EP2897117B1 - Procédé de fonctionnement d'un système d'assistance au conducteur permettant une conduite de véhicule au moins en partie automatique et véhicule - Google Patents

Procédé de fonctionnement d'un système d'assistance au conducteur permettant une conduite de véhicule au moins en partie automatique et véhicule Download PDF

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Publication number
EP2897117B1
EP2897117B1 EP14003727.6A EP14003727A EP2897117B1 EP 2897117 B1 EP2897117 B1 EP 2897117B1 EP 14003727 A EP14003727 A EP 14003727A EP 2897117 B1 EP2897117 B1 EP 2897117B1
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EP
European Patent Office
Prior art keywords
vehicle
section
information
adaptation information
motor vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
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EP14003727.6A
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German (de)
English (en)
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EP2897117A1 (fr
Inventor
Stephan Lorenz
Jan Buchholz
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Audi AG
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Audi AG
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Publication of EP2897117A1 publication Critical patent/EP2897117A1/fr
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element

Definitions

  • the invention relates to a method for operating a driver assistance system of a motor vehicle designed for the at least partially automatic vehicle guidance, which driver assistance system determines environment-related data describing the surroundings of the motor vehicle as part of an evaluation process.
  • the invention relates to a motor vehicle.
  • Driver assistance systems which are designed for at least partially automatic vehicle guidance, have already been proposed in the prior art and are already available in series in motor vehicles. Such driver assistance systems are also referred to as teilautonomous or fully autonomous vehicle systems. Examples of such already existing driver assistance systems are longitudinal and transverse driver assistance systems.
  • a lane keeping system determines the course of the traffic lane, for example, from data of a front-facing camera of the motor vehicle and calculated as driving interventions Quer Installationseingriffe that keep the motor vehicle as centrally as possible or otherwise defined in the track. Lane change assistants are also often trained, the further surroundings of the motor vehicle, which neighboring lanes and also approaching from behind approaching vehicles to monitor.
  • driver assistance systems have also been proposed that allow fully automatic driving.
  • An example of this is the so-called traffic jam pilot, which allows automatic vehicle guidance in traffic jams.
  • the motor vehicle is completely guided within certain system limits in which the operation of the driver assistance system is possible, that is to say such fully automatic driver assistance systems can determine longitudinal and transverse guidance interventions as driving interventions.
  • the automatic driving instructions describing control data which are determined by such vehicle control systems designed for vehicle guidance are based on environmental data of the motor vehicle describing its surroundings.
  • environmental data can be obtained, for example, from digital map data of a navigation system of the motor vehicle.
  • the concrete evaluation of the environmental data is determined by further criteria. For example, lane markings in Germany are usually kept in white, so that correspondingly white markings are searched in camera images when the lane course is to be derived from them.
  • Further criteria also determine the type of automatic vehicle guidance, for example, whether a fore vehicle should be followed and the like. For lane keeping systems, for example, it is specified that a specific position in the transverse direction of the lane, for example the lane center, should be followed.
  • Such a driver assistance system is for example from the DE 10 2007 033 664 A1 known.
  • the invention is therefore based on the object of specifying a method which allows a reliable at least partially automatic vehicle guidance even in sections with deviating from the usual or known properties section properties.
  • a method of the type mentioned, inter alia that for at least a portion of a traveled by the motor vehicle Stecke, with regard to at least one relevant in the evaluation process section property of the other route and / or for the Section already existing environmental data, received via automotive-to-infrastructure communication section-specific adaptation information and used to adapt the environmental data and / or the evaluation process on the section property for the section.
  • the motor vehicle-to-X communication (Car2X communication) has already been proposed in the prior art in order to enable a targeted exchange between the motor vehicle and other objects, in particular other motor vehicles and / or infrastructure facilities.
  • the Car2X communication technology is thus used in the context of the present invention to inform the motor vehicle by means of the adaptation information about the changed circumstances in the section.
  • the vehicle guidance may be adjusted to take into account the specific section characteristics within the section. Consequently, the motor vehicle learns in particular the currently valid criteria for the at least partially automatic vehicle guidance, so that the driver assistance system can adapt the applicable control criteria or the underlying environmental data to the current situation, for example a construction site, on the basis of the properties of the own motor vehicle. This makes it possible to realize a reliable at least partially automatic vehicle guidance even in sections in which section properties deviate from the usual line properties or if short-term changes are made.
  • the section may be a construction site area.
  • Roadworks areas often represent road sections for which other conditions temporarily apply than are stored, for example, in the digital map data of a navigation system or the like and which require a different at least partially automatic vehicle guidance, for example by lower lane widths, lane closures, speed limits or the like.
  • other sections of a route are also conceivable in which changes occur, for example, if due to an event tracks are blocked / narrowed and the like.
  • the adaptation information may also include location information of the section.
