WO2020144339A1 - Procédé de commande automatisée d'un véhicule et organe de commande - Google Patents

Procédé de commande automatisée d'un véhicule et organe de commande Download PDF

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Publication number
WO2020144339A1
WO2020144339A1 PCT/EP2020/050558 EP2020050558W WO2020144339A1 WO 2020144339 A1 WO2020144339 A1 WO 2020144339A1 EP 2020050558 W EP2020050558 W EP 2020050558W WO 2020144339 A1 WO2020144339 A1 WO 2020144339A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
stopping point
sensor
control
traffic control
Prior art date
Application number
PCT/EP2020/050558
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 WO2020144339A1 publication Critical patent/WO2020144339A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • 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
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/107—Static hand or arm
    • 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
    • G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
    • 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
    • G08G1/147—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 within an open public zone, e.g. city centre

Definitions

  • the invention relates to a method for the automated execution of a driving function of a vehicle, a control device for such a vehicle and a computer program for executing the method and a storage medium for the computer program.
  • Methods for longitudinal and transverse guidance of a vehicle in the context of automated control of a vehicle are known. By means of these methods, a vehicle is guided to a destination on a predetermined route or determined by a navigation device and can react to traffic situations.
  • An object of the invention is to provide a method by which a vehicle equipped with an automated driving function can respond to a traffic control. Another object of the invention is to provide a control device for such a vehicle for executing the method. Another object of the invention is to provide a corresponding computer program and a storage medium.
  • a traffic control ahead is recognized in a first step.
  • a stop location suitable for traffic control is determined.
  • a control signal for at least one driving function of the vehicle is output in such a way that the vehicle drives to the stopping point and stops at the stopping point when it is controlled using the control signal.
  • the traffic control ahead is identified in the first step by evaluating a signal from a sensor, the sensor being arranged on the vehicle.
  • the stopping point is determined in the second step by evaluating a signal from a sensor, the sensor being arranged on the vehicle.
  • a sensor arranged on the vehicle can also be referred to as assigned to the vehicle.
  • a vehicle can be equipped with a control device according to the invention.
  • the control unit is set up to carry out the method.
  • the control unit can have a sensor input and an output option for information on the execution of the automated driving function.
  • the control unit has a computing unit on which the method steps are carried out as part of an executable program code.
  • the executable program code can be present as a computer program and can be stored on a machine-readable storage medium.
  • a method is provided by means of which the vehicle is able to control this stopping point accordingly if a desired stopping of the vehicle is signaled in the traffic control.
  • the control signal for at least one driving function of the vehicle may include information about a steering movement, braking and / or acceleration of the vehicle.
  • the method can be used in the context of the different degrees of automation for driver assistance systems defined by the Federal Highway Research Institute. It can be seen before that the driver assistance system assists the driver by taking over either lateral or longitudinal guidance of the vehicle. Furthermore, the method can also be used in semi-automated, highly automated or fully automated vehicles, with the driver assistance system taking over both lateral and longitudinal guidance in all degrees of automation.
  • the systems differ in terms of the driver's duty to monitor the driver assistance system.
  • the driver In partially automated vehicles, the driver is obliged to monitor the driver assistance system.
  • the driver assistance system issues a request to take over the vehicle.
  • the driver assistance system changes the vehicle to a risk-minimal vehicle state if the driver does not comply with a handover request.
  • the traffic control ahead is identified by means of object recognition.
  • Object detection provides a particularly simple way of recognizing traffic control and determining the stopping point.
  • the detection of the preceding traffic control comprises a situation analysis. It can be provided that objects that have been identified, for example, by means of object recognition, are connected to an infrastructure and classified on the basis of this connection.
  • the object detection comprises the evaluation of a camera sensor and / or a LIDAR sensor.
  • the image of a camera sensor can be evaluated using known shapes.
  • special LIDAR reflectors will be used for traffic controls in the future, the reflected signal of which will be evaluated by means of object detection.
  • an outline of a trowel and / or a gesture of a police officer is recognized when evaluating the camera sensor and / or the LIDAR sensor.
  • the outline of the trowel or the policeman's gesture is set in relation to the vehicle's own trajectory.
  • the traffic control can, for example, be carried out by a police and also referred to as a police control.
  • other controls for example toll controls, customs controls, freight traffic controls and / or cargo securing controls can also be carried out as part of the traffic control.
