WO2021151581A1

WO2021151581A1 - Driver assistance system and method for controlling a vehicle, in particular a commercial vehicle

Info

Publication number: WO2021151581A1
Application number: PCT/EP2020/086408
Authority: WO
Inventors: Nicola Alexandra Krombach; Janka Torgau
Original assignee: Robert Bosch Gmbh
Priority date: 2020-01-27
Filing date: 2020-12-16
Publication date: 2021-08-05
Also published as: DE102020200951A1

Abstract

The invention relates to a driver assistance system for a vehicle, in particular a commercial vehicle, comprising: an interface, which is designed to receive sensor signals from at least one environment sensor of the vehicle, in particular the commercial vehicle; and a computing device, which is designed to identify a roadworks situation, and is designed to generate a control signal for adapting a vehicle dynamics and/or the driving trajectory of the vehicle, in particular the commercial vehicle, when the roadworks situation is identified using the sensor signals, and to output the control signal via the interface in order to control the vehicle, in particular the commercial vehicle.

Description

description

title

Driver assistance system and method for controlling a vehicle, in particular a commercial vehicle

The present invention relates to a driver assistance system and a method for controlling a vehicle, in particular a commercial vehicle.

State of the art

Driver assistance systems contribute to a comfortable driving experience by helping the driver to steer the vehicle. In addition, driver assistance systems can increase the safety of your own vehicle and other road users.

A lane departure warning device is known from DE 10 2015 216 152 A1, a curve in a lane ahead being evaluated. A maximum deviation limit of a transverse deviation of the motor vehicle from its own lane is determined by a tolerance threshold value. The tolerance threshold value is adapted in such a way that the intersection of an adjacent lane in the curve is tolerated.

However, the acceptance of driver assistance systems in the commercial vehicle sector in construction site situations is relatively low. In order to improve acceptance, the driver assistance systems would have to be adapted to the driving behavior and vehicle dynamics of the individual commercial vehicles.

In the area of motorway construction sites, the ambient conditions are unfavorable due to fixed lane markings such as concrete elements, delineator posts, traffic cones (pylons) and the like, as well as due to the limited lane widths, especially for larger commercial vehicles. In the case of commercial vehicles, motorway construction sites therefore require extremely high levels of attention from the driver.

It is often inevitable that larger commercial vehicles will be in the next lane evade or drive partly in the middle of both lanes. This results in an increased risk both for the commercial vehicle and for other road users.

Disclosure of the invention

The invention provides a driver assistance system for a vehicle, in particular a utility vehicle, with the features of claim 1 and a method for controlling a vehicle, in particular a utility vehicle, with the features of claim 9.

Preferred embodiments are the subject of the respective subclaims.

According to a first aspect, the invention accordingly relates to a driver assistance system for a vehicle, in particular a utility vehicle, with an interface and a computing device. The interface receives sensor signals from at least one environment sensor of the vehicle, in particular a commercial vehicle. The computing device recognizes a construction site situation. When the construction site situation is recognized, the computing device uses the sensor signals to generate a control signal for adapting driving dynamics and / or a driving trajectory of the vehicle, in particular a commercial vehicle. The computing device outputs the control signal for controlling the vehicle, in particular the commercial vehicle, via the interface.

According to a second aspect, the invention accordingly relates to a method for controlling a vehicle, in particular a commercial vehicle. Sensor signals are generated by at least one environment sensor of the vehicle, in particular a commercial vehicle. A construction site situation is recognized. On the basis of the sensor signals, a control signal for adapting a driving dynamics and / or a driving trajectory of the vehicle, in particular a commercial vehicle, is generated as soon as the construction site situation is recognized. The vehicle, in particular a commercial vehicle, is controlled on the basis of the control signal.

Advantages of the invention

By using the driver assistance system according to the invention, drivers of a vehicle, in particular a commercial vehicle, can be in critical Construction site situations are relieved. The invention is therefore particularly advantageous for heavy commercial vehicles with complex dynamic driving behavior.

In the context of this invention, the “utility vehicles” can in particular be trucks, omnibuses, crane trucks, tractors, hazardous goods transporters or the like.

