EP2164059B1 - Method for monitoring a traffic situation - Google Patents

Description

The invention relates to a method for controlling a traffic situation, a device for controlling a traffic situation, a computer program and a computer program product.

State of the art

More and more motor vehicles are equipped in the front with distance and / or speed sensors, which allow a control device of a motor vehicle to determine a distance and / or a speed difference to a vehicle in front. Sensor data acquired thereby can furthermore be used to regulate a braking or an acceleration of the motor vehicle in such a way that a collision with the vehicle in front is avoided.

A method and a system for warning of a danger are from the document GB 2 431 761 B known. It describes inter alia that in the event that a motor vehicle registers a dangerous situation on the road, this motor vehicle informs other motor vehicles about this dangerous situation by transmitting a corresponding warning signal to the other motor vehicles. In this case, such a warning can be transmitted depending on the direction of travel. This means that a motor vehicle, after driving past a danger spot, warns oncoming motor vehicles that are heading for this danger spot.

From the publication US 2003/0141966 A1 is a warning system warning of a rear-end collision known. In a traffic situation, a so-called target vehicle drives itself ahead of this target vehicle. It is provided that the approaching vehicle has a transmitter and the target vehicle has a display device. This display device can receive signals from the transmitter of the approaching vehicle. If the received signals exceed a certain value, an approaching warning is provided to the approaching vehicle from the target vehicle.

Disclosure of the invention

The invention relates to a method for controlling a traffic situation in which a number of vehicles are involved. The present traffic situation is detected by sensors which are arranged in the vehicles, wherein data or sensor data are determined for this traffic situation. The data determined for the detected traffic situation are exchanged between the vehicles, so that common data about the traffic situation are available for the vehicles involved in the traffic situation and thus provided. Furthermore, the trajectories of the vehicles are regulated taking into account the common data.

Typically, each vehicle may use its own internal sensor data provided by its own sensors in the vehicle for predictive planning of the traffic situation. As part of the method, the internal sensor data are also transmitted to other vehicles, so that other vehicles can use the sensor data of other vehicles to capture the traffic situation in addition to their own internal sensor data. Thus, it is possible for the vehicles to regulate a further development of the traffic situation cooperatively and thus to plan.

As sensor data, the vehicles may, among other things, determine data relating to their own kinematic variables, ie to their own location or their own position, their own speed and / or their own acceleration, and to transmit the method to other vehicles. From these transmitted, external sensor data, distances between vehicles and / or relative speeds can then be calculated by the vehicles involved, for example, by comparing internal and external sensor data.

The US 6,356,820 B1 shows a device for assisting drivers of vehicles for a convoy ride. In this case, vehicles can be connected to a leading vehicle so that the vehicles automatically follow the leading vehicle when driving on. The communication between the vehicles takes place wirelessly.

The EP 1 569 183 A2 shows a system for wireless communication between the driver assistance system and a central station. The system has a plausibility check for braking of vehicles in a convoy. This ensures that in the case of a braking operation, the vehicles of the column pull apart.

Among other things, this includes the measure that the trajectories and thus loci of the vehicles are regulated in time. This usually means that kinematic variables of the vehicles, such as location, speed and / or acceleration are regulated. Furthermore, driving directions of the vehicles can also be regulated. In this case, the trajectory and thus, inter alia, the speed for each vehicle can be controlled by a control device which is arranged in the vehicle. However, it is also possible to jointly regulate the trajectories and thus speeds of all vehicles involved in the traffic situation, so that the vehicles, typically the control devices of the vehicles, jointly agree on trajectories and thus possible onward journeys in the context of the traffic situation.

A regulation of at least one trajectory of at least one vehicle also includes in an embodiment the regulation of a distance between the at least one vehicle and at least one device, which is usually actively or passively integrated in the traffic situation. The at least one device may be at least one further vehicle, another road user or at least one permanently installed infrastructure device. This at least one device may have the meaning of an obstacle in the context of the traffic situation for the at least one vehicle. When controlling a distance, a collision of the at least one vehicle with the at least one device can be prevented or the consequences can be reduced. For this purpose, in the context of the method control and thus control and / or control mechanisms can be provided, which can be set as a condition such that the at least one distance in a temporal development of the traffic situation is greater than zero.

If, for example, several vehicles drive in succession and a first, preceding vehicle has to brake due to an obstacle, in one variant of the method the data is exchanged between all vehicles. This means that each of the vehicles involved current values of the kinematic variables, ie the distances between the individual vehicles and the speeds of the vehicles are known. On the basis of this knowledge, the vehicles, typically with continuing exchange of data, can regulate their trajectories and thus onward travel in such a way that sufficiently large distances exist between the vehicles.

