WO2018145951A1 - 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
WO2018145951A1
WO2018145951A1 PCT/EP2018/052270 EP2018052270W WO2018145951A1 WO 2018145951 A1 WO2018145951 A1 WO 2018145951A1 EP 2018052270 W EP2018052270 W EP 2018052270W WO 2018145951 A1 WO2018145951 A1 WO 2018145951A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
motor vehicles
server device
driving
vehicle
Prior art date
Application number
PCT/EP2018/052270
Other languages
German (de)
English (en)
Inventor
Harald Altinger
Florian Schuller
Christian FEIST
Original Assignee
Audi Ag
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Audi Ag filed Critical Audi Ag
Priority to EP18704901.0A priority Critical patent/EP3580737B1/fr
Publication of WO2018145951A1 publication Critical patent/WO2018145951A1/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 a traffic of several motor vehicles within a predetermined infrastructure area, for example a parking garage.
  • the method may be performed by a central server device.
  • the invention also includes the server device, a motor vehicle that can be coordinated by the server device with another motor vehicle, as well as a system of the server device and at least one motor vehicle.
  • a parking garage can be provided that not the driver himself has to maneuver his vehicle to a parking lot of the parking garage, but he can get out in front of the parking garage or at the entrance and the car is fully automated by an autopilot in the parking garage to a free parking lot or maneuvered becomes.
  • AVP automated valet parking
  • DE 10 2015 204 861 A1 which also describes how such a fully automated motor vehicle can have problems with its sensors because, for example, radar echoes or shadowing
  • a server device of the parking garage informs the autopilot of the motor vehicle about such problematic areas , are problematic areas that arise dynamically, namely by the traffic of several fully automatic guided vehicles and / or in the parking garage moving pedestrians or cyclists.
  • 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 guided motor vehicle results in the problem that in case of damage to the motor vehicle, the question of guilt is difficult to clarify.
  • a method for operating a central server which sends a control card to motor vehicles, in which the valid for the motor vehicles, coordinated right of way rules are included, so that the vehicles can collision pass each other.
  • individual motor vehicles can first transmit the traffic situation detected by the vehicle's own sensor system as a respective own control card to a central server device, which then determines whether one of the motor vehicles has detected the traffic situation incorrectly and therefore coordination of the control charts is necessary.
  • the invention has for its object to coordinate the traffic of motor vehicles within a predetermined infrastructure area.
  • the object is solved by the subject matters 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 may be performed by a central server device.
  • the infrastructure area can be, for example, a multi-storey car park or a parking lot with several parking spaces.
  • the server device receives from the motor vehicles in each case repeatedly a respective current driving status and a respective current driving intention of the motor vehicle.
  • 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 may be, for example, the specification of a planned driving trajectory or driving route and / or a planned driving destination.
  • the drive intention may 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 provided.
  • the server device determines for each of the motor vehicles in each case a current coordination result, which indicates where the motor vehicle from its current driving status its driving intention or generally driving is prohibited because according to a predetermined traffic control another of the motor vehicles due to its respective driving status and / or whose respective intention driving deserved priority or let the server device initially pass one of the other motor vehicles.
  • the traffic regulation can be predetermined by a law or a house rules and / or by a traffic planning of the server device.
  • a respective current, permitted behavior is determined for each of the motor vehicles.
  • the permitted behavior describes where the respective motor vehicle may travel anywhere within the infrastructure area. This is not the specification of a driving trajectory, but rather the specification of all those driving surfaces or driving alternatives which the motor vehicle may use according to the traffic regulation or may travel along it.
  • the motor vehicle thus has the choice of which trajectory it drives.
  • To the motor vehicles is then the respectively determined, in the infrastructure area for the respective motor vehicle currently allowed behavior as a coordination message signals.
  • This coordination message serves to ensure that each of the motor vehicles automatically adapts its drive intention to the permitted mode of behavior.
  • each motor vehicle is only informed as to which driving possibilities or free spaces or drivable areas are currently available to it in the infrastructure area. The way in which the motor vehicle reacts to this can be determined by adjusting or maintaining its driving intention.
  • the advantage of the invention is that moving motor vehicles, ie the traffic of several motor vehicles, is coordinated in the infrastructure area by a central server device, without the responsibility for the driving of the individual motor vehicles being transferred to the server device.
  • the server device only signals which planning clearances are available to the motor vehicles for the autonomous determination of driving intentions, ie for example driving routes or driving trajectories, the behaviors that are permitted to the motor vehicles being matched to one another by the server device. Each vehicle can thus plan freely within its permitted behavior, without risk of collision with any of the other 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.
  • the monitoring sensor is so vehicle outside, so not part of the vehicles.
  • the server device checks whether a predetermined security problem exists and triggers a predetermined protective measure if a security problem is detected.
