WO2020069812A1 - Procédé de guidage au moins partiellement automatisé d'un véhicule automobile sur une voie de circulation - Google Patents

Procédé de guidage au moins partiellement automatisé d'un véhicule automobile sur une voie de circulation

Info

Publication number
WO2020069812A1
WO2020069812A1 PCT/EP2019/073720 EP2019073720W WO2020069812A1 WO 2020069812 A1 WO2020069812 A1 WO 2020069812A1 EP 2019073720 W EP2019073720 W EP 2019073720W WO 2020069812 A1 WO2020069812 A1 WO 2020069812A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
lane
traffic
control signals
edge
Prior art date
Application number
PCT/EP2019/073720
Other languages
German (de)
English (en)
Inventor
Holger Mielenz
Christoph G. KELLER
Original Assignee
Robert Bosch Gmbh
Daimler 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 Robert Bosch Gmbh, Daimler Ag filed Critical Robert Bosch Gmbh
Publication of WO2020069812A1 publication Critical patent/WO2020069812A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians

Definitions

  • the invention relates to a method for at least partially automated driving of a motor vehicle on a roadway.
  • the invention further relates to a device which is set up to carry out all steps of the method for at least partially automated driving of a motor vehicle on a roadway.
  • the invention further relates to a motor vehicle which comprises the device.
  • the invention further relates to a computer program and a machine-readable storage medium.
  • the published patent application DE 10 2015 201 733 A1 discloses a method for operating a vehicle.
  • the method comprises a step of recognizing an impending collision of the vehicle with a collision object, for example with a road user at increased risk, for example with a pedestrian.
  • the known method further comprises a step of estimating an impact area of the collision object on the vehicle.
  • the known method further comprises determining a lateral offset of the vehicle to avoid the collision depending on the estimated impact area.
  • the known method also includes causing the lateral offset to avoid the collision. Disclosure of the invention
  • the object underlying the invention is to be seen in providing a concept for the efficient at least partially automated driving of a motor vehicle on a roadway.
  • a method for at least partially automated driving of a motor vehicle on a roadway comprising the following steps:
  • control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle in order to provide an instantaneous reaction time window of the motor vehicle for an at least partially automated control of the transverse and longitudinal guidance of the motor vehicle based on the generated control signals
  • Preventively increasing (or increasing) pedestrians outputting the generated control signals in order to guide the motor vehicle on the road at least partially automatically based on the generated control signals.
  • a device which is set up to carry out all steps of the method according to the first aspect.
  • a motor vehicle which comprises the device according to the second aspect.
  • a computer program is provided which comprises commands which, when the computer program is executed by a computer, for example by the device according to the second aspect, cause the latter to carry out a method according to the first aspect.
  • a machine-readable storage medium on which the computer program according to the fourth aspect is stored.
  • the invention is based on the knowledge that the above object can be achieved in that in certain traffic situations, in which one
  • Control signals are generated and output in order to guide the motor vehicle on the road at least partially automatically based on the generated control signals.
  • this has the technical advantage that a risk to a pedestrian who steps onto the road from the edge of the road can be reduced. This is because advantageously
  • This also has the technical advantage that a collision risk of a collision of the motor vehicle with such a pedestrian can be efficiently reduced.
  • Semi-automated control or guidance means that in a specific application (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane, which is defined by lane markings) one longitudinal and one
  • Lateral guidance of the motor vehicle can be controlled automatically.
  • a driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself.
  • the driver must continuously monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
  • Highly automated control or guidance means that in a specific application (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane, which is defined by lane markings) one longitudinal and one
  • Lateral guidance of the motor vehicle can be controlled automatically.
  • a driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself.
  • the driver does not have to continuously monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
  • a takeover request is automatically issued to the driver to take over control of the longitudinal and transverse guidance. The driver must therefore potentially be able to control the longitudinal and lateral guidance.
  • Fully automated control or guidance means that in a specific application (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane, which is defined by lane markings) one longitudinal and one
  • Lateral guidance of the motor vehicle can be controlled automatically.
  • a driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself.
  • the driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
  • the driver is not required in the specific application.
  • Driverless control or driving means that regardless of a specific application (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane, which is defined by lane markings) a longitudinal and transverse guidance of the motor vehicle are automatically controlled.
  • a driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself.
  • the driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.
  • the longitudinal and lateral guidance of the vehicle are thus automatically controlled, for example, on all road types, speed ranges and environmental conditions.
  • the driver's complete driving task is thus taken over automatically. The driver is no longer required.
  • the motor vehicle can therefore drive from any start position to any destination position even without a driver. Potential problems are solved automatically, i.e. without the driver's help.
  • a lane in the sense of the description denotes a traffic area which is connected to vehicles, for example motor vehicles, for example