  • the stopping point is identified on the basis of a recognized position of another police officer. This is particularly advantageous if the traffic control is carried out in such a way that a police officer signals the vehicles to be checked to stop and another police officer is responsible for the actual control. The vehicle is then set up to head for the other police officer and to stop in the area of the other police officer.
  • the stopping point is selected such that the vehicle stops in such a way that a left front side window of the vehicle is arranged next to the other police officer.
  • a driver of the vehicle is usually seated in the left front seat of the vehicle, ie in areas with right-hand traffic.
  • the method can be designed such that the side window, which is usually assigned to the driver's seat of the vehicle, is arranged at the stopping point next to the other police officer.
  • the stopping point is selected such that the vehicle stops in such a way that a device with which voice contact can be made with an external operator of the vehicle is arranged next to the other police officer.
  • This embodiment is particularly advantageous for vehicles that are operated in a fully automated manner. In such a vehicle, a direct interaction with the driver by the police officer is not possible, since, for example, only passengers are or are transported within the vehicle as part of local public transport or freight, so that for traffic control, voice contact with an external operator who performs possible monitoring functions of a vehicle fleet from several such vehicles, can be recorded.
  • the vehicle can have a corresponding device and, when traffic control is detected, bring the vehicle to a standstill in such a way that these devices are arranged in addition to the other police officers, so that voice contact can be established easily.
  • the stopping point is selected on the basis of a predetermined criterion.
  • the predetermined criterion serves to select which of the other police officers should stop the vehicle.
  • the predetermined criterion includes an evaluation of the stopping point with regard to the obstruction of further vehicles. The vehicle is therefore set up to evaluate the stops identified by the other police officers according to whether further vehicles could be obstructed when stopping at these stop locations and to control the stop with no or the least disability of other vehicles. If the traffic control is not a police control, but a toll control, customs controls, freight traffic controls and / or cargo securing controls, the stopping point can be selected and controlled using another control person. This is possible in particular for the four embodiments described above.
  • a control unit of a vehicle is set up to carry out one of the processes described.
  • the control device has in particular an input for at least one sensor signal.
  • the control unit has a computing unit for carrying out the method steps and an output for forwarding driving information to a system for the automated execution of driving functions.
  • a computer program comprises instructions that lead to the execution of the method when the computer program is executed on a computer.
  • the computer program includes a machine-readable storage medium.
  • Figure 1 shows a vehicle with a control unit for performing a driving function.
  • Fig. 5 shows a third control situation.
  • the control unit 1 1 shows a vehicle 10 with a control unit 11, a sensor 12 and a system 13 for automated control of the vehicle 10.
  • the sensor 12 is therefore arranged on the vehicle 10.
  • the control unit 1 1 can have an input for a sensor signal from the sensor 12 and an output for forwarding driving information or a control signal to the system 13.
  • the control unit 11 can comprise a computing unit which is set up to carry out method steps in the context of a computer program.
  • the computer program can be stored on a machine-readable storage medium within the control unit.
  • the system 13 for executing the at least one driving function is set up to control at least one steering movement and / or a speed of the vehicle 10, for example by means of intervention in steering, accelerating or braking the vehicle 10.
  • Fig. 1 shown in Fig. 1 is a left front side window 14 and a device 15 with which voice contact to an external operator of the vehicle 10 can be recorded.
  • Both the left front side window 14 and the device 15 are arranged on a left side 19 of the vehicle. Flinter of the left front side window 14 is usually a driver of the vehicle 10 in right-hand traffic. If the vehicle 10 is designed for left-hand traffic, a driver can accordingly sit behind a right front side window not shown in FIG. 1. If the vehicle 10 is operated fully automatically, the device 15, with which voice contact can be made with an external operator of the vehicle 10, can also be arranged on the right-hand side of the vehicle in a vehicle designed for left-hand traffic. The external operator can operate or monitor a larger vehicle fleet consisting of such vehicles 10, and contact can be made with this operator during a traffic control.
  • the device 15 for making voice contact with an external operator is arranged at the rear left of the vehicle 10. However, it is also possible to arrange such a device 15 at another location of the vehicle 10, in particular in the area of the front left side window 14, in particular in an area of the vehicle 10 in which the driver would be suspected in a conventional vehicle.
  • FIG. 2 shows a flowchart 20 of the method according to the invention with the recognition 21 of a traffic control ahead in a first method. step, determining 22 a stop suitable for traffic control in a second method step and outputting 23 a control signal of at least one driving function of the vehicle in a third method step such that the vehicle controls the stopping point and stops at the stopping point when the vehicle is controlled based on the control signal.
  • a steering movement, braking or accelerating the vehicle can be carried out.
