EP3580737B1 - Procédé de coordination d'un trafic de plusieurs véhicules dans une zone d'infrastructure prédéterminée ainsi que dispositif serveur, véhicule automobile et système - Google Patents

Procédé de coordination d'un trafic de plusieurs véhicules dans une zone d'infrastructure prédéterminée ainsi que dispositif serveur, véhicule automobile et système Download PDF

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Publication number
EP3580737B1
EP3580737B1 EP18704901.0A EP18704901A EP3580737B1 EP 3580737 B1 EP3580737 B1 EP 3580737B1 EP 18704901 A EP18704901 A EP 18704901A EP 3580737 B1 EP3580737 B1 EP 3580737B1
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EP
European Patent Office
Prior art keywords
motor vehicle
server device
motor vehicles
vehicle
driving
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Application number
EP18704901.0A
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German (de)
English (en)
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EP3580737A1 (fr
Inventor
Harald Altinger
Florian Schuller
Christian FEIST
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Audi AG
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Audi AG
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Publication of EP3580737A1 publication Critical patent/EP3580737A1/fr
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/426—Parking guides
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station

Definitions

  • the invention relates to a method for coordinating traffic of several motor vehicles within a predetermined infrastructure area, for example a parking garage.
  • the method can be carried out by a central server device.
  • the invention also includes the server device, a motor vehicle that can be coordinated with another motor vehicle by the server device, and a system comprising the server device and at least one motor vehicle.
  • AVP Automatic Valet Parking
  • a server device in the parking garage informs the autopilot of the motor vehicle about such problematic areas.
  • problematic areas that arise dynamically, namely through the traffic of several fully automated motor vehicles and / or through pedestrians or cyclists moving in the parking garage.
  • a server device can also take over the remote control of a vehicle in order to guide it or to give instructions to its autopilot.
  • Such a remote control of a fully automatically driven motor vehicle results in the problem that if the motor vehicle is damaged, the question of guilt is difficult to clarify.
  • a server device statistically records typical path courses of motor vehicles and then provides motor vehicles with a statistical description of these typical path courses so that the motor vehicles can adapt to possible vehicle movements of other motor vehicles.
  • Such a statistical description has the disadvantage that it only describes a current driving situation statistically.
  • a method for operating a central server which sends a control card to motor vehicles in which the agreed right of way rules valid for the motor vehicles are contained so that the motor vehicles can pass each other without collision.
  • individual vehicles can first send the traffic situation recorded by the vehicle's own sensor system as their own control card to a central server device, which then determines whether one of the vehicles has incorrectly recorded the traffic situation and therefore the control cards need to be coordinated.
  • a method for coordinating the operation of fully automated motor vehicles is known, the motor vehicles sending their planned driving trajectory to a central device which checks the trajectories for collisions and, if a collision is detected, sends an adapted trajectory to at least one motor vehicle, which then sends them adapted trajectory to resolve the conflict.
  • the execution of the trajectories can be further monitored so that deviations from the trajectories that lead to a solution to the conflict can be corrected.
  • a method for coordinating the traffic of motor vehicles in a parking area is known, the parking area being assigned a central computing device and sensors that provide sensor data to the central computing device and monitoring the parking area, and a map data set of the parking area is stored on the central computing device.
  • the invention is based on the object of coordinating the traffic of motor vehicles within a predetermined infrastructure area. The object is achieved by the subjects of the independent claims. Advantageous developments of the invention are described by the dependent claims, the following description and the figures.
  • the invention provides a method for coordinating traffic of several motor vehicles within a predetermined infrastructure area.
  • the method is carried out by a central server device.
  • the infrastructure area can be, for example, a multi-storey car park or a parking lot area with several parking spaces.
  • the server device repeatedly receives a respective current driving status and a respective current driving intention of the motor vehicle from the motor vehicles.
  • the driving status can include, for example, the current position of the motor vehicle in the infrastructure area and / or a current driving speed of the motor vehicle (amount and / or direction).
  • the driving intention can for example be the specification of a planned driving trajectory or driving route and / or a planned driving destination.