  • location information In principle, it may be conceivable, in particular in the case of short sections, to define the extension of the section for which the adaptation information applies by the reception duration with sufficient accuracy; However, it may be expedient, especially for longer construction sites or the like, if the adaptation information also contains location information which makes it possible to locate the section with sufficient accuracy and / or to determine its extent.
  • This adaptation information can be used as location information. then in particular a length of the section, here the construction site area, so that it is aware in the receiving motor vehicle, in which local context, the adjustment information is taken into account.
  • the adjustment information may include widths of the respective available lanes for these lanes.
  • overtaking prohibitions may be relevant section properties, such as overtaking prohibitions for motor vehicles with trailer, motor vehicles above a certain vehicle weight and the like. If there is such a passing ban, no overtaking maneuvers should be initiated by the driver assistance system. In some construction sites, there is also a requirement for staggered driving. In construction areas, yellow lane markings are often used instead of the usual white lane markings, so that the valid marking color can also be an important adaptation information item. Of course, other relevant section properties and their mapping into fitting information are also conceivable.
  • the adaptation information that was received via the Car2X communication is used in the motor vehicle, specifically by a control unit of the driver assistance system, in order to adapt environmental data and / or the evaluation process, for example certain evaluation parameters, so that the section properties are used correctly
  • a control unit of the driver assistance system in order to adapt environmental data and / or the evaluation process, for example certain evaluation parameters, so that the section properties are used correctly
  • an image evaluation of a camera image in the section is adapted to the marking color. If the adaptation information contains, for example, the indication that the yellow lane markings are valid, yellow lane markings are searched for and evaluated within the camera image.
  • the overtaking prohibition may relate to motor vehicles above a certain vehicle weight, so that it is possible to ascertain, knowing the own vehicle weight, whether the overtaking ban applies to the own motor vehicle at all. If this is true, the overtaking prohibition therefore applies to one's own motor vehicle, the overtaking prohibition is implemented accordingly by no more overtaking is initiated by the at least partially automatically leading driver assistance system.
  • staggered driving described by the adaptation information is correspondingly implemented.
  • the width of the own motor vehicle may also be included in the ego data on the motor vehicle. If the lane width and / or the permissible vehicle width included in the adaptation information is smaller than the vehicle width of the own motor vehicle, it will be expedient to do so the corresponding lane marked as not passable.
  • At least one display information related to at least one part of the adaptation information is determined and displayed therefrom.
  • overtaking bans can also be brought to the attention of the driver by a display, which applies analogously to speed limits and the like.
  • Such a determination of a display information is particularly expedient with regard to the use of additional data in the adaptation information, which will be discussed in more detail below.
  • an advantageous embodiment of the method according to the invention provides that the adaptation information contains, in addition to data related to the section property, at least one additional information date related to the section, which is used to determine and display a display information.
  • an additional information date can be transmitted as part of the adaptation information to the motor vehicle, which contains information about the section to be displayed.
  • a construction time and / or information on the need for construction and / or a length of the construction site can be used and / or at least one alternative branch of the blocked branch can be assigned as an additional information at a locked branch as adjustment information.
  • a construction site can therefore be described in more detail by their length (which can also be used to locate the section), a planned construction period and the like, which can also be supplemented with background information on the need for construction activity. If exits or other branches are blocked, alternative exits to the blocked exits or branches can also be sent.
  • This allows the driver assistance system to display to the driver useful additional information about the construction site, which in the case of a not completely automatic vehicle guidance the route guidance to the driver (correct choice of the lane, correct choice of exit, etc.) facilitated by the construction site and in any case can increase the acceptance of the construction activity.
  • This can advantageously be supplemented, as already described, by displayed adaptation information, for example speed limits.
  • the driver thus receives informative background information about the construction site, for example the length, the construction time, the necessity, as well as other useful information, for example alternative branches, in particular exits.
  • the driver assistance system upon receipt of an adaptation information, it is checked whether the driver assistance system is designed to carry out the vehicle guidance within its system boundaries taking into account the section characteristic, whereby if the vehicle guidance is not feasible, a driving takeover request is issued and / or the driver assistance system is deactivated.
  • a decision can be made as to whether it is still able to fulfill its main function, namely the at least partially automatic vehicle guidance, even under the present environmental conditions in the section. If the ambient conditions in the section are outside the range permitted for the driver assistance system, ie outside the system limits, then the at least partially automated vehicle guidance can not be maintained and a takeover by the driver is required.