  • a lane in the sense of the description includes, for example, one or more lanes.
  • one or more lanes are provided for an opposite direction.
  • a lane in the sense of the description is for example by means of
  • a lane in the sense of the description identifies an area which is available to a vehicle, for example a motor vehicle, for example a bicycle, for travel in one direction.
  • a lane in the sense of the description is, for example, by means of
  • Lane limits set or optically limited.
  • a walkway as defined describes a part of a street that is intended for pedestrian traffic.
  • a cycle path in the sense of the description identifies a part of a road that is primarily or exclusively intended for use with a bicycle.
  • a street in the sense of the description includes, for example, a roadway.
  • a street in the sense of the description includes, for example, a walkway.
  • a street in the sense of the description includes, for example, a cycle path.
  • a street in the sense of the description includes, for example, one or more parking spaces.
  • a road edge in the sense of the description is formed, for example, by a curb.
  • the lane edge can be, for example, the right or left lane edge.
  • the directions “right” and “left” are defined or fixed, for example, relative to a direction of travel of the motor vehicle.
  • the direction of travel of a motor vehicle denotes the direction in which the motor vehicle is moving or is intended to move.
  • a technically possible reversing or sideways movements when cornering the motor vehicle are not defined as "driving direction" in this formal definition.
  • Traffic situation generating control signals at least
  • control signals are provided for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle in order to provide an instantaneous reaction time window of the motor vehicle in the case of an at least partially automated control of the transverse and longitudinal guidance of the motor vehicle based on the generated control signals to preventively increase or enlarge pedestrians stepping onto the lane from the left edge of the lane.
  • the generated control signals control signals for at least partially automated control of the transverse and longitudinal guidance of the
  • Motor vehicle include to reduce a current distance to the center of the road and to keep a correspondingly reduced distance, in particular to keep at least.
  • control signals generated comprise control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle, in order to move the motor vehicle off-center left in right-hand traffic or off-center right in left-hand traffic To keep lanes.
  • the motor vehicle is therefore guided, for example, to the left lane marking in right-hand traffic or to the right lane marking in left-hand traffic. That on the left lane marking or on the right
  • Lane marking means in particular that the motor vehicle to the extent that it is guided to the left or right lane marking that a volume of an oncoming lane is not penetrated by a protruding (ie protruding) component of the motor vehicle.
  • a protruding component is, for example, an outside mirror.
  • Lanes of the multiple lanes in right-hand traffic or the outer right lane of the multiple lanes in left-hand traffic comprise control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle in order to change at least one lane from one of the plurality of lanes to one to carry out one of the several lanes on the left lane for right-hand traffic or right lane for left-hand traffic.
  • a lane change can also be referred to as a lane change, for example.
  • Environment signals includes processing the environment signals to detect a surrounding traffic, with detection of a
  • Surrounding traffic can be efficiently considered when generating the control signals. So that means, for example, that at least semi-automated control of the transverse and longitudinal guidance efficiently
  • Two-way traffic For example, a temporal prediction is carried out, which indicates for what period of time surrounding traffic is absent. In particular, this means that a forecast or
  • a forecast is created for which period of time surrounding traffic will be absent.
  • the control signals are generated.
  • surrounding traffic includes one
  • Oncoming traffic refers to traffic that is driving towards the motor vehicle.
  • control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle in order to increase a current distance from the motor vehicle to the right-hand lane edge in right-hand traffic or to the left-hand lane edge in left-hand traffic and the increased To keep distance, only be generated in the absence of oncoming traffic, for example oncoming traffic.
  • a traffic situation in the environment in which a pedestrian could potentially step onto the road from the edge of the road is one of the following traffic situations: The presence of a sidewalk running along the edge of the lane, the presence of motor vehicles parked on the edge of the lane.
  • motor vehicles parked at the edge of the roadway can cover pedestrians or can be detected by means of an environmental sensor system of the
  • Such a traffic situation is identified, for example, on the basis of a digital map. If such a digital map shows pedestrian paths running parallel to the roadway, it can be assumed that such a traffic situation exists.
  • Detecting such a traffic situation includes, for example, detecting parked motor vehicles and / or partially covered pedestrians by means of a motor vehicle's own environmental sensor system.
  • a prediction of a movement of the detected pedestrians can also be carried out using situation-specific prediction models (for example based on DNN methods (DNN stands for deep neural network, i.e. machine learning using artificial neural networks) learned via labeled methods).
  • DNN deep neural network, i.e. machine learning using artificial neural networks
  • Such a traffic situation is recognized, for example, based on knowledge of pedestrian detections that are aggregated over time.
  • Other vehicles recognize pedestrians, for example, send appropriate information to a backend (remote server).
  • the backend stores the relevant data chronologically and georeferenced. Based on this data, for example, a temporal and local
  • a probability value is calculated which indicates a probability that a pedestrian will step onto the road from the edge of the road, wherein the calculated