  • the driving intention can be calculated, for example, by an autopilot of the motor vehicle or (in the case of a driver-guided motor vehicle) by a navigation device of the motor vehicle or a statistical route analysis.
  • the server device determines a current coordination result for each of the motor vehicles, which indicates where the motor vehicle, based on its current driving status, is prohibited from driving its driving intention or generally driving because, according to a predetermined traffic regulation, another of the motor vehicles based on its respective driving status and / or whose respective driving intention deserves right of way or the server device would first like to let one of the other motor vehicles pass.
  • the traffic regulation can be specified by law or house rules and / or by traffic planning of the server device. Depending on the respective coordination result, a respective current, permitted behavior is determined for each of the motor vehicles.
  • the permitted behavior describes where the respective motor vehicle may go anywhere within the infrastructure area. This is not a matter of specifying a driving trajectory, but of specifying all those driving surfaces or driving alternatives that the motor vehicle may use or drive along in accordance with the traffic regulation.
  • the motor vehicle thus has the choice of which driving trajectory it travels.
  • the motor vehicles each determined behavior currently permitted in the infrastructure area for the respective motor vehicle is signaled as a coordination message.
  • This coordination message is used to ensure that each of the motor vehicles independently adapts its driving intention to the permitted behavior. In other words, by means of the coordination message, each motor vehicle is only informed which driving options or free spaces or drivable areas are currently available to it in the infrastructure area. How the motor vehicle reacts to this can be determined by adapting or maintaining its driving intention.
  • the invention has the advantage that moving motor vehicles, that is to say the traffic of several motor vehicles, is coordinated in the infrastructure area by a central server device without the responsibility for driving the individual motor vehicles being transferred to the server device.
  • the server device only signals which planning freedom is available to the motor vehicles for the independent determination of driving intentions, for example driving routes or driving trajectories, the behavior patterns permitted in each case for the motor vehicles being coordinated by the server device.
  • Each vehicle can thus plan freely within the behavior allowed for it, without there being a risk of collision with one of the other motor vehicles.
  • the server device of at least one of the motor vehicles detects its current driving status, ie for example its position and / or driving speed, by means of a monitoring sensor system of the infrastructure area, additionally by the server device itself.
  • the monitoring sensor system is therefore external to the vehicle, i.e. not part of the motor vehicle.
  • the server device uses sensor data from the monitoring sensor system to check whether a predetermined security problem is present, and if a security problem is recognized it triggers a predetermined protective measure.
  • the monitoring sensor system can, for example, be a camera and / or a radar and / or a light barrier and / or a lidar and / or an ultrasonic sensor.
  • the server device recognizes as a safety problem that the current driving status received from the motor vehicle and the self-recorded driving status of the motor vehicle have a deviation that is greater than a predetermined minimum value. In other words, the server device detects a defect and / or a measurement fault in the vehicle sensor system of the motor vehicle.
  • a tolerance can also be provided in order to avoid a false alarm or an incorrect triggering of the protective measure.
  • the invention also includes advantageous developments, the features of which result in additional advantages.
  • the coordination message is preferably used to signal at least one area that is currently freely accessible by the motor vehicle or an area that is freely accessible by the motor vehicle.
  • the motor vehicle can then independently plan a driving trajectory within this freely drivable area.
  • a freely drivable area is therefore a sub-area or segment or part of the infrastructure area within which several possible driving trajectories can be defined or planned. This has the advantage that the motor vehicle can independently carry out the trajectory planning.
  • the coordination message can additionally or alternatively also signal at least one area or area that is blocked for the motor vehicle. The motor vehicle is then informed that during the trajectory planning it must place or define its planned travel trajectory around or past this blocked area.
  • the server device and at least one of the motor vehicles each use a shared digital map of the surroundings, a copy of the digital map of the surroundings being provided in the server device and in the motor vehicle, or the server device and the motor vehicle accessing a common representation of the map of the surroundings.
  • Said coordination message to the motor vehicle then contains at least one reference to the map of the surroundings to describe the permitted behavior. This allows the coordination message to be provided with a small volume of data. This is because the description of the environment is already available in the environment map, so that the coordination message only has to provide information, for example, a freely drivable area and / or an indication of a blocked area with reference to the environment map, by means of the reference. For example, a number or a coordinate or an identification number of a respective area can be specified.