The “construction site situation” can in particular be a construction site on structurally separate expressways or motorways, the vehicle, in particular a commercial vehicle, traveling on the motorway. In particular, the invention can thus be used for motorway journeys without oncoming traffic.

“Driving dynamics” can be understood to mean, for example, an acceleration or the speed to be driven or the speed profile to be driven, a transverse acceleration, a transverse inclination or a steering angle.

By adapting the driving dynamics or the driving trajectory of the vehicle, in particular the commercial vehicle, the hazard potential in the area of the construction sites can be significantly reduced. Particularly preferably, the specific properties of the vehicle, in particular the commercial vehicle, can be discussed here. The driver can be relieved in critical construction site situations. This can increase the acceptance of driver assistance functions in the commercial vehicle sector at construction sites.

According to one embodiment of the driver assistance system, the computing device is designed to generate the control signal taking into account at least one of the following parameters:

- a number of lanes of a roadway on which the vehicle, in particular a commercial vehicle, is moving,

- a time of day,

- an ambient brightness (for example: daylight, twilight, night),

- of a type (e.g. pothole, pedestrian, construction site worker, vehicle, construction site vehicle, concrete boundary, crash barriers, delineator posts, traffic cones, construction site boundary, etc.) and / or properties (e.g. dimensions, speed, hazard potential) and / or a number of objects in the Area of the construction site, which are recognized by means of the sensor signals,

- a communication signal received via a communication interface,

- a type of commercial vehicle (e.g. train combination),

- the weight of the vehicle, especially the commercial vehicle,

- a dimension of the vehicle, in particular a commercial vehicle (i.e. in particular a length and / or a width of the vehicle, in particular a commercial vehicle),

- a speed of the vehicle, in particular a commercial vehicle,

- an acceleration of the vehicle, in particular a commercial vehicle, and

- A current travel trajectory of the vehicle, in particular a commercial vehicle. According to one embodiment, it can be provided to determine at least the detected lanes, the ambient brightness, the objects, the weight of the vehicle, in particular the commercial vehicle, the type of the vehicle, in particular the commercial vehicle, and the speed of the vehicle, in particular the commercial vehicle. Other parameters, such as the time or time of day, can be optional.

According to one embodiment, the driver assistance system has an output device, wherein the computing device is further designed to generate an output signal when the construction site situation is recognized and to output it to a driver of the vehicle, in particular a commercial vehicle, via the output device. The output device can output a haptic, optical and / or acoustic signal. In particular, it can be provided to output a cascade of such signals. First a haptic signal, then an additional optical signal and finally an acoustic signal can be output. The driver of the vehicle, in particular the utility vehicle, can thus be informed by means of the output device when the construction site situation is recognized. This enables the driver to react in good time and, if necessary, initiate appropriate driving maneuvers.

According to one embodiment, the driver assistance system has a communication interface which is designed to communicate with other road users. The communication interface can provide V2V communication (vehicle-to-vehicle). In particular, the utility vehicle can be part of a vehicle fleet. The computing device is for this designed to generate a communication signal when the construction site situation is recognized and output it via the communication interface. Alternatively or additionally, the computing device can provide information about a recognized or detected hazardous situation.

According to one embodiment of the driver assistance system, the utility vehicle can be linked to or communicate with other vehicles via a cloud. The vehicle, in particular a commercial vehicle, can communicate via a V2X traffic network (vehicle-to-everything; V2X). V2X communication includes vehicle-to-vehicle communication (V2V), vehicle-to-road communication (V2R), vehicle-to-infrastructure communication (V2I), vehicle-to-network communication (V2N) and vehicle -to-person communication (V2P) can be understood. Using V2X communication, the utility vehicle can communicate the recognition of the construction site situation and / or a recognized or detected hazard situation as well as additionally or alternatively the type of adaptation of the driving dynamics and / or driving trajectory to other road users. The other road users can thus be warned at an early stage and, if necessary, adapt their own driving or movement behavior accordingly.

According to one embodiment of the driver assistance system, the computing device is designed to recognize the construction site situation on the basis of the sensor signals of the at least one environment sensor and / or on the basis of navigation data. The navigation data can include, for example, GPS data and current traffic information data.

