WO2018114665A1

WO2018114665A1 - Method for operating at least one motor vehicle, and traffic jam assistance system

Info

Publication number: WO2018114665A1
Application number: PCT/EP2017/083016
Authority: WO
Inventors: Hauke Wendt; Sergey Chirkov
Original assignee: Robert Bosch Gmbh
Priority date: 2016-12-21
Filing date: 2017-12-15
Publication date: 2018-06-28
Also published as: DE102016225855A1

Abstract

The invention relates to a method for operating at least one motor vehicle (F1-F4). A driving speed is specified for the motor vehicle (F1-F4) depending on at least one other vehicle (F2-F4) which can be found in the route of the motor vehicle. A driving behavior of multiple other vehicles (F2-F3) in the surroundings of the motor vehicle (F1) is detected in order to detect a traffic jam, and the driving speed of the motor vehicle (F1) is limited to a maximum speed in the event of a detected traffic jam depending on the detected driving behavior of the other vehicles (F2-F4).

Description

description

title

Method for operating at least one motor vehicle, congestion assistance system

The invention relates to a method for operating at least one

Motor vehicle, wherein the motor vehicle in dependence on at least one in the travel path of the motor vehicle other vehicle

Driving speed is specified.

Furthermore, the invention relates to a traffic jam assistance system for motor vehicles, with a plurality of control devices, which are assigned to the motor vehicles assigned and adapted to specify the respective motor vehicle a driving speed in response to a present in the respective track other vehicle.

State of the art

Methods and assistance systems of the type mentioned are known from the prior art. By means of an environmental sensor system, it is possible, for example, to detect a foreign vehicle in the path of the own (ego) motor vehicle, to determine the distance to the other vehicle and, for example, to detect a relative speed. By so-called follow-up assistant, it is possible, depending on the detected actual distance and the driving speed of the own and / or the foreign vehicle the

Motor vehicle to specify a driving speed, for example, a

Minimum distance to the vehicle ahead while driving. In this case, the driving speed of the motor vehicle is set automatically, so that the driver does not have to actively initiate a braking process or acceleration process itself. However, if the motor vehicle gets stuck in a traffic jam, such a follow-up assistant causes the motor vehicle to accelerate and brake again with all other motor vehicles until the jam has finally dissolved. This is because the driving speed of the motor vehicle is specified only as a function of the directly preceding vehicle. The overall situation and the other vehicles in the same traffic jam are not taken into account.

Disclosure of the invention

The inventive method with the features of claim 1 has the advantage that a congestion is detected in a simple manner, and that the congestion is resolved in an advantageous manner. In particular, this results in the advantage that when the method is performed by more than one motor vehicle, but for example, by the other motor vehicles or foreign vehicles, the traffic jam dissolves optimally without further unnecessary delays. According to the invention this is achieved in that a driving behavior of several foreign vehicles in the environment of the motor vehicle is detected, so not only the driving behavior of the vehicle located directly in the track to detect a traffic jam, and that the

Travel speed of the (ego) motor vehicle is limited to a maximum speed at a detected congestion depending on the detected driving behavior of the foreign vehicles. The invention thus provides that not only the driving behavior of the directly preceding vehicle is examined, but also the behavior of other nearby vehicles, in particular the vehicles, which are in the direction of travel of the motor vehicle on the same or another, especially adjacent lane , In particular, not only the driving behavior of the directly preceding vehicle but also, for example, the driving behavior of the motor vehicle is taken into account, which precedes the preceding vehicle. As a result, an overall picture of the traffic situation is determined, from which it can be seen whether the motor vehicle is in a traffic jam. This is determined, for example, when it is detected that the driving speed of all

Motor vehicles in the vicinity of the motor vehicle within a predetermined period of time is below a predetermined limit. Preferably also traffic management conditions, such as traffic lights, Road signs, traffic news or the like taken into account to clearly classify the situation as a traffic jam.

Furthermore, it is preferably provided that an actual driving speed of the respective other vehicle and / or an actual distance of the respective other vehicle to the own motor vehicle or to another adjacent other vehicle are detected as driving behavior. From the actual speed and the actual distance, the traffic situation can be recognized particularly accurately and the maximum speed can be set to an advantageous value. By limiting the maximum speed of the (ego) vehicle as a function of the driving behavior of the foreign vehicles and the ego motor vehicle or the detected actual speeds and / or actual distances of all vehicles involved in congestion to one another, as described above, it is achieved that a optimal congestion resolution is made possible, in which a renewed braking and excessive acceleration is avoided. This leads to a reduced wear and an improved fuel consumption. The maximum speed is therefore not only in

Dependence on the driving behavior of the directly preceding one

However, depending on all other vehicles involved in the congestion and detectable foreign vehicles, including those that are in / on

Congesting / Stauendbereich are located so that a coordinated behavior of the motor vehicle is guaranteed to the current congestion situation, which allows optimal congestion resolution.