In an embodiment, the common sensor data provided by a respective vehicle when monitoring an area in front of the vehicle and / or an area behind the vehicle can be used. It is also possible that, in addition, shared data is provided from an infrastructure installed in the area of a lane.

Among other things, the method can be carried out to avoid a collision between vehicles and / or road users in a traffic situation designed as an emergency situation. Normally, the method can at least achieve minimal damage in the event of an imminent emergency situation. If a collision and thus an accident can not be avoided, joint control of the trajectories of the vehicles involved may possibly result in minimal overall damage. Accordingly, the trajectories can be regulated while minimizing expected damage.

If a column of several vehicles on an obstacle that can not be avoided, can be divided in cooperative regulation of the trajectories, a braking distance between the vehicles, so that after carrying out the braking between the vehicles still sufficient distances are available. For this purpose, it can be provided, for example, that each vehicle collects sensor data for its own position and forwards it to other vehicles. Already from these sensor data, which provide information about the positions of all vehicles, distances between the vehicles and relative speeds of the vehicles can be determined as common data continuously, so that by appropriate acceleration or braking of some vehicles still sufficient distances are available.

However, sensors for distance and relative velocity determination are not absolutely necessary. The required data can be derived from the communicated sensor data to positions and speeds of the other vehicles. The sensor data may also include location data. Distance data does not necessarily have to be exchanged during the procedure.

The invention further relates to a device for controlling a traffic situation in which the number of vehicles is involved, wherein the device has at least one sensor or at least one sensor, at least one communication module and at least one Control device comprises, wherein the at least one sensor is adapted to detect the traffic situation, and the at least one communication module is adapted to exchange data on the detected traffic situation between the vehicles, so that the vehicles common data on the traffic situation are provided. In this case, the at least one control device is designed to regulate a trajectory for at least one of the vehicles taking into account the common data.

This device is typically designed for placement in a vehicle. This means that for realizing the device in this vehicle, the at least one sensor, the at least one communication module and the at least one control device are arranged.

With the invention can thus be made a cooperative design of an emergency situation for the vehicles, which includes a cooperative collision avoidance by splitting the brake chamber or braking distance of the vehicles. Within the scope of the invention, inter alia, between at least two vehicles data, usually sensor data, exchanged (car-to-car, C2C). However, it is also an exchange of data between at least one vehicle and an infrastructure possible (car-to-infrastructure, C2I).

The device described is designed to perform all steps of the presented method. In this case, individual steps of this method can also be carried out by individual components of the device. Furthermore, functions of the device or functions of individual components of the device may be implemented as steps of the method.

The invention further relates to a computer program with program code means to perform all the steps of a described method, when the computer program is executed on a computer or a corresponding computing unit.

The computer program product according to the invention with program code means which are stored on a computer-readable data carrier is designed to carry out all steps of a described method when the computer program is executed on a computer or a corresponding computing unit.

By means of suitable sensors and data transmission either by vehicle-vehicle communication or by suitable communication with at least one infrastructure device, for example a camera on the roadside, the area behind a vehicle in front is monitored and the risk of departure from a following vehicle is determined and possibly a need for action, for example, mitigating a braking or possibly even accelerate determined. For this purpose, the area in front of and behind a participating vehicle is monitored in each case, so that braking is regulated taking into account safety reserves, ie. H. weakened or intensified.

It can u. a. be checked whether the need for action can be met. If there is no margin, no further steps are taken and the approach of the following vehicle is accepted. However, if there is room for maneuver, braking is sufficiently mitigated taking into account the safety reserves. In one embodiment, in the o. G. Check the entire brake chamber or braking distance between multiple vehicles are optimally divided.

Furthermore, distribution goals can be defined for the cooperative control of the brake chamber. Instead of the division goal "avoid rear-end collision (s), unless a front-end collision would be the consequence" could be chosen another allocation target, eg. B. "minimization of impact speeds". In this case, a collision in one place is altruistically accepted to mitigate a collision elsewhere, so that instead of a double speed collision (Δ2V), two simple speed collisions (ΔV) minimizing impact energies, thus avoiding the collision of a heavy vehicle , z. As a truck, at the expense of many small minor accidents. It is also a consideration of the number of passengers, especially the rear passengers, possible. As an additional criterion, the protection of a potentially involved dangerous goods transport at the expense of other vehicles can be realized.