  • the server device sets a respective passability status for each area segment.
  • the navigability status is set depending on the current coordination result.
  • the coordination result indicates in the manner described where there is a prohibition for a motor vehicle because another motor vehicle, for example, has right of way and is planning to drive along there.
  • One of the two values "Driving allowed” and “Driving prohibited” is set as the drivability status for each area segment.
  • the server device uses the coordination message to signal a currently set drivability status of at least one of the surface segments to the respective motor vehicle.
  • the drivability status can be specified for all those surface segments over which the motor vehicle plans to drive in accordance with its driving intention.
  • the server device predicts a respective movement of at least one of the motor vehicles on the basis of its current driving status by means of a movement model.
  • the movement model can also take into account the driving intention signaled by the motor vehicle.
  • the movement model can also take into account a mass inertia of the motor vehicle, for example, in order to determine, for example, a braking distance or a required minimum curve radius determine. It is then recognized as a security problem that due to the predicted movement, a collision with a traffic object is imminent, for example with another of the motor vehicles or with a stationary object such as a pillar or a street sign or a guardrail, or with a pedestrian or a cyclist.
  • the protective measure can then be triggered here.
  • the protective measure includes in particular that an emergency stop command is sent to at least one of the motor vehicles.
  • the motor vehicle then stops in response to the emergency stop command.
  • an acute request for an emergency stop is sent to every motor vehicle in the region and / or motor vehicle approaching the region.
  • Such an emergency stop command can also be provided for other applications.
  • the server device can send out the emergency stop command if, for example, a fire alarm is triggered in the infrastructure area or an ambulance is to drive into the infrastructure area.
  • the respective driving status and the respective driving intention can be transmitted from the motor vehicles, for example by means of a radio link, which can be provided on the basis of WLAN (Wireless Local Area Network) and / or a cellular connection, for example LTE (Long Term Evolution).
  • the server device must now be able to assign a driving status received via such a radio link to a motor vehicle, which is detected in sensor data of the monitoring sensor system. This can be done, for example, as follows.
  • a respective vehicle identification data of the motor vehicle is received from at least one of the motor vehicles at least once together with the driving status and / or the driving intention.
  • Vehicle identification information can for example comprise a character string and / or a number.
  • the server device can send a request signal address it to a received vehicle identification information and transmit it to the motor vehicles in order to carry out a predetermined identification action. It therefore requests that motor vehicle which has or has the vehicle identification information to carry out the predetermined identification action.
  • the detection action can consist, for example, in the motor vehicle driving a predetermined maneuver and / or activating an exterior lighting device according to a predetermined pattern, for example switching the daytime running lights on and / or off for a predetermined period of time.
  • the server device recognizes which motor vehicle detected therein carries out the recognition action. In other words, the sensor data are used to identify which motor vehicle is responding to the request signal.
  • the server device assigns the vehicle identification information to which the request signal was addressed to the motor vehicle which is carrying out the identification action. In this way, a driving status received via radio can be assigned to a motor vehicle detected in sensor data from the monitoring sensor system.
  • At least one other road user (for example a third-party vehicle that does not report its driving status to the server device and / or a pedestrian and / or a cyclist) is also taken into account by determining a respective expected trajectory of the at least one road user and this is then compared with the driving intention of the respective motor vehicle for which the coordination result is to be determined.
  • the monitoring sensor system can be used to determine the trajectory and then a road user identified therein can be classified, for example recognized as a third-party vehicle or pedestrian or cyclist, and the trajectory of the identified road user can then be predicted using a motion model for the identified object class.
  • a movement model for a pedestrian can, for example, simulate the kinematics or dynamics of a pedestrian and in this case be initialized with movement data that are determined using the sensor data of the monitoring sensor system. The same applies to a cyclist and a third-party vehicle.
  • the invention provides a server device for coordination a traffic of several motor vehicles provided.
  • the server device has a processor device which is set up to carry out an embodiment of the method according to the invention.
