DE102021213881A1 - Method and device for operating a vehicle - Google Patents

Abstract

Method (300) and device for operating (340) a vehicle, comprising a step of determining (310) a position of the sun in an area surrounding the vehicle, a step of acquiring (320) environmental data values which represent the area surrounding the vehicle, a step of Determination (330) of an environment image, depending on the environment data values and depending on the position of the sun, and a step of operating (340) the vehicle, depending on the environment image.

Description

The present invention relates, inter alia, to a method for operating a vehicle with a step of determining a position of the sun in an area surrounding the vehicle, a step of determining an image of the surroundings as a function of environmental data values and as a function of the position of the sun, and a step of operating the vehicle as a function from the environment image

Disclosure of Invention

The method according to the invention for operating a vehicle comprises a step of determining a position of the sun in an area surrounding the vehicle and a step of acquiring environmental data values which represent the area surrounding the vehicle. The method also includes a step of determining an environment image, depending on the environment data values and depending on the position of the sun, and a step of operating the vehicle, depending on the environment image.

A vehicle is understood to be a manually operated vehicle according to SAE Level 0 or a partially, highly or fully automated vehicle according to one of SAE Levels 1 to 5 (see standard SAE J3016).

The environmental data values are recorded by means of an environment sensor system. Surroundings sensors are at least one video sensor and/or at least one radar sensor and/or at least one lidar sensor and/or at least one ultrasonic sensor and/or at least one additional sensor that is designed to detect the surroundings of a vehicle to capture environmental data values. In one possible embodiment, the environment sensor system includes, for example, a computing unit (processor, main memory, hard disk) with suitable software and/or is connected to such a computing unit. In a preferred embodiment, the environmental data values are recorded in particular by means of a video sensor.

An image of the environment is to be understood in particular as a digital representation of the environment, the image of the environment including, for example, a traffic route on which the vehicle is located and/or other road users and/or infrastructure features (guardrails, traffic signs, buildings, etc.). In one possible embodiment, the environment image is determined, for example, using a digital map that is covered by the vehicle by inserting the above-mentioned objects (traffic route, road users, infrastructure features, etc.) into the digital map.

Operating the vehicle depending on the environment image includes, for example, determining a suitable lane for the vehicle and/or executing lateral and/or longitudinal control of the vehicle (depending on the SAE level or the design of the vehicle). understand. In a possible embodiment, the operation also includes, for example, the execution of safety-related functions (“arming” an airbag, tightening the seat belts, etc.) and/or other (driver assistance) functions.

A position of the sun is to be understood, for example, as the relative position of the sun to the vehicle and the associated direction of the incident sunlight.

The method according to the invention advantageously solves the problem of providing a method for the safe operation of a vehicle. Many driving functions, which are also relevant for safe operation of the vehicle, require an image of the environment that is as accurate as possible (such as lane markings for a lane departure warning system, etc.). However, with high and wide vehicles (trucks, etc.) in the vicinity, for example, it can happen that a low-lying sun creates a shadow on the road whose outlines are incorrectly interpreted as road markings and used accordingly for certain driving functions. This misinterpretation harbors a high risk for the vehicle, its occupants and also other road users in the vicinity of the vehicle. The task of counteracting this misinterpretation is achieved by means of the method according to the invention in that the position of the sun in the surroundings is also taken into account in order to determine an image of the surroundings. As a result, possible dark areas on the roadway can be assigned as a shadow to an object in the area, for example, and the image of the area can thus be improved overall. In a further embodiment, the areas recognized as shadows can also be used, for example, to check objects in the environment as such for plausibility.

The position of the sun is preferably determined as a function of a direction of movement of the vehicle and/or as a function of a position of the vehicle and/or as a function of the current time and/or as a function of a current date.

The direction of movement and/or the position is determined, for example, by means of a navigation system of the vehicle and/or by means of a further localization device of the vehicle. The current time and/or the current date can be requested and/or received, for example, from a computer-based vehicle system or from an external transmitter (server, cloud, etc.) using radio links. Since the direction of movement of the vehicle is known (and the vehicle has stored its own size as data), a possible shadow of one's own vehicle can also be determined and taken into account accordingly when determining the image of the surroundings. The time and/or the date can be used on the one hand to directly determine the position of the sun and on the other hand also to validate a detected shadow (for example, it would not be permissible to validate a shadow at night).

The environment image preferably includes one or more lanes in the area surrounding the vehicle.

A weather condition in the vicinity of the vehicle is preferably additionally determined, with the determination of the environment image also being carried out as a function of the weather condition.

The weather condition can be determined, for example, using an on-board sensor system and/or requested and/or received by an external transmitter (server, cloud, etc.) using radio links. The weather condition can be used, for example, to validate a detected shadow (for example, the existence of a shadow in rain or fog is less likely than in sunshine).

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

For this purpose, the device comprises in particular a computing unit (processor, main memory, storage medium) and suitable software in order to carry out the method according to one of the method claims. Furthermore, the device includes an interface for transmitting and receiving data values by means of a cable and/or wireless connection, for example with other devices of the automated commercial vehicle (control devices, communication devices, environment sensors, navigation system, etc.).

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

Furthermore, a machine-readable storage medium on which the computer program is stored is claimed.

Advantageous developments of the invention are specified in the dependent claims and listed in the description.

character list

• 1 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Betreiben eines Fahrzeugs in Form eines Ablaufdiagramms.

Embodiments of the invention are shown in the drawing and are explained in more detail in the following description. It shows:

• 1 an embodiment of the inventive method for operating a vehicle in the form of a flowchart.

Embodiments of the invention

1 3 shows a possible embodiment of a method 300 for operating 340 a vehicle.

In step 301, the method 300 starts.

In step 310, a position of the sun in an area surrounding the vehicle is determined.

In step 320, environmental data values representing the surroundings of the vehicle are recorded.

In step 330, an environment image is determined depending on the environment data values and depending on the position of the sun.

In step 340 the vehicle is operated depending on the environment image.

In step 350, the method 300 ends.

Claims (7)

Method (300) for operating (340) a vehicle, comprising: - determining (310) a position of the sun in an area surrounding the vehicle; - acquiring (320) environmental data values which represent the environment of the vehicle; - determining (330) an environment image, depending on the environment data values and depending on the position of the sun; and - Operating (340) the vehicle, depending on the environment image. Method (300) according to claim 1 , characterized in that the position of the sun is determined as a function of a direction of movement of the vehicle and/or as a function of a position of the vehicle and/or as a function of a current time and/or as a function of a current date. Method (300) according to claim 1 , characterized in that the environment image includes one or more lanes in the vicinity of the vehicle. Method (300) according to claim 1 , characterized in that a weather condition in the vicinity of the vehicle is additionally determined, the determination (330) of the environment image also being carried out as a function of the weather condition. Device, in particular a control unit, which is set up, all the steps of the method (300) according to one of Claims 1 until 4 to execute. A computer program comprising instructions which, when the computer program is executed by a computer, cause the latter to carry out a method (300) according to one of Claims 1 until 4 to execute. Machine-readable storage medium on which the computer program claim 6 is saved.

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