As sensors, devices or systems for distance measurement (radar, ultrasound, video, lidar), which can also measure relative speeds in addition to the position, can be used. From this it is possible to calculate the temporal development of distances between vehicles and to evaluate them with regard to safety and the need for intervention, ie partial and / or emergency braking.

The vehicle communication systems used in the invention allow based on the exchanged own Ego sensor data, the calculation of in principle any kinematics data, for. As well as relative acceleration, and thus improve u. a. the input data in security systems. If the vehicles also have locating devices as sensors and sensor data are also communicated by such sensors, it is also possible without ego sensor technology to provide the required information.

Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination indicated, but also in other combinations or in isolation, without departing from the scope of the present invention.

Short description of the drawing

FIG. 1 shows a schematic representation of a traffic situation and ways of temporal development of this traffic situation.

Embodiment of the invention

The invention is illustrated schematically with reference to an embodiment in the drawing and will be described in detail below with reference to the drawing.

The FIGS. 1a, 1b, 1c each show a first vehicle 2, a second vehicle 4 and a third vehicle 6. In addition, in all three FIGS. 1a, 1b, 1c each an obstacle 8 shown.

FIG. 1a further shows a first traffic situation 10, in which the three vehicles 2, 4, 6 are involved. In FIG. 1b is a second traffic situation 12 as a first possible further development the first traffic situation 10 shown. Figure 1c indicates alternatively FIG. 1b a third traffic situation 14 as a further development of the first traffic situation 10.

In addition, the show FIGS. 1a, 1b, 1c Embodiments of devices 16, 18, 20 according to the invention, which are arranged in the three vehicles 2, 4, 6. Each of these devices 16, 18, 20 comprises sensors for detecting the respective traffic situation 10, 12, 14 as well as communication modules, via which the devices 16, 18, 20 exchange data detected between the vehicles. In addition, the devices 16, 18, 20 each comprise a control device. All control devices are designed to regulate trajectories of the vehicles 2, 4, 6 taking into account the common, mutually exchanged data.

In carrying out the method, said devices 2, 4, 6 cooperate synergistically and thereby form individual components of an embodiment of an arrangement according to the invention.

In the first traffic situation 10, it is provided that the first vehicle 2 approaches the obstacle 8, the second vehicle 4 and the third vehicle 6 follow the first vehicle 2 in succession.

In conventional approaches, the first traffic situation 10 may result in the second traffic situation 12, as in FIG FIG. 1b shown. Since a driver of the first vehicle 2 notices that a distance 22 between the first vehicle 2 and the obstacle 8 decreases, the driver of the first vehicle 2 will usually brake hard, so that the second vehicle 4 ascends to the first vehicle 2 and it comes to a rear-end collision.

In one embodiment of the method according to the invention goes from the first traffic situation 10 in Figure 1c shown third traffic situation 14. It is provided that the sensors of a respective device 16, 18, 20 detected in each of the vehicles 2, 4, 6 as sensor data kinematic variables of the present traffic situation 10.

This means that the sensors in the first vehicle 2 detect a current position and a current speed of the first vehicle. Accordingly applies in each case for the second and third Vehicle 4, 6, so that their sensor also detects the current position and speed. The sensor data recorded thereby are exchanged between the three vehicles 2, 4, 6. By comparing own internal sensor data and received external sensor data, each vehicle 2, 4, 6 can now calculate relative kinematic variables. Consequently, of the vehicles 2, 4, 6, inter alia
Distance 22 of the first vehicle 2 to the obstacle 8, a distance 24 between the first and second vehicles 2, 4, a distance 24 between the first vehicle 2 and the second vehicle 4 and a distance 26 between the second vehicle 4 and the third vehicle 6 determined. In addition, it is provided in the present embodiment that relative speeds between the vehicles 2, 4, 6 are determined.

In an embodiment of the method according to the invention, said sensor data is exchanged between all three vehicles 2, 4, 6 via the communication modules. Thus, all devices 16, 18, 20 of the three vehicles 2, 4, 6 have joint, comprehensive data about the first traffic situation 10. These common data or sensor data are used jointly by control devices of the devices 16, 18, 20 in the vehicles 2, 4, 6 in order thus to regulate trajectories of the vehicles 2, 4, 6 for the further development of the first traffic situation 10.