  • the processor device can have at least one microprocessor and / or at least one microcontroller.
  • the processor device can have a program code which is set up to carry out the embodiment of the method according to the invention when it is executed by the processor device.
  • the program code can be stored in a data memory of the processor device.
  • the server device can be provided, for example, as a computer or a computer network.
  • the server device can have a communication device which, for example, can have a WLAN router and / or a cellular radio module.
  • the invention also provides a motor vehicle that can be operated in the infrastructure area and can be coordinated by the server device.
  • the motor vehicle has an autopilot device for fully automatic guidance (longitudinal guidance and lateral guidance) or maneuvering of the motor vehicle.
  • a communication device is provided which is set up to send a current driving status and a driving intention planned by the autopilot device (for example a driving route or a driving trajectory) to the server device and at least one coordination message from the To receive server device.
  • a behavior currently permitted for the motor vehicle in the infrastructure area is signaled in the coordination message.
  • This permitted behavior does not specify a driving trajectory, but rather the entirety of the driving options or selection options available to the motor vehicle, that is to say a large number of possible driving trajectories.
  • the autopilot device can then independently plan a new driving intention on the basis of the permitted behavior signaled by the coordination message.
  • the permitted behavior can specify at least one area within which the motor vehicle can be freely guided by the autopilot device. For this area, the autopilot device then plans a driving trajectory for driving through or driving over the area if the original driving intention cannot be carried out, that is, it is excluded from the permitted behavior.
  • the motor vehicle according to the invention is preferably designed as a motor vehicle, in particular as a passenger vehicle or truck.
  • a development of the motor vehicle according to the invention provides that the autopilot device stops the motor vehicle if an emergency stop command is received from the server device.
  • FIG. Shows a schematic representation of an embodiment of the system according to the invention.
  • the described components of the embodiments each represent individual features of the invention that are to be considered independently of one another, which also develop the invention independently of one another and are therefore to be regarded as part of the invention individually or in a combination other than the one shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.
  • the figure shows a system 10 with a server device 11 and motor vehicles 12, 13.
  • the motor vehicles 12, 13 drive in an infrastructure area 14, which can be, for example, a parking garage or a parking lot.
  • the server device 11 can coordinate the traffic or the driving style of the motor vehicles 12, 13.
  • the server device 11 can be formed, for example, by a computer or a network of computers that can be installed in the infrastructure area 14.
  • the server device 11 can have a communication device 15 and a processor device 16.
  • the communication device 15 can be set up to operate a respective radio link 17, 18 to a respective corresponding communication device 19 of the motor vehicles 12, 13.
  • the communication device 15 can include, for example, a WLAN router and / or a cellular module.
  • the communication devices 19 of the motor vehicles 12, 13 can accordingly also include a WLAN router and / or a cellular module.
  • the processor device 16 can provide a traffic coordination 20, which can be formed for the processor device 16, for example, on the basis of a program code.
  • the motor vehicles 12, 13 can each be guided, for example, in a fully automated manner by a respective autopilot or an autopilot device 21 in the infrastructure area 14.
  • Each autopilot device 21 can transmit or send out a current driving status 22 and a driving intention 23 to the server device 11 via the respective communication connection 17, 18.
  • the coordination device 20 can determine, on the basis of the respective driving status 22 of each motor vehicle 12, 13 and the driving intention 23 of each motor vehicle 12, 13, how the motor vehicles 12, 13 move in the infrastructure area 14.
  • the driving intention 23 can, for example, represent a respective driving trajectory 24, 25 planned by the autopilot device 21 of the respective motor vehicle 12, 13. In the example illustrated, it is shown that the travel trajectories 24, 25 of the motor vehicle 12 on the one hand and the motor vehicles 13 on the other hand intersect.
  • a traffic regulation 26 can apply, which can for example specify which of the motor vehicles 12, 13 has right of way in the case described.
  • the coordination for the motor vehicle 12 is described below.
  • the coordination device 20 can signal a coordination message 26 for the motor vehicle 12 on the basis of a coordination result determined on the basis of the traffic control 26 to the motor vehicle 12.
