WO2022184602A1

WO2022184602A1 - Method for keeping to a minimum distance between two vehicles

Info

Publication number: WO2022184602A1
Application number: PCT/EP2022/054904
Authority: WO
Inventors: Hendrik HOPPMANN; Janis Köstermann; Jörg Voltmer
Original assignee: Volkswagen Aktiengesellschaft
Priority date: 2021-03-03
Filing date: 2022-02-28
Publication date: 2022-09-09
Also published as: EP4292070A1; DE102021202066A1

Abstract

The invention relates to a method for keeping to a minimum distance (10) between two vehicles, in particular motor vehicles, wherein at least one first vehicle (12) emits signals (14), wherein the signals (14) emitted by the first vehicle (12) are received by at least one second vehicle (16). In a method in which it is possible to perceive and keep to the individually required minimum distance from other road users, provision is made for at least the first vehicle (12) to emit signals (14) indicating the minimum distance (10) from the first vehicle (12) which is necessary irrespective of the speed of the first vehicle (12).

Description

description

Procedure for maintaining a minimum distance between two vehicles

The invention relates to a method for maintaining a minimum distance between two vehicles, in particular motor vehicles, with signals being transmitted by at least a first vehicle, with the signals transmitted by the first vehicle being received by at least a second vehicle.

There are situations in road traffic that require that minimum distances to vehicles must be maintained so that traffic flow and other processes can be maintained without danger. It is known in the prior art that stickers or signs, for example, are attached to the rear of the vehicle in question to indicate a distance. Signs or stickers can be difficult to see. They also give no justification for the requested distance, so they are often ignored by other road users.

As technology has advanced, other means of communication have also become possible. US 2019/0 308632 A1, for example, shows a method for determining and dynamically maintaining safety distances between vehicles, in particular for operating autonomous vehicles. The vehicles communicate with each other in order to determine and set minimum distances dependent on speed and/or acceleration.

However, these distances are not matched to the individual vehicle, but are generally determined using the driving style metrics of the vehicle in front. For example, a distance to be maintained when transporting sick or disabled persons serves as an evacuation distance. For example, if the vehicle catches fire in stationary traffic, the person must be evacuated from the rear of the vehicle using a stretcher or wheelchair. If there is another vehicle behind the vehicle without the required distance, which cannot be moved due to the stationary traffic, an evacuation is not possible. The invention is therefore based on the object of specifying a method for maintaining distances between two vehicles, in which it is made possible to perceive the individually required minimum distance from a first vehicle more easily and to maintain it correspondingly easily.

This object is achieved in the present invention by the features of the characterizing part of claim 1 in that at least the first vehicle transmits signals indicating the minimum distance required, regardless of the speed of the first vehicle from the first vehicle.

The signals sent out can be based on different wireless transmission standards. Any transmission is conceivable that is suitable for enabling communication between two vehicles.

The minimum distance is individually dependent on the type and actual movement of the vehicle. For safety reasons, the minimum distance must be maintained when cornering, for example in the case of large vehicles that swerve when turning. In addition, the minimum distance from all directions relative to the vehicle must be observed. The minimum distance can be taken into account when driving in the following direction, but also, for example, the lateral distance when changing lanes and/or when turning off a side street.

Further preferred configurations of the invention result from the remaining features mentioned in the dependent claims.

In a first embodiment of the method according to the invention, it is provided that the first vehicle transmits signals indicating the minimum distance required when stationary from the first vehicle. Situations in which the first vehicle is forced to stand can arise, for example, in general in stationary traffic, at traffic lights and/or in traffic jams. In these situations, it is necessary for the vehicle to be able to be evacuated by maintaining the minimum distance.