According to a preferred embodiment of the invention it is provided that the maximum speed is limited so that during a

Resolution phase of the congestion no braking operation of the motor vehicle is necessary. The traffic situation is thus examined as a function of the above-mentioned data such that when starting the motor vehicle, the

Maximum speed is set so that a deceleration of the

Motor vehicle before the congestion has resolved, is avoided. For this purpose, the acceleration behavior of the other foreign vehicles is estimated and taken into account, in particular to detect a jam end and a traffic jam resolution area. Assuming that the other vehicles participate optimally in the congestion resolution, for example, perform the same procedure, the driving speed of the (ego) motor vehicle to a Limited maximum speed that meets the above requirement.

According to a preferred embodiment of the invention, it is provided that a desired driving speed desired by a driver of the motor vehicle is limited to the maximum speed. This will be the

Travel speed of the motor vehicle limited to the maximum speed, even if the driver requires a higher vehicle speed or a torque that would lead to a higher driving speed. This automatically achieves that optimum

Jam resolution occurs. Alternatively, the maximum speed is merely displayed to the driver, for example visually or acoustically, so that the driver can follow the recommendation of the maximum speed himself, but this need not.

According to a further embodiment of the invention, it is preferably provided that the driving speed is set to the maximum speed. In this case, it is ensured that the motor vehicle is operated at an optimum speed, which ensures that it is neither too fast nor too slow to optimally dissolve the congestion. Such a procedure is particularly in a fully or partially autonomous driving operation of

Motor vehicle feasible without much extra effort.

Particularly preferably, it is provided that the actual driving speed and the distance of the vehicles from one another or the driving behavior of

Other vehicles are detected by a vehicle-to-vehicle communication and / or a central data system. For example, traffic information available online that is based on the driving behavior of the

Vehicles arise, are evaluated to recognize the congestion and to determine the maximum speed. Alternatively or additionally, an exchange of information between the vehicles located in the traffic jam is carried out by the direct vehicle-to-vehicle communication, so that each motor vehicle for itself or each dedicated control unit of a motor vehicle assesses for itself the current traffic situation, detects the traffic jam and possibly the maximum speed limited. For detecting a congestion resolution area within which the

Maximum speed to be limited, in particular the actual speeds of other vehicles with a predetermined first

Limit value compared. Exceeds the respective actual speed of the first limit, it can be recognized that the vehicles are no longer in the storage area, but already in the congestion resolution area in which already higher speeds can be achieved.

In particular, a detected congestion is divided into three areas, namely, the real jam area, the jam disintegration area, and the jam end. At the

Stowing a limitation of the maximum speed is no longer necessary because the traffic jam has resolved. In the congestion resolution area, limiting the maximum speed is of great advantage, as this results in a congestion of the traffic situation and thus a concomitant new one

Damping be avoided. In the actual storage area, in which in particular occur phases in which a short-term driving occurs and only short distances can be driven (stop-and-go operation), a limitation of the maximum speed is advantageous, but not absolutely necessary because at one Such a situation is recognized anyway that a resolution of the congestion currently not possible and thus an optimal driving speed (yet) could not lead to congestion resolution. The algorithm used to perform the method recognizes these phases themselves.

To detect the end of the jam, the actual speeds of the

Motor vehicles compared in particular within a predetermined period of time with a second limit. The second limit is included

expediently greater or higher than the first limit value. For example, via a determination of the detected actual driving speeds or a number of evaluations, in which the number of motor vehicles is counted, which exceed the second threshold, the determination of the tail end can be done in a simple manner. The predefinable time period preferably corresponds to a minimum observation length which is necessary so that the method does not respond to short-term purely locally achieved increased speeds, which however do not lead to an optimal congestion resolution. Preferably, the method is by a control device of the considered

Motor vehicle carried out so that it, as already described above, determines an optimal or limited maximum speed from the acquired data of the foreign vehicles located in the environment.

Alternatively, the method is preferably carried out centrally by a data processing or a data processing center, which detects the driving behavior of motor vehicles and the motor vehicles each the optimal

Driving speed or the limited maximum speed predetermines or at least notifies. In this case, the computational effort for the respective motor vehicle is reduced and determined by the central consideration of the traffic situation one for all motor vehicles, which are involved in the traffic situation, and in particular in the traffic jam, optimal solution for congestion resolution.

