is provided via the car-to-X communication link 19, can be used to initiate automated braking or deceleration.

Reference List

10

vehicle arrangement

11

first stationary vehicle / stationary vehicle at initial position

12

second stationary vehicle

13

third stationary vehicle

14

fourth stationary vehicle / stationary vehicle at end position

15

collection

16

external source / infrastructure entity

17

on-board sensors

18

control unit

19

communication link

20

lane

21

a first vehicle moving towards the final position

22

oncoming lane

23

second vehicle

24

oncoming vehicle

30

stationary object

L

Length of the stationary object

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

• US10424204B1 [0004]
• US20070197230A1 [0005]

Claims (10)

Method for providing data of a collection of stationary vehicles (11, 12, 13, 14), wherein - a starting position (P ₁ ) and an end position (P _end ) of the collection (15) of stationary vehicles (11, 12, 13), 14) by at least one stationary vehicle (11, 12, 13, 14) of the group (15) based on measurement data from the vehicle-side sensors (17) of at least one stationary vehicle (11, 12, 13, 14) of the group (15) and /or are determined based on data determined outside the vehicle, - a dimension of the collection (15) of stationary vehicles (11, 12, 13, 14) is calculated using the determined starting position (P ₁ ) and the end position (P _end ), and the stationary vehicles (11, 12, 13, 14) are defined as a single stationary object (30) with the calculated dimension, - by at least one stationary vehicle (11, 12, 13, 14) of the aggregation data of the aggregation, in particular the dimension of the stationary object (30), at least one Vehicle (21, 23) are provided. procedure after claim 1 , wherein the data of the collection are provided cyclically or upon request by at least one vehicle (21, 23) by the at least one stationary vehicle (11, 12, 13, 14) of the collection (15). procedure after claim 1 or 2 , wherein the data of the collection (15) as Car-to-X messages, in particular DENM messages, are provided by the at least one stationary vehicle (11, 12, 13, 14) of the collection (15). Procedure according to one of Claims 1 until 3 , wherein the data of the cluster (15) by a stationary vehicle (11, 12, 13, 14) at the starting position (P ₁ ) and/or by a stationary vehicle (11, 12, 13, 14) at the ending position (P _end ) of the collection (15). Procedure according to one of Claims 1 until 4 , wherein at least one vehicle (21, 23) approaching the cluster (15) is detected by at least one stationary vehicle (11, 12, 13, 14) of the cluster based on measurement data from the on-board sensors (17) of at least one stationary vehicle (11, 12, 13, 14) of the cluster (15) and/or based on data determined externally to the vehicle, a position and a speed of the vehicle (21, 23) approaching the cluster (15) being determined and within the framework of the data of the cluster (15) are provided. procedure after claim 5 , wherein the data of the position and the speed of the vehicle (21, 23) approaching the cluster (15) are picked up from a stationary vehicle (11, 12, 13, 14) at the initial position (P ₁ ) by a hopping method or by means a direct communication link (19) to a stationary vehicle (11, 12, 13, 14) at the end position (P _end ) of the aggregation (15). Procedure according to one of Claims 1 until 6 , wherein a mobilization of at least one stationary vehicle (12) is detected based on the measurement data determined on the vehicle side and/or data determined external to the vehicle and is provided as information or warning as part of the data of the collection (15). Method for passing a collection (15) of stationary vehicles (11, 12, 13, 14) by at least one vehicle (21, 23), wherein data of the collection (15) of stationary vehicles (11, 12, 13, 14) by at least one stationary vehicle (11, 12, 13, 14) of the cluster (15) is received and the stationary vehicles (11, 12, 13, 14) are considered as a single stationary object (30) when passing through the cluster (15). become. procedure after claim 8 , wherein the received data of the collection (15) of the stationary vehicles (11, 12, 13, 14) have dimensions of the stationary object (30), wherein based on the dimensions of the stationary object (30), in particular a length (L) of the stationary object (30), a trajectory planning is carried out or an existing trajectory planning is adjusted. procedure after claim 8 or 9 , wherein the received data of the collection (15) of stationary vehicles (11, 12, 13, 14) comprises data about at least one oncoming vehicle (24), in particular a speed and a position of the oncoming vehicle (24), wherein based on the received data of the collection (15) delays the passing of the collection (15) of stationary vehicles (11, 12, 13, 14) or initiates the passing of the collection (15) of stationary vehicles (11, 12, 13, 14) or a warning is generated.

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