  • the infrastructure area 14 can be divided into surface segments 28, 28 ', of which only a few are provided with a reference number in the figure for the sake of clarity.
  • a surface segment 28, 28 ' can, for example, be a rectangular area or a rectangular area.
  • Those surface segments 28 ′ along which or on which the motor vehicles 13 will drive and which are therefore not allowed to be driven on by the motor vehicle 12 can, according to the coordination message 27 for the motor vehicle 12, have a drivability status "Driving prohibited". In the figure, this is indicated by hatching the respective surface segment 28 ' illustrated.
  • Those surface segments 28 which the motor vehicle 12 is allowed to drive on can have a passability status “Drive on allowed” for the motor vehicle 12.
  • the sum of the surface segments 28 marked or set with the drivability status "Driving allowed" represents the permitted behavior for the motor vehicle 12.
  • the content of the coordination message 27 for the motor vehicle 12 is shown.
  • the coordination messages for the other motor vehicles 13 look different, of course these signal the right of way for the motor vehicles 13 with respect to the motor vehicle 12.
  • the autopilot device 21 can reschedule the planned route 24 and plan and drive an alternative, modified route 24 'on freely drivable surface segments 28.
  • the server device 14 can determine sensor data 30 by means of a monitoring sensor system 29 independently of a respective vehicle-specific sensor system of the motor vehicles 12, 13, by means of which a respective current driving status of the motor vehicles 12, 13 can be determined.
  • the server device 11 can also, for example, send an emergency stop command 31 to the motor vehicles 12, 13, by means of which the autopilot devices 21 of the motor vehicles 12, 13 are controlled to stop. In contrast to the free planning of an alternative driving route 24 ′ by the autopilot devices 21 themselves, this is an external control of the autopilot devices 21 by the server device 11.
  • an infrastructure system of an infrastructure area is thus coupled with a monitoring solution.
  • a separation of coordinative and safety-critical commands is mapped on different levels because the server device 11 is only coordinated and the actual control of the motor vehicles 12, 13 is still left to their autopilot device.
  • a preferred technical implementation provides the following.
  • a vehicle Before fully automatic driving is activated, a vehicle connects to an existing central system via a communication interface of the communication device 15 (for example radio technology such as pWLAN or LTE).
  • a communication interface of the communication device 15 for example radio technology such as pWLAN or LTE.
  • This records all moving objects within its local limits (detection area) via a connected monitoring sensor system (e.g. cameras) and can track or track their movements and use classification and movement models to forecast them into the future.
  • a protocol which in turn can refer to both known a priori information (eg from a digital map).
  • the vehicle gives its intention to the central system in the form of the planned route.
  • status data is repeatedly sent to the central system, including the position and speed of the vehicle.
  • the central system contains a logic 31 which compares the information from the monitoring sensors with the intention and status reports of the vehicles and generates behavior specifications and commands for an emergency stop.
  • the position of foreign objects in relation to a certain automated vehicle, the state of infrastructure elements (e.g. barriers) and the intention of other automated vehicles are used to calculate areas in which the vehicle in question can move safely or which should be avoided.
  • the geometric information and the drivability status of these areas (area segments) are communicated to the vehicle either directly or as a reference to elements of a common knowledge base (e.g. a priori map) via the communication link 17.
  • the vehicle function contains algorithms that use the information from the central system to implement correct vehicle behavior (e.g. within the limits declared as safe).
  • a dedicated emergency stop command is sent to one or more vehicles for communication, which has a higher priority in dispatch and processing can be treated and implemented directly in the vehicle without the need for further interpretation.
  • the self-status reports of vehicles in the central system are continuously compared with the object recognition from the monitoring sensors. Since an automated vehicle is also recognized there as a moving object, a correct assignment can be made through tracking and suitable initialization when entering the infrastructure of communication participants and their detection in the monitoring system are ensured (for example by actions requested by means of request signal 32, which can be traced by the monitoring sensors). If the state (e.g. position or speed) of an automated vehicle detected by the monitoring system falls outside of a defined tolerance to its own status messages, this can be detected and the central system has the option of special treatment (e.g. emergency stop of the corresponding vehicle and possibly other vehicles in its vicinity) to avert potential damage caused by faulty automated vehicles to other road users.