The congestion assistance system according to the invention with the features of claim 11 is characterized in that it is specially prepared for, when used as intended, the inventive method

perform. Expediently, the traffic jam assistance system comprises a plurality of control devices assigned to the motor vehicles, which carry out the method. In addition, the traffic jam assistance system requires communication means for vehicle-to-vehicle communication or for centralized data processing and / or database. Furthermore, the congestion assistance system preferably also includes the database or the data processing and corresponding communication means for transmitting the detected and determined information, as described above.

In the following, the invention will be explained in more detail with reference to an embodiment. The only one shows

FIG. 2 shows a sketch to explain an advantageous method for

Jam resolution.

The single figure shows a sketch for explaining an advantageous method for triggering a jam, which is formed by several motor vehicles. The figure shows plotted over a route s the vehicle speed v. The present considered total distance s _{g of} the congestion is through Defines motor vehicles that move on the same route and can be seen because of their actual distance from each other and their actual driving speed that they are in a traffic jam. For this purpose is

For example, the respective actual speeds compared with a predetermined first limit speed vi.

The motor vehicles are all part of a traffic jam assistance system that

Control units of motor vehicles and optionally from a central

Data processing and / or a central database. The

Motor vehicles Fl, F2, F3 and F4, which are shown here by way of example, are preferably linked or networked with one another by vehicle-to-vehicle communication. Through this

Networking it is possible for the motor vehicles, information about the preceding traffic, so over one or more preceding

To get other vehicles (or standing). Alternatively, this information can also be acquired via the central database, which is connected, for example, to each of the motor vehicles F1 to F4, and position and

Determined driving speed of the motor vehicle and, for example, compared with each other to determine the distances of the vehicles to each other. The central data processing can then send the ascertained information to all vehicles F1 to F4 which cooperate with the congestion assistance system. This communication finds, for example, over conventional

Communication means, such as radio, mobile or the like instead. The database can be, for example, an already existing database that determines the traffic information from the current data of vehicles, such as, for example, for the detection of congestion or

Traffic situations already be used.

The advantageous method, which is performed by the traffic jam assistance system, evaluates the determined traffic information, ie the driving behavior of the

Motor vehicles Fl to F4, and calculates which maximum speed the motor vehicles Fl to F4 are allowed to optimally dissolve the detected congestion, so that no further braking operation is necessary.

It is provided that either a cooperative approach is performed, in which the control of the congestion resolution of each motor vehicle is adopted individually, or a global approach, in which a central instance, for example, the said data processing, the

Jam resolution is centrally coordinated for the vehicles located in traffic jams Fl to F4.

First, depending on the detected information or the driving behavior of the vehicles Fl to F4, the total distance s _g in a

Dusting s _s as well as in a congestion resolution SA divided. For the classification of the areas, in particular the driving speed of the motor vehicles is taken into account. For this the driving speed of the

Motor vehicles Fl to F4 compared with the predetermined first limit speed vi, which is selected such that it can be assumed that vehicles that drive slower than the stowage speed are in a traffic jam. In particular, the travel speed of the respective motor vehicle F1 to F4 is determined and averaged within a predetermined period, so that short-term accelerations in stop-and-go operation are compensated.

If the detected travel speed is above the first limit speed and below a second limit speed, which is higher than the first

Limit speed, it is recognized that the motor vehicle is located in the congestion resolution area in which is transferred from the stop-and-go operation in the congestion resolution operation. In the figure, the four vehicles are exemplified for this purpose, wherein the

Vehicle Fl is still standing, and the vehicles F2, F3 and F4 are already in motion, at different speeds and at different positions or at different distances from each other. Because the vehicle Fl still stands, it lies to the border to

Jam resolution range.

In the cooperative approach, each individual vehicle F1 to F4 calculates, for example by means of a corresponding control unit, for itself

Jam resolution using networked data. As cheap

Input for the process is the location-dependent instantaneous

Travel speed of other vehicles (other vehicles) considered. For example, the information "at distance x, a vehicle at speed v (x)" is used.

The transition from the storage area s _s to the damming area SA is best determined from the own driving speed, as previously described. Optionally, the driving speeds of the

driving or stationary vehicles involved and

For example, only the congestion resolution area detected when within a predeterminable distance to the considered (ego) motor vehicle, for example, Fl, no further force or foreign vehicle F2 to

F4 is present at a speed below the first

Limit speed vi is moved.

The end of the jam, which lies at the end of the jam resolution, is calculated by obtaining a defined continuous distance, for example 3 to 5 km, of a speed above the second limit speed V2 that is characteristic of a jam end achieved among the preceding motor vehicles F2 to F4 , Thus, for this purpose, the detected driving speeds are compared with the second limit value V2 in order to detect the jam end. The determination can be made, for example, via a

Notification of the vehicle speeds or via a number of evaluation, in which the number of vehicles that exceed the second threshold is compared with a predeterminable minimum number to detect the jam end.