According to one embodiment of the driver assistance system, the computing device is further designed to use the sensor signals to calculate a potential hazard to other road users or objects from the vehicle, in particular a commercial vehicle, and to adapt the driving dynamics and / or the driving trajectory of the vehicle, in particular a commercial vehicle, using the calculated hazard potential perform. The computing device can be designed to take into account the type and properties of the other road users or objects when calculating the hazard potential. According to one embodiment of the driver assistance system, calculating the hazard potential includes calculating a suction effect of the vehicle, in particular the commercial vehicle.

According to one embodiment of the driver assistance system, calculating the hazard potential includes calculating a probability of a collision between the vehicle, in particular the commercial vehicle, with other road users or objects. The computing device can be designed to adapt the driving dynamics and / or driving trajectory of the vehicle, in particular the commercial vehicle, as a function of the calculated collision probability. In the event of an increased or high probability of a collision, the computing device can, for example, carry out a braking maneuver or evasive maneuver. It can further be provided to warn the driver of the vehicle, in particular the commercial vehicle, and to hand over the steering of the vehicle to the driver and to bring the vehicle, in particular the commercial vehicle, into a safe state.

According to one embodiment of the method for controlling the vehicle, in particular a commercial vehicle, when the construction site situation is recognized, an output signal is generated and output to a driver of the vehicle, in particular a commercial vehicle, via an output device.

Brief description of the drawings

Show it:

Figure 1 is a schematic block diagram of a utility vehicle with a

Driver assistance system according to one embodiment of the invention;

Figure 2 is a plan view of a schematic driving situation for

Explanation of the functionality of the driver assistance system; and

FIG. 3 shows a flow diagram of a method for controlling a

Commercial vehicle according to one embodiment of the invention. Identical or functionally identical elements and devices are provided with the same reference symbols in all figures. The numbering of process steps is for the sake of clarity and is generally not intended to imply a specific chronological order. In particular, several method steps can also be carried out at the same time.

Description of the exemplary embodiments

FIG. 1 shows a schematic block diagram of a utility vehicle 5 with a driver assistance system 1. The utility vehicle 5 can be, for example, a truck, an omnibus, a crane truck, a tractor, a dangerous goods transporter or the like.

The utility vehicle 5 has one or more environment sensors 4 which generate and output sensor signals. The environment sensors 4 can for example include at least one of vehicle cameras, radar sensors, infrared cameras, lidar sensors, ultrasonic sensors or the like.

The driver assistance system 1 comprises an interface 2 which receives the sensor signals. The interface 2 can communicate with the environment sensors 4 by means of electrical or optical cables or via a wireless interface such as WLAn, Bluetooth or the like.

The received sensor signals are transmitted from the interface 2 to a computing device 3. The computing device 3 comprises one or more processors, microprocessors, integrated circuits, FPGAs or the like, and is designed for further evaluation of the sensor signals. The computing device 3 can further comprise one or more memories, for example RAM, ROM or the like, in order to store the received sensor signals.

The computing device 3 can also be provided with navigation data via the interface 2. For this purpose, the driver assistance system 1 can include a GPS module, for example.

The computing device 3 can recognize a construction site situation on the basis of the sensor signals and / or on the basis of the navigation data. For example, can Signs of the construction site, specific lane boundaries in the construction site area, a narrowing of the roadway, contamination of the roadway or the like can be detected on the basis of the sensor signals.

If the computing device 3 detects the construction site situation, it generates a control signal based on the sensor signals. A driving dynamics and / or a driving trajectory of the commercial vehicle 5 is adapted by means of the control signal. The control signal is output via interface 2. The vehicle can be automatically steered, braked or accelerated based on the control signal. As a result, the driving dynamics and / or driving trajectory are adapted, as calculated by the computing device 3.

The driver assistance system 1 further comprises an output device 6, the computing device 3 generating an output signal when the construction site situation is recognized and outputs it to the driver of the commercial vehicle 5 via the output device 6.

The driver assistance system 1 finally includes a

Communication interface 7 to inform other road users when the construction site situation is recognized by means of a communication signal.