  • a malfunction in the vehicle sensor system of a motor vehicle can be compensated or counteracted by means of the protective measure.
  • the monitoring sensor may, for example, 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 security problem that the current driving status received by the motor vehicle and the self-detected 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 disturbance in the vehicle sensor system of the motor vehicle. By setting the minimum value, a tolerance can also be provided in order to avoid a false alarm or a false triggering of the protective measure.
  • the invention also includes advantageous developments, the characteristics of which provide additional advantages.
  • At least one area currently freely accessible by the motor vehicle or a surface area which can be driven freely by the motor vehicle is preferably signaled by means of the coordination message.
  • the motor vehicle can then autonomously plan a driving trajectory.
  • a freely passable area is thus of the infrastructure area, a partial area or segment or section, within which several possible Maisrajektorien can be set or planned. This results in the advantage that the motor vehicle can independently carry out the trajectory planning.
  • the coordination message additionally or alternatively, at least one area or area blocked off for the motor vehicle can also be signaled. The motor vehicle is then informed that in trajectory planning it must lay or fix its planned driving trajectory around or past this closed area.
  • the server device uses at least one of the motor vehicles in each case a common digital environment map.
  • a copy of the digital environment map may be provided in the server device and in the motor vehicle, respectively, or the server device and the motor vehicle access a common representation of the environment map.
  • the said coordination message to the motor vehicle then contains at least one reference to the environment for describing the permitted behavior. environment map.
  • the coordination message can be provided with a small volume of data. Because the description of the environment is already present in the area map, so that the coordination message must specify only by the reference an indication of, for example, a freely passable area and / or an indication of a restricted area with respect to the area map.
  • a number or a coordinate or an identification number of a respective area can be specified. This can be carried out particularly efficiently by dividing at least part of the infrastructure area, ie a subarea or the entire infrastructure area, into area segments in order to determine the currently permitted behavior.
  • a surface segment may for example have a size in a range of 0.5 m 2 to 2 m 2 .
  • the server device sets a respective trafficability status for each area segment. The trafficability status is set depending on the current coordination result. The result of the coordination indicates, in the manner described, where a motor vehicle is prohibited, because another motor vehicle, for example, has priority and plans to drive there.
  • the trafficability status is set to one of the two values "driving allowed" and "driving prohibited" for each area segment.
  • the server device By means of the coordination message, the server device then signals a respective currently set navigability status of at least one of the surface segments to the respective motor vehicle.
  • the trafficability status can be specified for all those surface segments over which the motor vehicle plans to drive in accordance with its driving intention.
  • the trafficability status of adjacent area segments can also be specified.
  • the server device predicts a respective movement of at least one of the motor vehicles on the basis of their respective current driving status by means of a movement model.
  • the movement model can also take into account the drive intention signaled by the motor vehicle.
  • the movement model can also take into account, for example, a mass inertia of the motor vehicle in order to determine, for example, a braking distance or a required minimum curve radius.
  • a security problem is then recognized that due to the predicted movement is a collision with a traffic object imminent, so for example with another of the motor vehicles or with a stationary object, such as a pillar or a road sign or a guardrail, or with a pedestrian or a cyclist.
  • the protective measure can be triggered.
  • the protective measure comprises in particular that an emergency stop command is transmitted to at least one of the motor vehicles.
  • the motor vehicle then stops in response to the emergency stop command.
  • an acute request for emergency stop is sent to each located in the region of the motor vehicle and / or on the region approaching motor vehicle.
  • Such an emergency stop command can also be provided for other applications.
  • the server device may transmit the emergency stop command if, for example, a fire alarm is triggered in the infrastructure area or an ambulance is to enter the infrastructure area.
  • the respective driving status and the respective driving intention can be transmitted, for example, by means of a radio connection, which can be provided for example on the basis of WLAN (Wireless Local Area Network) and / or a mobile radio 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. From at least one of the motor vehicles, a respective vehicle identification information of the motor vehicle is received at least once together with the driving status and / or the driving intention.
  • a vehicle identification indication may include, for example, a character string and / or a number.
  • VIN VIN - Vehicle Identification Number
  • At least one of the motor vehicles is then detected in sensor data of the monitoring sensor system. For example, in image data of a camera by an algorithm for object recognition, a motor vehicle can be identified and classified. Now the question is which vehicle identification information this vehicle has or has detected in the sensor data.
  • the server device can for this purpose a request Addressing a signal to perform a predetermined recognition action to a received vehicle identification information and send out to the motor vehicle. It therefore requests that motor vehicle which has or holds the vehicle identification information to perform the predetermined recognition action.