  • special treatment e.g. emergency stop of the corresponding vehicle and possibly other vehicles in its vicinity

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Traffic Control Systems (AREA)

Claims (6)

  1. Procédé de coordination d'un trafic de plusieurs véhicules automobiles (12, 13) dans une zone d'infrastructure prédéterminée (14) par le biais d'un dispositif serveur central (11), dans lequel le dispositif serveur central (11) :
    - reçoit respectivement des véhicules automobiles (12, 13), de manière répétée, un état de conduite actuel respectif (22) et une intention de conduite actuelle respective (23) du véhicule automobile (12, 13) et
    - pour chacun des véhicules automobiles (12, 13), détermine respectivement un résultat de coordination actuel qui indique où est interdite au véhicule automobile (12, 13), à partir de son état de conduite actuel (22), son intention de conduite (23) selon une régulation de trafic prédéterminée (26) en raison d'un état de conduite respectif (22) et/ou d'une intention de conduite respective (23) d'au moins un autre des véhicules automobiles (12, 13) et détermine, en fonction du résultat de coordination pour chacun des véhicules automobiles (12, 13), un comportement autorisé actuel respectif, et
    - signale aux véhicules automobiles (12, 13) le comportement actuellement autorisé respectivement déterminé dans la zone d'infrastructure (14) pour le véhicule automobile respectif (12, 13) sous la forme d'un message de coordination (27) pour adapter automatiquement son intention de conduite (23), dans lequel
    - le dispositif serveur (11) d'au moins un des véhicules automobiles (12, 13) enregistre en outre lui-même l'état de conduite actuel (22) de celui-ci au moyen d'un système de capteurs de surveillance (29) de la zone d'infrastructure (14) extérieur au véhicule ;
    caractérisé en ce que
    - le dispositif serveur (11) utilise respectivement une carte d'environnement numérique commune avec au moins un des véhicules automobiles (12, 13), une copie de la carte d'environnement numérique étant respectivement prévue dans le dispositif serveur (11) et dans le véhicule automobile (12, 13) ou le dispositif serveur (11) et le véhicule automobile (12, 13) accédant à une représentation commune de la carte d'environnement, et
    - le message de coordination (27) contient au moins une référence à la carte d'environnement pour décrire le comportement autorisé,
    dans lequel le comportement autorisé est respectivement signalé en signalant au véhicule automobile (12, 13), au moyen du message de coordination (27), au moins une aire librement praticable (28) actuellement par le véhicule automobile (12, 13) et/ou au moins une aire bloquée (28') pour le véhicule automobile et
    pour déterminer le comportement actuellement autorisé, au moins une partie de la zone d'infrastructure (14) est divisée en segments de surface (28, 28') présentant chacun une grandeur de l'ordre de 0,5 m2 à 2 m2,
    et, pour chaque segment de surface (28, 28'), le dispositif serveur (11) règle un état de praticabilité respectif en fonction du résultat de coordination actuel sur l'une des deux valeurs « Passage autorisé » et « Passage interdit » et signale, au moyen du message de coordination (27), un état de praticabilité respectif actuellement réglé d'au moins un des segments de surface (28, 28') au véhicule automobile respectif (12, 13) de sorte que, sur la base du message de coordination (27), un appareil de pilotage automatique (21) du véhicule automobile respectif (12, 13) reprogramme automatiquement un itinéraire prévu (24) et planifie, sur des segments de surface librement praticables (28), un autre itinéraire modifié (24') et emprunte celui-ci,
    et en ce que
    le dispositif serveur (11) vérifie la présence d'un problème de sécurité prédéterminé et, en cas de problème de sécurité reconnu, déclenche une mesure de protection prédéterminée, dans lequel le dispositif serveur (11) reconnaît en tant que problème de sécurité le fait que l'état de conduite actuel (22) reçu par le véhicule automobile (12, 13) et l'état de conduite du véhicule automobile (12, 13) enregistré lui-même présentent un écart qui est supérieur à une valeur minimale prédéterminée, moyennant quoi un dysfonctionnement dans le système de capteurs du véhicule automobile (12, 13) est compensé ou celui-ci est contré au moyen de la mesure de protection.