  • the system 13 of FIG. 1 is set up to take over this control of the vehicle.
  • the control unit 11 and the system 13 of FIG. 1 can also be combined to form a uniform control unit.
  • the detection 21 of the traffic control 2 lying ahead takes place in the first step by evaluating a signal from a sensor 12, the sensor 12 being arranged on the vehicle 10. It can be provided that the determination 22 of the stopping point 5 takes place in the second step by evaluating a signal from a sensor 12, the sensor 12 being arranged on the vehicle 10.
  • a vehicle 10 which can be configured as the vehicle of FIG. 1, drives the road 1 and is alerted to a traffic control 2 by a policeman 3 with a trowel 4.
  • a sensor 12 or the sensor signal of the sensor 12 of the vehicle 10 the policeman 3 with the trowel is known to him and thereby recognized that a traffic control should be carried out.
  • a stop 5 suitable for traffic control 2 is determined by means of the sensor 12 or the sensor signal of the sensor 12 and a vehicle trajectory 16 is determined in such a way that the system 13 controls the vehicle 10 along the vehicle trajectory 16 to the stop 5 for executing a driving function.
  • the detection of the traffic control 2 ahead can take place by means of object detection.
  • the object detection can in particular include the evaluation of a camera sensor and / or a LIDAR sensor, wherein the sensor 12 can be configured as a camera sensor and / or as a LIDAR sensor.
  • the sensor 12 can be configured as a camera sensor and / or as a LIDAR sensor.
  • an outline of the trowel 4 and / or a gesture of the policeman 3, for example a pivoting of the trowel 4 can be recognized.
  • the trowel 4 can be a police trowel.
  • the trowel can have 4 special reflectors for a LIDAR signal, with which traffic control can be recognized.
  • the gesture of the policeman 3 or the kel le 4 is placed in relation to the vehicle trajectory of the vehicle 10 in order to recognize whether the gesture of the policeman 3 or the trowel 4 signals that the vehicle 10 is to be stopped, or whether the trowel 4 or gesture of the policeman 3 possibly another, not shown in Fig. 2, vehicle applies.
  • a situation analysis can be provided in which objects such as police officers and / or beacons are connected to the infrastructure and the situation is classified on the basis of this connection.
  • a further policeman 6 is also shown in FIG. 3.
  • the stopping point 5 is recognized by the other policeman 6, for example by the position of the other policeman 6.
  • Fig. 4 shows a second control situation, which speaks the control situation of Fig. 3 ent, provided no differences are described below.
  • traffic control 2 two other police officers 6, 7 are responsible for checking vehicles.
  • Each of the other police officers 6, 7 is assigned a suitable stop 5, one of the other police officers 6 has a first stop 8 and one of the other police officers 7 has a second stop 9.
  • the control unit 11 of the vehicle 10 moving on the road 1 leads 3, and recognizes the traffic control 2 on the basis of the policeman 3 or the trowel 4, determines the stopping points 5 on the basis of the further policemen 6, 7 and controls the vehicle in such a way that the vehicle is at the first Stop 8 stops.
  • the first stop 8 is selected for the reason that at the second stop 9 another vehicle 17 is already checked by the other policeman 7 and thus only the first stop 8 is free.
  • the state as to whether a stopping point 5 is occupied by another vehicle 17 can therefore be used as a criterion for selecting a stopping point 5.
  • the criterion for the selection of a stopping point 5 can include braking the vehicle 10 as gently as possible and thus driving to the second stopping point 9, which is further away from the vehicle 10 when the traffic control 2 is recognized is.
  • FIG. 5 shows a third control situation which corresponds to the control situation in FIG. 4, provided that no differences are described below.
  • the stops 5 are arranged in a side street 18 such that the other police officers 6, 7 are arranged on the left-hand side of the vehicle 10 when the stops are approached.
  • the stopping point can be selected such that a left front side window 14 or a device 15 for receiving voice contact with an external operator, which are each arranged on the left side of the vehicle 19, is arranged next to the other police officers 6, 7 and further policeman 6, 7 can start directly with the corresponding traffic control 2.
  • the device 15 is arranged in a front area of the vehicle on the left-hand side of the vehicle, but can also be arranged elsewhere on the left-hand side of the vehicle 19.
  • the vehicle 10 arranges either the left front side window 14 or the device 15 next to one of the other police officers 6, 7.
  • the predetermined criterion for selecting the stopping points 8, 9 includes an evaluation of the stopping points 8, 9 with regard to the obstruction of further vehicles. This can be implemented, for example, in the control situation in FIG. 5 in such a way that the second stopping point 9 is selected because the secondary road 18 is very narrow and, by selecting the second stopping point 9, the first stopping point 8 which is closer in the direction of travel from a potentially later point controlling vehicle could still be started, whereby at Approach of the first stopping point 8, the second stopping point 9 is blocked by the vehicle 10.
  • the other police officers 6, 7 are arranged to the left of the vehicle. This is useful if the traffic situation, as shown in FIGS. 3 to 5, includes right-hand traffic. In the case of left-hand traffic, a correspondingly mirrored arrangement of the control situations in FIGS. 3 to 5 can be provided. In particular, it can be provided that the vehicle 10 comes to a stop next to the other police officers 6, 7 in such a way that a right front side window is arranged next to the other police officers 6, 7.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