  • Probability threshold value is compared, it being determined depending on the comparison that a pedestrian could potentially step onto the road from the road edge or not. For example, it is determined that a pedestrian could potentially step onto the lane from the edge of the lane if the calculated probability value is greater than or greater than or equal to the predetermined probability threshold. For example, it is determined that no pedestrian could potentially step onto the lane from the edge of the lane if the calculated probability value is less than or less than or equal to the predetermined probability threshold.
  • Methods for determining such a probability can e.g. B. be mathematical methods of artificial intelligence that carry out pedestrian intention detection based on situation-specific training data.
  • the processing of the environmental signals in order to detect the traffic situation in the environment includes, for example, calculating such a probability value and comparing the calculated one
  • the method according to the first aspect is carried out by means of the device according to the second aspect.
  • Device features result analogously from corresponding
  • the device or the motor vehicle comprises an environment sensor system for detecting an environment of the motor vehicle.
  • the environment sensor system is set up based on the detected environment
  • the environment sensors include, for example, one or more environment sensors.
  • An environment sensor is e.g. one of the following environmental sensors: radar sensor, lidar sensor, ultrasonic sensor, magnetic field sensor, infrared sensor and
  • the method includes detecting the surroundings of the motor vehicle using the surroundings sensors.
  • the method comprises controlling the lateral and longitudinal guidance of the motor vehicle based on the generated control signals.
  • the device or the motor vehicle comprises a control device which is set up to control the lateral and longitudinal guidance of the motor vehicle based on the control signals generated.
  • the wording “or” includes in particular the wording “respectively”.
  • the wording “respectively” includes in particular the wording “and / or”.
  • the invention is based on preferred
  • 1 is a flowchart of a method for at least partially automated driving of a motor vehicle on a road
  • FIG. 2 shows a device which is set up to carry out all the steps of a method for at least partially automated driving of a motor vehicle on a roadway
  • FIG. 7 is an increase in a response time window of a motor vehicle, which is in the second traffic situation shown in FIG. 6.
  • FIG. 1 shows a flow chart of a method for at least
  • the process includes the following steps: Receiving 101 of environmental signals, which represent an environment of the motor vehicle detected by means of an environmental sensor system of the motor vehicle, processing 103 of the environmental signals in order to detect a traffic situation in the environment in which a pedestrian could potentially step onto the road from a road edge,
  • Control signals a current reaction time window of the motor vehicle at one of the (left in right-hand traffic or left in left-hand traffic)
  • output 107 of the generated control signals in order to guide the motor vehicle on the lane at least partially automatically based on the generated control signals.
  • FIG. 2 shows a device 201 that is set up, all steps of a
  • Execute method for at least partially automated driving of a motor vehicle on a roadway Execute method for at least partially automated driving of a motor vehicle on a roadway.
  • device 201 is set up to carry out the method shown in FIG. 1.
  • the device 201 includes an input 203 for receiving
  • Ambient signals that represent an environment of the motor vehicle detected by means of an environment sensor system of the motor vehicle are indicative of an environment sensor system of the motor vehicle.
  • the device 201 further comprises a processor 205 for processing the environmental signals in order to detect a traffic situation in the environment in which a pedestrian could potentially step onto the road from the edge of the road.
  • the processor 205 is set up when the traffic situation is detected
  • control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle in order to at least partially automated control of the lateral and longitudinal guidance of the motor vehicle based on the generated control signals
  • the device 201 further comprises an output 207, which is set up to output the generated control signals in order to guide the motor vehicle on the road at least partially automatically based on the generated control signals.
  • processor 205 there are several instead of processor 205
  • input 203 comprises a first one
  • Communication interface which is set up to receive the ambient signals via a communication network.
  • output 207 includes a second
  • Communication interface which is set up to output the generated control signals via the communication network.
  • the second communication interface can be, for example, the first communication interface. That means in particular that a communication interface is provided which implements the functionalities of the first communication interface and the second communication interface.
  • a communication interface in the sense of the description is, for example, a CAN communication interface.
  • a communication network in the sense of the description includes, for example, a CAN communication network.
  • the motor vehicle 301 comprises the device 201 shown in FIG. 2.
  • the motor vehicle 301 comprises a radar sensor 303 as the environment sensor system, which is arranged on the front of the motor vehicle 301.
  • the motor vehicle 301 further includes a video camera 305 comprising a video sensor 306 as the environment sensor system, the video camera 305 being arranged on the roof side of the motor vehicle 301.
  • the radar sensor 303 and the video sensor 306 accordingly detect an environment of the motor vehicle 301 and generate corresponding ones
  • Ambient signals are then sent from the radar sensor 303 or from the video sensor 306 to the input 203 of the device 201.
  • the input 203 of the device 201 receives these environmental signals.
  • the processor 205 of the device processes these environmental signals as described above and / or below and generates corresponding control signals upon detection of the corresponding traffic situation as described above and / or below.
  • the control signals generated by the processor 205 are output by means of the output 207 to a control device 307 of the motor vehicle 301.