  2. Procédé selon la revendication 1, dans lequel le dispositif serveur (11) prédit un déplacement respectif d'au moins un des véhicules automobiles (12, 13) sur la base de l'état de conduite actuel (22) respectif de celui-ci au moyen d'un modèle de déplacement et reconnaît en tant que problème de sécurité une collision imminente avec un objet de circulation à cause du déplacement prédit.
  3. Procédé selon l'une quelconque des revendications précédentes, dans lequel la mesure de protection comprend le fait d'envoyer un ordre d'arrêt d'urgence (31) à au moins un des véhicules automobiles (12, 13).
  4. Procédé selon l'une quelconque des revendications précédentes, dans lequel le dispositif serveur (11)
    - reçoit respectivement d'au moins un des véhicules automobiles (12, 13) au moins une fois, conjointement avec l'état de conduite (22) et/ou l'intention de conduite (23), une information d'identification de véhicule respective du véhicule automobile (12, 13) et
    - détecte au moins un des véhicules automobiles (12, 13) dans des données de capteur (30) du système de capteurs de surveillance (29) et
    - adresse un signal d'invitation (32) pour effectuer une action de reconnaissance prédéterminée à une information d'identification de véhicule réceptrice et l'envoie aux véhicules automobiles (12, 13) et
    - reconnaît dans les données de capteur (30) quel véhicule automobile (12, 13) détecté dans celles-ci effectue l'action de reconnaissance, et attribue l'information d'identification de véhicule au véhicule automobile (12, 13) qui effectue l'action de reconnaissance.
  5. Procédé selon l'une quelconque des revendications précédentes, dans lequel, lors de la détermination du résultat de coordination, au moins un autre usager de la route est pris en compte, une trajectoire de déplacement probable respective de l'au moins un usager de la route étant déterminée et comparée avec l'intention de conduite (23) du véhicule automobile respectif (12, 13).
  6. Dispositif serveur (11) permettant la coordination d'un trafic de plusieurs véhicules automobiles (12, 13) dans une zone d'infrastructure (14) prédéterminée, dans lequel le dispositif serveur (11) présente un appareil de processeur (16) conçu pour mettre en œuvre un procédé selon l'une quelconque des revendications précédentes.
EP18704901.0A 2017-02-09 2018-01-30 Procédé de coordination d'un trafic de plusieurs véhicules dans une zone d'infrastructure prédéterminée ainsi que dispositif serveur, véhicule automobile et système Active EP3580737B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017202065.2A DE102017202065A1 (de) 2017-02-09 2017-02-09 Verfahren zum Koordinieren eines Verkehrs mehrerer Kraftfahrzeuge innerhalb eines vorbestimmten Infrastrukturbereichs sowie Servervorrichtung, Kraftfahrzeug und System
PCT/EP2018/052270 WO2018145951A1 (fr) 2017-02-09 2018-01-30 Procédé de coordination d'un trafic de plusieurs véhicules dans une zone d'infrastructure prédéterminée ainsi que dispositif serveur, véhicule automobile et système

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DE102019208744A1 (de) * 2019-06-17 2020-12-17 Audi Ag Zentrales Steuern einer Mehrzahl von Fahrzeugen
DE102019208899A1 (de) * 2019-06-19 2020-12-24 Robert Bosch Gmbh Verfahren zum zumindest teilautomatisierten Führen eines Kraftfahrzeugs
DE102019119524B3 (de) * 2019-07-18 2020-12-10 Bayerische Motoren Werke Aktiengesellschaft System umfassend eine Steuereinrichtung und Verfahren zur Teleoperation eines zumindest teilweise automatisiert fahrenden Fahrzeugs
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DE102020133674A1 (de) * 2020-12-16 2022-06-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren und System zum Koordinieren von fahrerlosen Transportfahrzeugen
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WO2018145951A1 (fr) 2018-08-16
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