A regulation of the trajectories here comprises a regulation of the speeds as kinematic variables of the three vehicles 2, 4, 6. In the implementation of the method according to the invention, the third traffic situation 14 starts from the first traffic situation 10 Figure 1c out. In contrast to the second traffic situation, this means 12 off FIG. 1b in that the first vehicle 2 brakes less strongly, so that, in contrast to the second traffic situation 12, the rear-end collision of the second vehicle 4 on the first vehicle 2 is avoided. In the implementation of the method described with reference to FIG. 1c, a condition is that the distances 22, 24, 26 remain greater than zero. Taking into account this condition as well as knowing the common data, the trajectories, ie the speeds of the three vehicles 2, 4, 6 starting from the first traffic situation 10, are regulated such that the third traffic situation 14, as in FIG Figure 1c shown results.

In the implementation of the method is followed to control the trajectories, a change in speed, ie braking and / or acceleration of the three vehicles 2, 4, 6. In this case the relevant distances 22, 24, 26 are controlled together, which means that in the variant of the method described here, the brake chamber and thus braking distance of all three vehicles 2, 4, 6 is regulated.

Overall, it can be provided that the first traffic situation 10 is regulated by automatic change of the trajectories 2, 4, 6 of the vehicles such that an expected damage is minimal. This also means that an impact of the first vehicle 10 on the obstacle 8 is avoided in any case, but this includes the possibility that the impact of the second vehicle 4 on the first vehicle 2 taking into account controlled relative speeds of the first vehicle 2 and the second Vehicle 4 runs with the least possible damage.

Claims (11)

1. Method for monitoring a traffic situation (10, 12, 14) in which a number of vehicles (2, 4, 6) are involved, in which the traffic situation (10, 12, 14) is captured by sensors of the vehicles (2, 4, 6) and data relating to the captured traffic situation (10, 12, 14) are interchanged between the vehicles (2, 4, 6), wherein distances between the vehicles and relative speeds of the vehicles are continuously determined, wherein these data are transmitted to other vehicles, with the result that common data relating to the traffic situation (10, 12, 14) are provided for the vehicles (2, 4, 6), wherein trajectories of the vehicles (2, 4, 6) are controlled taking into account the common data, and wherein a braking distance is divided between vehicles (2, 4, 6), with the result that sufficient distances are still present between the vehicles after the braking has been carried out.
2. Method according to Claim 1, in which a trajectory for a respective vehicle (2, 4, 6) is controlled by a monitoring device of the vehicle (2, 4, 6).
3. Method according to Claim 1 or 2, in which the trajectories of the vehicles (2, 4, 6) are controlled together.
4. Method according to one of the preceding claims, in which at least one distance (22, 24, 26) between at least one vehicle (2, 4, 6) and at least one device is controlled.
5. Method according to one of the preceding claims, in which additional common data are provided by an infrastructure device.
6. Method according to one of the preceding claims, which is carried out in order to avoid a collision between vehicles (2, 4, 6) in a traffic situation (10, 12, 14) in the form of an emergency situation.
7. Method according to one of the preceding claims, in which the trajectories are controlled while minimizing expected damage.
8. Apparatus for monitoring a traffic situation (10, 12, 14) in which a number of vehicles (2, 4, 6) are involved, wherein the apparatus (16, 18, 20) comprises at least one sensor, at least one communication module and at least one monitoring device, wherein the at least one sensor is designed to capture the traffic situation and the at least one communication module is designed to interchange data relating to the captured traffic situation (10, 12, 14) between the vehicles (2, 4, 6), wherein distances between the vehicles and relative speeds of the vehicles are continuously determined, wherein these data are transmitted to other vehicles, with the result that common data relating to the traffic situation (10, 12, 14) are made available to the vehicles (2, 4, 6), wherein the at least one monitoring device is designed to control a trajectory for at least one of the vehicles (2, 4, 6) taking into account the common data, and to divide a braking distance between vehicles (2, 4, 6), with the result that sufficient distances are still present between the vehicles after the braking has been carried out.
9. Apparatus according to Claim 8, in which the at least one sensor, the at least one communication module and the at least one monitoring device are arranged in a vehicle (2, 4, 6).
10. Computer program having program code means for carrying out all steps of a method according to one of Claims 1 to 7 when the computer program is executed on a computer or a corresponding computing unit, in particular in an apparatus according to Claim 8 or 9.
11. Computer program product having program code means which are stored on a computer-readable data storage medium in order to carry out all steps of a method according to one of Claims 1 to 7 when the computer program is executed on a computer or a corresponding computing unit, in particular in an apparatus according to Claim 8.

Images