In a further embodiment of the method according to the invention, it is advantageously provided that the minimum distance can be varied as a function of the situation. A fixed minimum distance may not be permanently required for the same vehicle. This may vary depending on the current situation. It is conceivable, for example, that during an ambulance transport for evacuation through the rear door, a minimum distance must be maintained so that a stretcher can be easily removed from the vehicle. As long as no patient transport is carried out, such an evacuation distance is not necessary. The signal can therefore be transmitted depending on the status of the vehicle. A smaller minimum distance can be transmitted to the second vehicle if no patient transport is carried out. Accordingly, a larger minimum distance can be transmitted when the vehicle is occupied.

In addition, in a further embodiment of the invention, it is provided that signals relating to the minimum distance behind the first vehicle and/or in front of the first vehicle and/or to the side of the first vehicle are transmitted. Different clearances may be required for different vehicles. When transporting an ambulance, a safe distance behind the first vehicle is required for loading and unloading a stretcher or other material. When transporting disabled people, a safety distance behind the vehicle is necessary for loading and unloading a wheelchair or other material. For other large vehicles, a safety distance is required behind the first vehicle and to the side of the first vehicle, since a safety distance behind the vehicle is required for loading and unloading. With a large swivel range when maneuvering and/or turning, a minimum lateral distance is required.

Other emergency vehicles, for example the fire brigade or the THW (Technical Relief Agency) also require a safe distance in all directions, i.e. in front of, behind and to the side of the vehicle, for unloading material (e.g. ladders from the roof), for the pump service station at the rear of a fire engine, for fold-out or extendable loading (e.g. power generators), for lateral supports in aerial rescue vehicles and/or for the setting down area of a roll-off container in swap-body vehicles. As a rule, these distances apply both during and when not in use.

In order to ensure standardized signal transmission, a further embodiment of the method according to the invention provides for the signals to be transmitted using C2X communication. Modern vehicles are often equipped with C2X radio modules in order to exchange standardized messages with each other and with the infrastructure. Examples of this are the CAM (Cooperative Awareness Message) or DENM (Decentralized Environmental Notification Message) of the ETSI standard for C2X communication. By using the C2X standard, a wide range of vehicles can communicate with each other. The information continues in the second vehicle processed and appropriate measures derived.

In a preferred embodiment of the method according to the invention, it is provided that the transmitted signals are processed in such a way that the transmitted required minimum distance from the first vehicle can be signaled to an occupant of the second vehicle. The information can be output by an acoustic message, for example.

Advantageously, however, it is provided in a further embodiment that the transmitted minimum distance is displayed visually. The visual representation can be shown in a display area of a display device, for example. The display area of the display device can be a display in the middle area or in the cockpit area, for example in the instrument cluster of the vehicle. Alternatively or additionally, the display area of the display device can be designed as a head-up display. A head-up display is to be understood as a display area in which the driver can maintain his head position or line of sight because the information is projected into his field of vision, for example onto the windshield of the vehicle.

The head-up display makes it possible to display the minimum distance, for example, as a contact-analogous virtual element in such a way that the driver of the second vehicle gets the impression that the minimum distance around the first vehicle is being projected onto the ground or the environment. In this way, the driver of the vehicle automatically displays the correct minimum distance in his field of vision.

The second vehicle evaluates the data received and displays the evacuation zones to be kept clear, for example as restricted areas. This can be shown, for example, in a head-up display or in an external camera view (AreaView, TopView) on the central display. Traffic signs, such as a no stopping area or keywords such as "evacuation area" and/or "keep clear" can also be displayed in the blocked area shown.

In order to increase the motivation for other road users to keep the minimum distance, a further embodiment of the invention provides that signals are transmitted by the first vehicle to the effect that a reason for the minimum distance is transmitted. In addition to the transmission of the required minimum distance, further information can be transmitted to the driver through a justification, which the driver of the convey to the second vehicle why the distance should be maintained. A message such as, for example, that a distance from the vehicle in front should be maintained in order to enable the occupants to be evacuated in an emergency, provides the driver of the second vehicle with a potential motivation to maintain the minimum distance. Precisely this justification is missing in the conventional signs or stickers.