  • a Fahrauer Spotifyaufjpg as is basically known in the art, issued, leading to a deactivation of the driver assistance system or at least its vehicle control function.
  • the adaptation information can expediently be transmitted by an infrastructure device arranged at the section, in particular at the beginning of the section.
  • the infrastructure device which can be arranged at a construction site, for example, at the beginning of the construction work at the beginning of the construction site area, has a transmitting device for the motor vehicle-to-infrastructure communication so that the adaptation information can be transmitted to motor vehicles arranged in the transmission area of the infrastructure facility.
  • the adaptation information is preferably transmitted as a "broadcast". If it is a longer construction site area or general section, the adaptation information expediently also contains a length of the section, so that the section properties can be taken into account for a sufficient driving time.
  • infrastructure facilities which are designed to transmit the adaptation information, along the entire section, so that the duration of the reception of the adaptation information defines their validity.
  • the invention also relates to a motor vehicle comprising a driver assistance system designed for at least partially automatic vehicle guidance with a control unit designed to carry out the method according to the invention. All statements relating to the method according to the invention can be analogously transferred to the motor vehicle according to the invention, with which therefore the same advantages can be obtained.
  • the motor vehicle therefore has a receiving device designed for motor vehicle-to-infrastructure communication, which receives the adaptation information and forwards it to the control device, where it is correspondingly evaluated and used.
  • Fig.1 shows a traffic situation, by means of which the inventive method is to be explained in more detail.
  • An inventive motor vehicle 1 runs on a road 2.
  • the road 2 has two lanes 3, 4, which are marked by usual white lane markings 5.
  • the motor vehicle 1 has a driver assistance system 9, which is designed for at least partially automatic vehicle guidance. This is based on the current conditions in the environment of the motor vehicle 1, thus environmental data that may originate, for example, from environmental sensors of the motor vehicle, digital map data of a navigation system of the motor vehicle 1, motor vehicle-to-motor vehicle information sources and the like. After the construction site is only temporarily available in section 6, there are no information in the motor vehicle 1 in this regard and on the changed conditions and criteria according to which the automatic vehicle guidance is to take place.
  • an infrastructure device 10 is set up which broadcasts adaptation information to all motor vehicles 1 via motor vehicle-to-infrastructure communication, which therefore also from the motor vehicle 1 when it enters the transmission range of the infrastructure device 10 , can be received.
  • the adaptation information contains widths of the lanes 3 ', 4' and may, additionally or alternatively, also include maximum permissible vehicle widths for the lanes 3 ', 4'.
  • the adaptation information contains a no-passing rule in section 6, after a limit weighting motor vehicle is no longer allowed to overtake.
  • the adjustment information further includes the yellow check mark color for the valid lane markers 8 and a speed limit within the 6th section. If an exit is disabled within the section 6, may also be a date contained in the adjustment information in this respect.
  • the adaptation information also contains a location information of the section 6, here a length of the construction site and thus of the section 6, after an infrastructure device 10 is provided only at the beginning of section 6.
  • the adaptation information also includes additional information data, in this case an intended construction time on site, information on the need for construction work and alternative exits if the exit is closed.
  • the received adaptation information is forwarded to the driver assistance system 9 and evaluated there.
  • the valid marker color "yellow” is used within the section 6 for the evaluation of camera images according to the boundaries of lanes 3 'and 4'. With respect to the overtaking prohibition is checked whether this applies at all to the motor vehicle 1 by being compared with its vehicle weight. A similar check takes place with respect to the permissible vehicle widths or the width of the lanes 3 ', 4'. Exceeds the width of the motor vehicle 1 one of the local widths, the corresponding lane 3 ', 4' marked as not passable. The speed limit is used accordingly for section 6.
  • a display information is generated that displays blocked exits and alternatives thereto, reflects speed limits and also provides informative background information on the construction site, in particular its length, its construction period and background information on the need for construction activity.
  • suitable display devices are provided in the motor vehicle 1.
  • a particularly preferred embodiment of the method also provides that upon receipt of the adaptation information by the driver assistance system 9, this first checks whether it is even able to implement its at least partially automatic vehicle guidance function within the environmental conditions described by the adaptation information, and thus whether all system boundaries , within which the driver assistance system 9 can be operated, are complied with. If this is not the case, then a Fahrauer tinyetztex is issued, so that the driver can take over the control of the motor vehicle 1 completely himself. As soon as the driver has taken over control of the motor vehicle 1 again, the driver assistance system 9 is deactivated.
  • Fig. 2 shows a schematic diagram of the motor vehicle according to the invention 1.
  • the driver assistance system 9 which has a formed for carrying out the method according to the invention control unit 11.
  • This communicates with a receiver 12 configured to receive data via vehicle-to-infrastructure communication.
  • the control unit 11 is further connected to further vehicle systems 13 (not shown here), for example environment sensors, a navigation system, actuators for carrying out the driving interventions and a display device for displaying display information that can be derived from received adaptation information.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Claims (7)