FIG. 2 shows a top view of a schematic driving situation to explain the mode of operation of the driver assistance system 1. The commercial vehicle 5 drives on a roadway with two lanes 13, 14 a second corridor 12 for monitoring the inner lane 13. Another vehicle 8 can also be detected in the inner lane 13, wherein the utility vehicle 5 can be connected to the further vehicle 8 via V2V communication or V2X communication. Furthermore, track cones 10-1 to 10-4 and a construction site worker 9 can be recognized on the basis of the sensor signals.

The commercial vehicle 5 is currently following a first driving trajectory TI. On the basis of the sensor signals, the computing device 3 calculates an adapted travel trajectory T2. This is offset by a distance d from the original travel trajectory TI. The adapted travel trajectory T2 can be calculated in such a way that a corresponding travel corridor along the second Driving trajectory T2 has a predetermined minimum distance from the cones 10-1 to 10-4 and from the construction site worker 9. The minimum distance can depend on a type of object 9, 10-1 to 10-4 and on other properties of the objects 9, 10-1 to 10-4. For example, the speed of objects 9, 10-1 to 10-4 can also be taken into account. For people, such as the construction site employee 9, the minimum distance can be selected to be greater than for static objects, such as the track cones 10-1 to 10-4. An additional safety distance is therefore taken into account for people in order to minimize the suction effects and to protect people.

FIG. 3 shows a flow diagram of a method for controlling a utility vehicle 5 according to an embodiment of the invention. The method can be carried out using the driver assistance system 1 described above.

In a first method step S1, input parameters are provided. These can in particular be generated or calculated using the sensor data from at least one environment sensor 4 of the commercial vehicle 5. The input parameters can also be generated using navigation data, such as GPS data or map data. The input parameters include, for example, at least one of a number of lanes of the roadway on which the utility vehicle 5 is moving, a time of day, ambient brightness, a type and / or properties and / or a number of objects 9, 10-1 to 10-4 in the area of the construction site, a communication signal received via a communication interface, a weight of the commercial vehicle 5, a dimension of the commercial vehicle 5, a speed of the commercial vehicle 5 and a current travel trajectory TI of the commercial vehicle 5.

The control method is initialized in a second method step S2.

In a third method step S3, the corridors of the relevant objects are determined. For example, a first corridor 11 of the host vehicle, ie of the utility vehicle 5, and a second corridor 12 for monitoring the inner lane 13 can be determined. In a further method step S4, a collision probability of the commercial vehicle 5 with other objects is calculated on the basis of the planned travel trajectory TI. Here, at least some of the input parameters can also be taken into account, for example the vehicle width of the utility vehicle 5, the speed of the utility vehicle 5 and the objects. A required distance d from the objects 9, 10-1 to 10-4 is also calculated.

To calculate the required distance d, it can be determined in a method step S5 whether it is a person or a static object. In the case of a person, in addition to a predetermined minimum distance from the utility vehicle 5, a safety distance is added in order to calculate the required distance d.

In a further method step S6, a warning signal relating to the objects is output to other road users or to the vehicle fleet via V2V or V2X communication.

In a method step S7, sensor signals from an environment sensor system are used to compare whether there are further objects or road users in the second corridor 12 for monitoring the inner lane.

In a method step S8, a decision is made as a function of whether a road user is in the second corridor 12.

If the object is not located in the second corridor 12, the object type of the object is determined in a method step S9.

If it is a person, the vehicle speed of the utility vehicle 5 is reduced in a method step S10. Then, in a method step Sil, the driving trajectory is shifted, i.e. adapted, as a function of the calculated distance d_obj. If the object is static, the speed is not reduced, i.e. method step S10 can be omitted.

In a method step S12, an acoustic, optical and / or haptic warning signal is sent to a driver of the vehicle via an actuator issued to inform him of the planned evasive maneuver. Method step S2 is then repeated.

If it is recognized in method step S8 that an object is partially located in the second corridor 12, then a distance becomes a possible one

Collision location calculated, S13.

If it is determined that the distance is less than a predefined threshold value, S15, the handover to the driver of the utility vehicle 5 is carried out in order to initiate a safe state, S16.