  • the control device 307 controls, based on the output control signals, at least partially automatically, a transverse and longitudinal guidance of the motor vehicle 301 in order to move the motor vehicle based on the generated ones
  • FIG. 4 shows a machine-readable storage medium 401, on which a computer program 403 is stored.
  • the computer program 403 comprises instructions which are executed when the
  • Computer program 403 by a computer for example by the device 201, cause the latter a method for at least
  • FIG. 5 shows a first traffic situation in which a pedestrian could potentially step onto the road from the edge of the road.
  • a road 501 is shown comprising a two-lane roadway 503. Exactly one lane 505, 507 is provided for each direction.
  • the roadway 503 comprises a first traffic lane 505 which specifies a first direction which points from the bottom to the top in relation to the paper plane.
  • the roadway 503 thus comprises a second lane 507 which specifies a direction which points from top to bottom in relation to the paper plane.
  • the second lane 507 can also be referred to as a counter lane for the first lane 505 with respect to the first lane 505.
  • the carriageway 503 is on both sides by a first one
  • Lane limitation 509 and a second lane boundary 511 limited.
  • the two lanes 505, 507 are separated from one another by a dashed center line 513.
  • the motor vehicle 301 shown in FIG. 3 is traveling on the first lane 505. For the sake of clarity, only the motor vehicle 301 is shown without the other elements shown in FIG. 3.
  • a direction of travel of motor vehicle 301 is indicated by an arrow with the
  • Reference symbol 515 is shown symbolically.
  • the center line 513 forms a left lane boundary or a left lane marking.
  • first lane marking 509 forms a right lane marking or a right lane edge.
  • another motor vehicle 517 is driving in front of the motor vehicle 301.
  • a direction of travel of the further motor vehicle 517 is symbolically represented by an arrow with the reference number 519.
  • a third motor vehicle 521 is traveling on the oncoming lane 507.
  • the direction of travel of the third motor vehicle 521 is symbolically represented by an arrow with the reference symbol 523.
  • Motor vehicle 301 will step onto the carriageway 503.
  • a double arrow is drawn in with the reference symbol 531, which symbolically denotes a distance between the motor vehicle 301 and the right edge of the road 525.
  • FIG. 6 shows a second traffic situation in which a pedestrian potentially stepping onto the road from the edge of the road must be expected.
  • FIG. 6 essentially corresponds to the illustration according to FIG. 5.
  • the third motor vehicle 521 is not present on the oncoming lane 507. Furthermore, three motor vehicles 601, 603, 605 are parked on the right-hand edge 525 of the motor vehicle 301.
  • These three parked motor vehicles 601, 603, 605 can, for example, hide the pedestrians 527, 529 and, for example, make it difficult or impossible to detect these pedestrians 527, 529 by means of the environmental sensors of the motor vehicle 301.
  • FIG. 7 shows a behavior of motor vehicle 301 in accordance with the concept described here for at least partially automated driving
  • the motor vehicle 301 has increased the distance 531 to the right edge of the road 525. If one of the pedestrians 527, 529 suddenly steps onto the road 503, the motor vehicle 301 is at a greater distance from this pedestrian compared to the distance 531 shown in FIG. 6.
  • the motor vehicle 301 Because of this larger distance, the motor vehicle 301 has more reaction time than if the motor vehicle 301 had not increased the distance 531.
  • the concept described here is based, among other things, on planning behavior and a trajectory in such a way that a reaction time to a pedestrian spontaneously stepping onto the road is increased, which can advantageously reduce a risk of a dangerous situation.
  • the concept described here includes, in particular, evaluating an environment of the motor vehicle based on the ambient signals
  • Traffic situations in which a pedestrian could potentially step onto the road includes, for example, streets with sidewalks running parallel to the road.
  • Traffic situation counts for example, a street train with parallel and / or transverse Motor vehicles parked to the roadway, which can lead to the concealment of pedestrians.
  • control signals are only generated when there is no oncoming traffic. This means in particular that these control signals are only generated in the absence of oncoming traffic.
  • the method comprises detecting a
  • the method comprises generating ambient signals corresponding to the detected environment.
  • the method comprises processing the
  • the processing of the environmental signals includes the determination of potential dangerous situations (the traffic situation described here).
  • the method comprises a determination, for example a predictive determination (ie a prediction), of one's own
  • a predictive determination i.e. a prediction of a lane geometry of surrounding traffic, for example of oncoming traffic. The determination is carried out, for example, based on the environmental signals.
  • detecting an absence is a
  • planning is a trajectory (which can be comprised, for example, of the generation of the control signals) and implementation (which, for example, of the output of the generated control signals and / or of the at least partially automated control of the lateral and / or or longitudinal guidance of the motor vehicle can be provided) of the planned trajectory, which the motor vehicle to the left lane edge or to the left
  • Oncoming traffic provided an assessment of whether a width of oncoming traffic leads to the motor vehicle going back into a
  • Lane middle position must be guided. For this evaluation, it is provided, for example, that in addition to a motor vehicle width, oncoming traffic, ie oncoming traffic, is also predicted.
  • This evaluation is carried out, for example, based on the ambient signals.
  • Motor vehicle to drive on the outer left lane for right-hand traffic or on the outer right lane for left-hand traffic. This means in particular that the motor vehicle is advantageously guided on or within the lane that is facing away from a sidewalk or a potential dangerous situation.
  • Another advantage of the concept described here is in particular the reduction of an accident risk with pedestrians.