  • the recognition action may be, for example, that the motor vehicle is driving a predetermined maneuver and / or activates an outdoor lighting device according to a predetermined pattern, for example, turns on and / or off the daytime running light for a predetermined period of time.
  • the server device then recognizes in the sensor data which motor vehicle detected therein executes the recognition action. In other words, it is detected based on the sensor data which motor vehicle reacts to the request signal.
  • the server device then assigns to the motor vehicle, which performs the recognition action, the vehicle identification information to which the request signal was addressed. In this way, a driving status received via radio can be assigned to a motor vehicle detected in sensor data of the monitoring sensor.
  • At least one further road user (for example a third-party vehicle that does not report his driving status to the server device and / or a pedestrian and / or a cyclist) is also preferably considered by a respective prospective trajectory of the at least one traffic participant is determined and this then with the driving intention of the respective motor vehicle, for which the coordination result is to be determined, is adjusted.
  • the monitoring sensor system can be used and then a road user recognized therein can be classified, for example, recognized as a foreign vehicle or pedestrian or cyclist, and then the movement path of the detected road user can be predicted by means of a movement model for the recognized 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, which are determined on the basis of the sensor data of the monitoring sensor system. The same applies to a cyclist and another vehicle.
  • the invention of a server device for coordinating provided a traffic of several motor vehicles.
  • 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 may have a program code which is set up to execute the embodiment of the method according to the invention when executed by the processor device.
  • the program code may be stored in a data memory of the processor device.
  • the server device can be provided, for example, as a computer or computer network.
  • the server device may have a communication device, which may have, for example, a WLAN router and / or a mobile radio module.
  • the invention also provides a motor vehicle which can be operated in the infrastructure area and in this case can be coordinated by the server device.
  • the motor vehicle has an autopilot device for fully automatic guidance (longitudinal guidance and transverse guidance) or maneuvering of the motor vehicle.
  • a communication device is provided, which is set up to send a current driving status and an intention planned by the autopilot device driving intention (for example, a driving route or a driving trajectory) to the server device and at least one coordination message from the Server device to receive.
  • a behavior currently permitted to the motor vehicle in the infrastructure area is signaled.
  • This permitted behavior does not provide a driving trajectory, but rather the entirety of the driving possibilities or options available to the motor vehicle, that is to say a large number of possible driving trajectories.
  • the autopilot device may then independently re-plan a 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 guided freely by the autopilot device.
  • the autopilot device plans a driving trajectory for driving through or driving over the area, if the original driving intention is not feasible, that 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 car 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, which are to be considered independently of one another, which each further develop the invention independently of one another and thus also individually or in a different combination than the one shown as part of the invention. 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 1 1 and motor vehicles 12, 13.
  • the motor vehicles 12, 13 travel in an infrastructure area 14, which may be, for example, a parking garage or a parking lot.
  • the server device 1 1 can in this case coordinate the traffic or the driving style of the motor vehicles 12, 13.
  • the server device 1 1 may be formed, for example, by a computer or a computer network that may be installed in the infrastructure area 14.
  • the server device 1 1 may have a communication device 15 and a processor device 16.
  • the communication device 15 may be configured 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 may comprise, for example, a WLAN router and / or a mobile radio module.
  • the communication devices 19 of the motor vehicles 12, 13 can accordingly likewise comprise a WLAN router and / or a mobile radio module.
  • a traffic coordination 20 can be provided which, for example, can be formed on the basis of a program code for the processor device 16.
  • the motor vehicles 12, 13 can each be guided fully automatically by a respective autopilot or autopilot device 21 in the infrastructure area 14.
  • Each autopilot device 21 can transmit or transmit via the respective communication link 17, 18 to the server device 1 1 a current driving status 22 and a driving intention 23.
  • the coordination device 20 can determine how the motor vehicles 12, 13 move in the infrastructure area 14.
  • the driving intention 23 may, for example, represent a respective driving trajectory 24, 25 planned by the autopilot device 21 of the respective motor vehicle 12, 13. In the illustrated example, 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.
  • the infrastructure area 14 may apply a traffic control 26, which may indicate, for example, which of the motor vehicles 12, 13 has priority in the case described.
  • the coordination device 20 can signal to the motor vehicle 12 a coordination message 26 on the basis of a coordination result determined on the basis of the traffic regulation 26 to the motor vehicle 12.
  • the infrastructure area 14 can be divided into area 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 each be a rectangular region or a rectangular surface.
  • Those surface segments 28 ' may have set a trafficability status "driving prohibited” in accordance with the coordination message 27 for the motor vehicle 12. In the figure this by a hatching of the respective surface segment 28 ' illustrated.