  1. Procédé de fonctionnement d'un système d'assistance au chauffeur (9) d'un véhicule automobile (1) conçu pour la conduite au moins en partie automatique du véhicule, lequel système d'assistance au chauffeur (9) détermine à partir de données ambiantes décrivant l'environnement du véhicule automobile (1) dans le cadre d'un processus d'évaluation des interventions de conduite automatiques et/ou des données de commande décrivant la délivrance d'informations au chauffeur,
    caractérisé en ce que,
    pour au moins une section (6) d'un trajet parcouru par le véhicule automobile (1), qui se différencie, en tenant compte d'au moins une propriété de section importante dans le processus d'évaluation, du trajet habituel et/ou des données ambiantes déjà présentes pour la section (6), une information d'adaptation spécifique à la section est reçue par communication entre le véhicule automobile et l'infrastructure et, à la réception d'une information d'adaptation, on vérifie que le système d'assistance au chauffeur (9) est conçu pour réaliser la conduite automobile dans ses limites de système même en tenant compte de la propriété de section, dans lequel, lorsque la conduite automobile n'est pas réalisable, une invitation de prise en charge de la conduite est émise et/ou le système d'assistance au chauffeur (9) est désactivé et autrement l'information d'adaptation est utilisée pour adapter les données ambiantes et/ou le processus d'évaluation sur la propriété de la section (6) de sorte que la fonction de conduite automobile soit poursuivie en tenant compte des propriétés de section spéciales dans la section (6).
  2. Procédé selon la revendication 1,
    caractérisé en ce que :
    la section (6) est une zone de chantier et/ou l'information d'adaptation contient également une information locale de la section (6) et/ou l'on utilise comme propriété de section une largeur d'au moins une voie de circulation (3', 4') et/ou une largeur de véhicule autorisée et/ou une réglementation d'interdiction de dépasser valide et/ou une directive pour circulation décalée et/ou une peinture de marquage pour marquages de voies de circulation (8) et/ou une voie de circulation bloquée et/ou une limitation de vitesse.
  3. Procédé selon la revendication 2,
    caractérisé en ce que,
    lors de la réception d'une information d'adaptation contenant une peinture de marquage, une évaluation d'une image de caméra est adaptée dans la section (6) sur la peinture de marquage et/ou, à la réception d'une information d'adaptation décrivant une interdiction de dépasser, on détermine sur la base de données personnelles présentes sur le véhicule automobile (1) si l'interdiction de dépasser vaut pour le véhicule automobile (1), moyennant quoi elle est convertie pour être valable pour le véhicule automobile (1) et/ou une circulation décalée décrite par l'information d'adaptation est convertie et/ou une voie de circulation (3', 4') est marquée comme non praticable au cas où une largeur de voie contenue dans l'information d'adaptation et/ou la largeur du véhicule autorisée est ou sont plus petites que la largeur du véhicule (1) proprement dit et/ou une limitation de vitesse contenue dans l'information d'adaptation est observée et/ou lors d'un blocage d'un embranchement, qui aurait dû être utilisé sur la base d'une planification de route actuelle, une nouvelle route est déterminée et/ou au moins une information de signalisation se rapportant au moins à une partie de l'information d'adaptation en est déterminée et est affichée.
  4. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que :
    l'information d'adaptation contient à côté des données ayant trait à la propriété de la section au moins une donnée d'information supplémentaire ayant trait à la section (6), qui est utilisée pour déterminer et indiquer une information de signalisation.
  5. Procédé selon la revendication 4,
    caractérisé en ce que,
    dans une zone de chantier, on utilise comme donnée d'information supplémentaire un temps de construction et/ou une information pour la nécessité des travaux de construction et/ou une longueur du chantier et/ou, lors d'une dérivation bloquée comme information d'adaptation, on affecte comme donnée d'information supplémentaire au moins une dérivation alternative de la dérivation bloquée.
  6. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que :
    l'information d'adaptation est émise par un dispositif d'infrastructure (10) aménagée sur la section (6), en particulier au début de la section (6).
  7. Véhicule automobile (1) comprenant un système d'assistance au chauffeur (9) conçu pour la conduite au moins en partie automatique du véhicule avec un appareil de commande (11) conçu pour réaliser un procédé selon l'une quelconque des revendications 1 à 5.
EP14003727.6A 2014-01-16 2014-11-05 Procédé de fonctionnement d'un système d'assistance au conducteur permettant une conduite de véhicule au moins en partie automatique et véhicule Active EP2897117B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014000432.5A DE102014000432A1 (de) 2014-01-16 2014-01-16 Verfahren zum Betrieb eines zur wenigstens teilweise automatischen Fahrzeugführung ausgebildeten Fahrerassistenzsystems und Kraftfahrzeug