If it is determined that the distance is greater than the predefined threshold value, S14, method step S2 is repeated. If it is recognized in method step S8 that an object is completely located in the second corridor 12, a warning is output to the driver of the utility vehicle 5 via an output device 6 of the utility vehicle 5, S17. Provision can optionally be made to output a warning cascade, i.e. a sequence of optical, acoustic and / or haptic warning signals, S18.

The speed of the utility vehicle 5 is further reduced, S19, and it is calculated whether there is a specific risk of collision, S20. If this is the case, the process is transferred to the driver, S16, otherwise method step S2 is repeated.

Claims

Expectations

1. Driver assistance system (1) for a vehicle (5), in particular a commercial vehicle (5), with an interface (2) which is designed to receive sensor signals from at least one environment sensor (4) of the vehicle (5), in particular a commercial vehicle (5) to recieve; and a computing device (3) which is designed to recognize a construction site situation and is designed to use the sensor signals to generate a control signal for adapting driving dynamics and / or a driving trajectory (TI, T2) of the vehicle (5) when the construction site situation is recognized. , in particular the commercial vehicle (5), and output the control signal for controlling the vehicle (5), in particular the commercial vehicle (5), via the interface (2).

2. Driver assistance system (1) according to claim 1, wherein the computing device (3) is designed to generate the control signal taking into account at least one of the following parameters:

- a number of lanes of a roadway on which the vehicle (5), in particular a commercial vehicle (5), is moving,

- a time of day,

- an ambient brightness,

- a type and / or properties and / or a number of objects (10) in the area of the construction site, which are recognized on the basis of the sensor signals,

- a communication signal received via a communication interface (7),

- a weight of the vehicle (5), in particular the commercial vehicle (5),

- a dimension of the vehicle (5), in particular a commercial vehicle (5),

- a speed of the vehicle (5), in particular a commercial vehicle (5), and

- A current driving trajectory (TI) of the vehicle (5), in particular the commercial vehicle (5).

3. Driver assistance system (1) according to claim 1 or 2, further with an output device (6), wherein the computing device (3) is further designed to generate an output signal when recognizing the construction site situation and via the output device (6) to a driver of the Vehicle (5), in particular a commercial vehicle (5).

4. Driver assistance system (1) according to one of the preceding claims, further with a communication interface (7) which is designed to communicate with other road users (8), the computing device (3) being designed to generate a communication signal when the construction site situation is recognized to be generated and output via the communication interface (7).

5. Driver assistance system (1) according to one of the preceding claims, wherein the computing device (3) is designed to recognize the construction site situation on the basis of the sensor signals of the at least one environment sensor (4) and / or on the basis of navigation data.

6. Driver assistance system (1) according to one of the preceding claims, wherein the computing device (3) is further designed to use the sensor signals to identify a potential risk to other road users (8) or objects (10) from the vehicle (5), in particular commercial vehicle (5) to calculate, and to carry out the adaptation of the driving dynamics and / or the driving trajectory (TI, T2) of the vehicle (5), in particular the commercial vehicle (5), using the calculated hazard potential.

7. Driver assistance system (1) according to claim 6, wherein the calculation of the hazard potential comprises the calculation of a suction effect of the vehicle (5), in particular the commercial vehicle (5).

8. Driver assistance system (1) according to claim 6 or 7, wherein the calculation of the hazard potential includes calculating a collision probability of the vehicle (5), in particular the commercial vehicle (5) with other road users (8) or objects (10).

9. A method for controlling a vehicle (5), in particular a commercial vehicle (5), with the steps:

Generation of sensor signals by at least one environment sensor (4) of the vehicle (5), in particular a commercial vehicle (5);

Recognition of a construction site situation; and

Using the sensor signals, generating a control signal for adapting a driving dynamics and / or a driving trajectory (TI, T2) of the vehicle (5), in particular a commercial vehicle (5), as soon as the construction site situation is recognized; and

Controlling the vehicle (5), in particular the commercial vehicle (5), on the basis of the control signal.

10. The method according to claim 9, wherein when the construction site situation is recognized, an output signal is generated and output to a driver of the vehicle (5), in particular a commercial vehicle (5), via an output device (6).

11. A computer program which is set up to carry out and / or control each step of the method according to claim 9 or 10.

12. Machine-readable storage medium on which a computer program according to claim 11 is stored.