Selon un procédé de commande automatisée d'un véhicule, un contrôle routier installé en amont est d'abord identifié. Dans une autre étape, un lieu d'arrêt approprié pour le contrôle routier est déterminé, puis au moins une fonction de conduite du véhicule est commandée de telle sorte que le véhicule se dirige vers le lieu d'arrêt et s'arrête au lieu d'arrêt.
PCT/EP2020/050558 2019-01-11 2020-01-10 Procédé de commande automatisée d'un véhicule et organe de commande WO2020144339A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019100600.7 2019-01-11
DE102019100600.7A DE102019100600A1 (de) 2019-01-11 2019-01-11 Verfahren zum automatisierten Steuern eines Fahrzeugs und Steuergerät

Publications (1)

Publication Number Publication Date
WO2020144339A1 true WO2020144339A1 (fr) 2020-07-16

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ID=69165369

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Application Number Title Priority Date Filing Date
PCT/EP2020/050558 WO2020144339A1 (fr) 2019-01-11 2020-01-10 Procédé de commande automatisée d'un véhicule et organe de commande

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DE (1) DE102019100600A1 (fr)
WO (1) WO2020144339A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013004271A1 (de) * 2013-03-13 2013-09-19 Daimler Ag Verfahren und Vorrichtung zur Unterstützung eines Fahrers beim Führen eines Fahrzeugs
WO2015039654A2 (fr) * 2013-09-23 2015-03-26 Conti Temic Microelectronic Gmbh Procédé de détection d'un agent de la circulation par un système d'assistance à la conduite d'un véhicule automobile ainsi que système d'assistance à la conduite
DE102015004605A1 (de) * 2015-04-08 2016-10-13 Audi Ag Verfahren zum Betrieb eines Steuersystems einer Mobileinheit und Mobileinheit
DE102016011271A1 (de) * 2016-09-17 2017-04-13 Daimler Ag Verfahren zur Leitung eines Fahrzeuges durch ein Einsatzfahrzeug
DE102018110570A1 (de) * 2018-05-03 2018-09-27 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Verfahren und System zum gezielten Übermitteln einer Nachricht

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017213968A1 (de) * 2017-08-10 2019-02-14 Robert Bosch Gmbh Verfahren, Vorrichtung und System zum Durchführen einer Verkehrskontrolle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013004271A1 (de) * 2013-03-13 2013-09-19 Daimler Ag Verfahren und Vorrichtung zur Unterstützung eines Fahrers beim Führen eines Fahrzeugs
WO2015039654A2 (fr) * 2013-09-23 2015-03-26 Conti Temic Microelectronic Gmbh Procédé de détection d'un agent de la circulation par un système d'assistance à la conduite d'un véhicule automobile ainsi que système d'assistance à la conduite
DE102015004605A1 (de) * 2015-04-08 2016-10-13 Audi Ag Verfahren zum Betrieb eines Steuersystems einer Mobileinheit und Mobileinheit
DE102016011271A1 (de) * 2016-09-17 2017-04-13 Daimler Ag Verfahren zur Leitung eines Fahrzeuges durch ein Einsatzfahrzeug
DE102018110570A1 (de) * 2018-05-03 2018-09-27 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Verfahren und System zum gezielten Übermitteln einer Nachricht

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