Publications (2)

Publication Number Publication Date
EP2897117A1 EP2897117A1 (fr) 2015-07-22
EP2897117B1 true EP2897117B1 (fr) 2016-08-24

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EP (1) EP2897117B1 (fr)
DE (1) DE102014000432A1 (fr)
ES (1) ES2593204T3 (fr)

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DE102016225606B4 (de) * 2016-12-20 2022-12-29 Audi Ag Verfahren zum Betreiben einer Fahrerassistenzeinrichtung eines Kraftfahrzeugs
US10365652B2 (en) * 2017-11-22 2019-07-30 GM Global Technology Operations LLC Feasible lane routing
DE102019214429A1 (de) * 2019-09-23 2021-03-25 Robert Bosch Gmbh Verfahren zum Fernsteuern eines Kraftfahrzeugs
DE102020200951A1 (de) 2020-01-27 2021-07-29 Robert Bosch Gesellschaft mit beschränkter Haftung Fahrerassistenzsystem und Verfahren zum Ansteuern eines Fahrzeugs, insbesondere Nutzfahrzeugs
DE102022132982A1 (de) 2022-12-12 2024-06-13 Valeo Schalter Und Sensoren Gmbh Fahrerassistenz in einem Kraftfahrzeug auf einer mehrspurigen Fahrbahn bei Überholverbot
DE102023109871A1 (de) 2023-04-19 2024-10-24 Valeo Schalter Und Sensoren Gmbh Verfahren zum Führen eines Fahrzeugs auf einer Fahrbahn mit einem elektronischen Baustellendurchfahrungs-Assistenzsystem des Fahrzeugs sowie Baustellendurchfahrungs-Assistenzsystem

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DE102014000432A1 (de) 2015-07-16
EP2897117A1 (fr) 2015-07-22
ES2593204T3 (es) 2016-12-07

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