  • Those surface segments 28 which the motor vehicle 12 is allowed to drive may have a trafficability status "driving allowed” for the motor vehicle 12.
  • the sum of the surface segments 28 marked or set with the trafficability status "driving allowed” represents the permitted behavior for the motor vehicle 12 is the content of the coordination message 27 for the motor vehicle 12.
  • the coordination messages for the other motor vehicles 13 look different, as they 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 driving route 24 and plan and drive on freely accessible area segments 28 an alternative, modified driving route 24 '.
  • the server device 14 can detect sensor data 30 by means of a monitoring sensor 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.
  • an emergency stop command 31 to be sent to the motor vehicles 12, 13, by which the autopilot devices 21 of the motor vehicles 12, 13 are controlled to stop.
  • 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 1 1 only coordinated and the actual control of motor vehicles 12, 13 remains their autopilot device remains.
  • the information about moving objects are used as the basis for three elementary coordination and securing operations: 1) A vehicle is in dialogue with the central system formed by the server device by notifying its intention to drive (eg route) and driving status (eg position and speed) and vice versa a statement on the currently allowed behaviors (eg freely drivable zones) or area segments 28 within the detection area).
  • the central system and vehicle can use a common a priori information base (eg a digital map) in order to be able to resolve the designation of areas and elements within the infrastructure on both sides.
  • an emergency call for emergency stop may be sent by the central system to one or more vehicles.
  • the central system compares received status messages of the subscribers with its own insights from the monitoring system, i. the monitoring sensor. This allows deviations outside certain tolerances (for example position or speed) to be detected.
  • a preferred technical implementation provides the following.
  • a vehicle connects to an existing central system via a communication interface of the communication device 15 (eg radio technology such as pWLAN or LTE) before activating fully automatic driving.
  • a communication interface of the communication device 15 eg radio technology such as pWLAN or LTE
  • this records all moving objects within its local limits (detection area) and can track or track their movements and also predict the future by means of classification and movement models.
  • a protocol which in turn can refer to both known a-priori information (eg from a digital map).
  • the vehicle gives its intention in the form of the planned travel route to the central system.
  • status data are sent repeatedly to the central system, which include position and speed of the vehicle.
  • the central system contains a logic 31 that compares the information from the monitoring sensor with the Intentions- and status messages of the vehicles and generates behavioral prescriptions and commands for emergency stop.
  • the location of foreign objects to a particular automated vehicle, the condition of infrastructure elements (e.g., barriers), and the intent of other automated vehicles are used to compute areas where the vehicle in question can move safely or should be avoided.
  • the geometric information and the trafficability 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) over the communications link 17.
  • the vehicle function includes algorithms that implement correct vehicle behavior (e.g., within the limits declared safe) based on the information from the central system.
  • a dedicated emergency stop command is sent to one or more vehicles for communication, which has a higher priority in shipping and processing can be handled and implemented directly in the vehicle without further interpretation needs.
  • the self-status messages of vehicles in the central system are continuously compared with the object detection from the monitoring sensor system. Since an automated vehicle is also recognized there as a moving object, a correct assignment can be achieved through tracking and suitable initialization when entering the infrastructure be ensured by communication participants and their detection in the monitoring system (eg by means of request signal 32 requested actions that can be followed by the monitoring sensors).
  • the central system is the opportunity available through a special treatment (eg emergency stop of the vehicle and possibly other vehicles in its vicinity) avert potential damage caused by faulty automated vehicles from other road users.
  • a special treatment eg emergency stop of the vehicle and possibly other vehicles in its vicinity

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  • Physics & Mathematics (AREA)
  • 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)

Abstract

L'invention concerne un 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). Le dispositif serveur central (11) reçoit 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 détermine, pour chacun des véhicules automobiles (12, 13), un résultat de coordination actuel indiquant si l'on interdit 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 automobile (12, 13) et détermine, en fonction du résultat de coordination pour chacun des véhicules automobiles (12, 13), un comportement autorisé actuel respectif et signale de manière répétée aux véhicules automobiles (12, 3) le comportement autorisé actuel respectif 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).
PCT/EP2018/052270 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 WO2018145951A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18704901.0A EP3580737B1 (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

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017202065.2 2017-02-09
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

Publications (1)

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WO2018145951A1 true WO2018145951A1 (fr) 2018-08-16

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EP (1) EP3580737B1 (fr)
DE (1) DE102017202065A1 (fr)
WO (1) WO2018145951A1 (fr)

Cited By (3)

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