A certain minimum observation length is advantageous in order not to consider purely locally achieved increased speeds for the jam resolution, which, however, do not stand for a jam resolution. Averaged measured values are simplified in the figure by crosses. The start of the tail end SE is recognized when the detected and / or average vehicle speed is above V2.

Within the congestion resolution range is based on the location of the considered motor vehicle Fl and the vehicle speed of the

Stow endpoint and a Stauendgeschwindigkeit, for example, the second

Limit speed V2 corresponds, for the considered motor vehicle 1 as a destination specified. From the relative speed and the distance an aimed speed course is calculated, which limits the driving speed of the considered motor vehicle F1 to a maximum speed, which enables an optimal congestion resolution. Preferably, the

Given a linear course of velocity, then every motor vehicle performing this procedure is optimally cooperative with the others

Vehicles behaves to resolve the congestion, because if for all distances of the vehicles Fl to F4 to the end of the congestion SE consistent for all vehicles the same driving speeds are selected. The calculation of the congestion SE and the optimal speed curve or the maximum permissible vehicle speed is preferably carried out dynamically. In the figure, this is shown by way of example for the four motor vehicles Fl to F4. In the global approach, the information about the tail end SE and optionally also about the tail end speed or the second limit value V2 is not determined by the individual motor vehicles or control devices themselves, but is calculated centrally by the data processing and made available to the motor vehicles F1 to F4. The motor vehicles Fl to F4 or their control units then behave within the

Jam formation area as described above to ensure optimal jam resolution.

The specification of the maximum speed can be effected by the fact that the driver of the respective motor vehicle Fl to F4 the recommendation for the maximum driving speed or the driving speed via a display or a separate device is acoustically or visually displayed. Alternatively, the driving speed is automatically set or limited so that at least a partially autonomous operation of the respective motor vehicle takes place. Then the motor vehicle automatically follows the optimal maximum speed as

Target speed.

By the advantageous method it is achieved that a congestion is efficiently dissolved, resulting in a time saving, reduced emissions and reduced

Consumption leads. In addition, driving safety is also increased because of the

Driving behavior of motor vehicles is coordinated.

Claims

claims

1. A method for operating at least one motor vehicle (F1-F4), wherein the motor vehicle (F1-F4) depending on at least one located in the driving path of the motor vehicle other vehicle (F2-F4) is given a driving speed, characterized in that a driving behavior of several Foreign vehicles (F2-F3) in the vicinity of the motor vehicle (Fl) is detected to detect a congestion, and that the driving speed of the motor vehicle (Fl) in a detected congestion in dependence on the detected driving behavior of the foreign vehicles (F2-F4) a

Maximum speed is limited.

2. The method according to claim 1, characterized in that as

Driving behavior is an actual driving speed of the respective foreign vehicle (F2-F4) and / or an actual distance other vehicles (F2-F4) to the

Motor vehicle (Fl) and / or another foreign vehicle (F2-F4) are detected.

3. The method according to any one of the preceding claims, characterized

in that the maximum speed is predetermined in such a way that no braking operation of the motor vehicle (Fl) is necessary during a phase of dissolution of the congestion.

4. The method according to any one of the preceding claims, characterized

in that a desired driving speed desired by a driver of the motor vehicle (Fl) is limited to the maximum speed.

5. The method according to any one of the preceding claims, characterized

characterized in that the driving speed of the motor vehicle (Fl) is set to the maximum speed.

6. The method according to any one of the preceding claims, characterized

in that the actual driving speed and the distance of the motor vehicles (F1-F4) from each other are detected by a vehicle-to-vehicle communication and / or a central data system.

7. The method according to any one of the preceding claims, characterized

characterized in that for detecting a congestion resolution range, the actual speed of the motor vehicle with a predetermined first limit value (vi) is compared.

8. The method according to any one of the preceding claims, characterized

characterized in that for detecting a jam end the actual driving speed of the motor vehicles (F1-F4), in particular within a predetermined period of time, are compared with a second limit value (V2).

9. The method according to any one of the preceding claims, characterized

in that the method is carried out by a control unit of the respective motor vehicle (F1-F4).

10. The method according to any one of the preceding claims, characterized

characterized in that the method is carried out by a central data processing by - or with.

11th traffic jam assistance system for motor vehicles (F1-F4), with several

Control units associated with the motor vehicles (F1-F4) assigned and adapted to the respective motor vehicle (F1-F4) a

Specify driving speed as a function of a present in the respective track other vehicle, characterized in that the congestion assistance system is specially adapted to, at

intended to carry out the method according to one of claims 1 to 10.