Additionally or alternatively, in a further embodiment of the method according to the invention, it is provided that a parameterization of driver assistance systems, which the second vehicle has, is carried out as a function of the transmitted signals with regard to the minimum distance. Driver assistance systems use a front radar, for example, to recognize the current distance to the vehicle in front and provide information if, for example, the vehicle is tailgating too closely. Furthermore, driver assistance systems also take over braking functions if the driver of the vehicle does not react in time. The driver assistance system calculates the stopping distance so that the vehicle comes to a standstill in good time before the vehicle in front. If the vehicle in front sends out a corresponding signal that a certain minimum distance should be maintained, this distance must be included in the calculation of the driver assistance system. Emergency braking must therefore be triggered earlier.

It is also conceivable that a driver assistance system also takes the information into account when the vehicle is stationary. For example, it can be provided that the second vehicle can only approach the first vehicle at a specific distance and/or radius if a specific minimum distance is specified.

In a further embodiment of the invention, it is provided that at least the second vehicle is configured autonomously and that driving maneuver calculations of the autonomous vehicle are carried out as a function of the transmitted signals with regard to the minimum distance. Automated and autonomous vehicles calculate their driving maneuvers based on the environment recorded by sensors. For example, when starting at a red traffic light, the vehicle would be braked in such a way that it would come to a standstill at a certain distance in front of the vehicle in front. However, if the vehicle in front transmits a corresponding signal that a certain minimum distance should be maintained, this distance must be included in the calculation of the driving maneuver. Unless stated otherwise in the individual case, the various embodiments of the invention mentioned in this application can advantageously be combined with one another.

The invention is explained below in exemplary embodiments with reference to the associated drawings. Show it:

Figure 1 shows the schematic representation of the implementation of an embodiment of a method according to the invention in relation to an empty rescue vehicle,

FIG. 2 shows the schematic representation of the implementation of the exemplary embodiment according to FIG. 1 in relation to the implementation of an ambulance transport,

Figure 3 shows the schematic representation of the implementation of an embodiment of a method according to the invention in relation to a large vehicle,

Figure 4 shows the schematic representation of the implementation of an embodiment of a method according to the invention in relation to a fire truck and

Figure 5 shows the schematic representation of the minimum distance in the display area of a

head-up displays.

FIG. 1 shows a schematic representation of an exemplary embodiment of a method for maintaining a minimum distance 10. This minimum distance 10 from a first vehicle 12 is transmitted to a second vehicle 16 by emitting signals 14. In the exemplary embodiment according to FIG. 1, the first vehicle 12 is an emergency vehicle. Inside the first vehicle 12 is a stretcher 18 that is not occupied by a patient. In addition, the rescue vehicle is not in an acute deployment to an accident site at this time. Consequently, the rescue vehicle does not require a large minimum distance behind the vehicle, since it is not necessary to evacuate the vehicle or load and unload the stretcher 18 . The required minimum distance 10 is therefore transmitted by the first vehicle 12 with a comparatively low value. The signals 14 are a C2X communication whose signals 14 can be received by the second vehicle 16 and other vehicles not shown here. FIG. 2 shows the exemplary embodiment according to FIG. 1 with the difference that the stretcher 18 is occupied by a patient 20 . In this case, the transmitted minimum distance 10 is increased since a minimum distance 10 is required that is large enough to enable the first vehicle 12 to be evacuated. If the first vehicle 12 catches fire in stationary traffic, for example, the patient 20 must be evacuated from the rear of the first vehicle 12 together with the stretcher 18 or a wheelchair. If the second vehicle 16 or another vehicle that cannot be moved due to the stationary traffic is behind the first vehicle 12 without the required distance, an evacuation is not possible. The required minimum distance 10 can consequently be changed depending on the situation, so that the currently required minimum distance 10 is transmitted.

In Figure 3, the first vehicle 12 is a truck. In the case of such large vehicles, a safety distance behind the first vehicle 12 and to the side of the first vehicle 12 is required, since a safety distance behind the vehicle is required for loading and unloading. With a large swivel range when maneuvering and/or turning, a minimum lateral distance is required.