Abstract

L'invention concerne un procédé de guidage au moins partiellement automatisé d'un véhicule automobile sur une voie de circulation, comprenant les étapes suivantes : réception de signaux d'environnement qui représentent un environnement du véhicule automobile acquis au moyen d'un système de détection d'environnement du véhicule automobile ; traitement des signaux d'environnement en vue de détecter, dans l'environnement, une situation de trafic dans laquelle un piéton pourrait potentiellement empiéter sur la voie de circulation depuis un bord de la voie de circulation ; lors de la détection de la situation de trafic, génération de signaux de commande en vue d'une commande au moins partiellement automatisée du guidage transversal et longitudinal du véhicule automobile, afin d'augmenter préventivement, lors d'une commande au moins partiellement automatisée du guidage transversal et longitudinal du véhicule automobile sur la base des signaux de commande générés, une fenêtre de temps de réaction momentanée du véhicule automobile dans le cas où un piéton empiéterait sur la voie de circulation depuis le bord de la voie de circulation ; délivrance des signaux de commande générés afin de guider le véhicule automobile sur la voie de circulation de manière au moins partiellement automatisée sur la base des signaux de commande générés. L'invention concerne en outre un dispositif, un véhicule automobile, un programme informatique ainsi qu'un support d'enregistrement lisible par machine.
PCT/EP2019/073720 2018-10-01 2019-09-05 Procédé de guidage au moins partiellement automatisé d'un véhicule automobile sur une voie de circulation WO2020069812A1 (fr)

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DE102018124161.5A DE102018124161A1 (de) 2018-10-01 2018-10-01 Verfahren zum zumindest teilautomatisierten Führen eines Kraftfahrzeugs auf einer Fahrbahn

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JP2022075292A (ja) * 2020-11-06 2022-05-18 株式会社Subaru 車両の運転支援装置
JP2022075293A (ja) * 2020-11-06 2022-05-18 株式会社Subaru 車両の運転支援装置
EP4011732A1 (fr) 2020-12-09 2022-06-15 Argo AI GmbH Procédé permettant de commander un véhicule lorsqu'un obstacle est détecté dans l'environnement du véhicule, dispositif de commande pour un véhicule doté d'une fonction de conduite autonome, support lisible sur ordinateur et véhicule à moteur
DE102021214095A1 (de) 2021-12-10 2023-06-15 Zf Friedrichshafen Ag Verfahren und System zum Erkennen von kritischen Verkehrsszenarien und/oder Verkehrssituationen

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