FIG. 4 shows the first vehicle 12 as an emergency vehicle. Such an emergency vehicle, for example the fire brigade or the THW, requires a safe distance in all directions, ie in front of, behind and to the side of the first vehicle 12, for unloading material, for example a ladder 22 from the roof. In addition, operation from the pump service station (not shown here) at the rear of the emergency vehicle must be guaranteed. In addition, a lateral distance for lateral supports 24 must remain. As a rule, these distances apply both during and when not in use.

Figure 5 shows the display area 26 of a display device 28 in the second vehicle 16. The transmitted signals 14 are processed by an evaluation device in the second vehicle 16 in such a way that the driver of the second vehicle 16 is shown the required minimum distance 10 from the first vehicle 12 visually. The display area 26 is a head-up display. Especially with head-up displays, a virtual display is created by an imaging unit integrated in the dashboard, such as a TFT display. This image is directed via a series of mirrors towards the windshield, where the light is reflected into the driver's eye. The driver perceives this image as a virtual display in the field of vision. When designing such systems, the area into which the light is reflected is spatially limited in order to achieve higher brightness through less light scattering. This area is referred to as the "EyeBox" because the driver's field of vision must be in this area in order to be able to perceive the virtual image.

The driver of the second vehicle 16 thus sees the first vehicle 12 through the windshield within the EyeBox. At least one virtual element 30 can be shown to the driver in the area of the eyebox. Three-dimensional coordinates for locating virtual element 30 are determined on the basis of transmitted signals 14 , virtual element 30 being transformed as a two-dimensional image into the three-dimensional space that is displayed in display area 26 of display device 30 . The virtual element 30 is displayed in the display area 26 of the display device 28 in relation to the three-dimensional space in front of the second vehicle 16 in the correct perspective in the field of vision of the driver of the second vehicle 16 .

In this way, it appears to the driver of the second vehicle 16 that the specified minimum distance 10 including a conspicuous inscription 32 is displayed on the roadway.

List of reference symbols Minimum distance First vehicle Signal Second vehicle Stretcher Patient Ladder Lateral supports Display area Display device Virtual element Labeling

Claims

patent claims

1. A method for maintaining a minimum distance (10) between two vehicles, in particular motor vehicles, with at least one first vehicle (12) transmitting signals (14), with at least one second vehicle (16) transmitting those transmitted by the first vehicle (12). Signals (14) are received, characterized in that at least the first vehicle (12) transmits signals (14) to the effect which minimum distance (10) is required regardless of the speed of the first vehicle (12) from the first vehicle (12). and that the first vehicle (12) transmits signals (14) indicating the minimum distance (10) required when stationary from the first vehicle (12).

2. The method according to claim 1, characterized in that the minimum distance (10) can be varied depending on the situation.

3. The method according to any one of claims 1 or 2, characterized in that signals (14) relating to the minimum distance (10) behind the first vehicle (12) and / or in front of the first vehicle (12) and / or to the side of the first vehicle ( 12) are sent out.

4. The method according to any one of claims 1 to 3, characterized in that the signals (14) are transmitted by means of C2X communication.

5. The method according to any one of claims 1 to 4, characterized in that the transmitted signals (14) are processed such that an occupant of the second vehicle (16) of the transmitted required minimum distance (10) to the first vehicle (12) can be signaled .

6. The method according to claim 5, characterized in that the transmitted minimum distance (10) is displayed visually.

7. The method according to any one of claims 1 to 6, characterized in that the first vehicle (12) transmits signals (14) to the effect that a justification for the minimum distance (10) is transmitted.

8. The method according to any one of claims 1 to 7, characterized in that a parameterization of driver assistance systems, which the second vehicle (16) has, is carried out as a function of the transmitted signals (14) with regard to the minimum distance (10).

9. The method according to any one of claims 1 to 8, characterized in that at least the second vehicle (16) is designed autonomously and that driving maneuver calculations are carried out as a function of the transmitted signals (14) with respect to the minimum distance (10).