WO2022268424A1 - Method for operating a vehicle - Google Patents
Method for operating a vehicle Download PDFInfo
- Publication number
- WO2022268424A1 WO2022268424A1 PCT/EP2022/063937 EP2022063937W WO2022268424A1 WO 2022268424 A1 WO2022268424 A1 WO 2022268424A1 EP 2022063937 W EP2022063937 W EP 2022063937W WO 2022268424 A1 WO2022268424 A1 WO 2022268424A1
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- Prior art keywords
- vehicle
- danger
- probability
- driving speed
- information
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000007613 environmental effect Effects 0.000 claims description 11
- 231100001261 hazardous Toxicity 0.000 claims description 6
- 230000003111 delayed effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- 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
- B60W30/18109—Braking
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Definitions
- the invention relates to a method for operating a vehicle in automated ferry mode, with a current driving speed of the vehicle being limited to a maximum permissible driving speed, which is adapted to a detection range of an environmental sensor system that detects a section of road ahead of the vehicle, and the vehicle being provided with data from a coupled computer unit information about an upcoming danger point are transmitted
- DE 102013 021 835 A1 discloses a method for warning of a dangerous spot in road traffic.
- the method provides that an abrupt driving maneuver is carried out for at least one motor vehicle when it reaches the danger point, the abrupt driving maneuver being registered and a message being generated with which the abrupt driving maneuver is pointed out.
- This message is transmitted to a server, received by it and transmitted by the server to at least one other motor vehicle.
- the invention is based on the object of specifying a method for operating a vehicle in automated ferry operations.
- a method for operating a vehicle in automated ferry operation provides that a current driving speed of the vehicle to a maximum permissible Driving speed is limited, which is adapted to a detection range of a section of road ahead of the vehicle detecting environmental sensors and the vehicle is transmitted from a data-technically coupled with this computer unit information about an upcoming hazardous area.
- the maximum permissible driving speed is determined in such a way that the vehicle is brought to a standstill during a braking process with a definable braking deceleration within the detection range of the environmental sensors.
- Comfort is optimized by using the method and a resulting adjustment of the maximum permissible driving speed of the vehicle, since the probability of the vehicle stopping due to a hazardous area immediately adjacent to the detection range of the environmental sensors is taken into account.
- other vehicles stopping relatively frequently at an intersection for example behind a bend ahead of the vehicle, can thus be anticipated and the instantaneous driving speed of the vehicle can be adjusted in such a way that a relatively comfortable braking process is possible.
- the braking deceleration is specified as a function of the probability of a hazard that a hazard point is located directly adjacent to the detection range of the environmental sensors. This makes it possible to determine the braking deceleration relatively precisely, with which the vehicle is decelerated in order to be brought to a standstill within the detection range of the environmental sensors.
- the braking deceleration is specified such that the vehicle is decelerated over a longer period of time with a lower braking deceleration when the probability of danger exceeds a specified probability value than when the probability of danger falls below the specified probability value. It is thus possible for the vehicle to be decelerated comparatively comfortably and an abrupt braking process can be largely avoided if there is a potential danger point behind the detection range of the environmental sensors.
- a further embodiment provides that information about the probability of danger from the data linked to the vehicle Computer unit is transmitted to the vehicle.
- the probability of danger is thus determined outside the vehicle, so that other vehicles, for example a vehicle fleet to which the vehicle belongs, are informed of the presence of the danger zone. So it is not irritating for the other vehicles that the vehicle may be decelerated to a standstill with the braking deceleration specified as a function of the probability of danger.
- the information about the danger zone is received and evaluated by the computer unit using further information received from a large number of other vehicles about their braking processes.
- the other vehicles are also linked to the computer unit in terms of data technology.
- the danger spot is thus determined based on a braking behavior on this stretch of road, so that it is possible for this danger spot to be noted on a digital map after a certain number of vehicles braking there.
- this digital map can also be used as traffic information for vehicles in another vehicle fleet, e.g. B. against payment, are made available.
- information about at least one stationary obstacle as a danger point is transmitted to the vehicle.
- a pothole in one lane of the vehicle forms the stationary obstacle as a danger point, so that the vehicle is first decelerated until it comes to a standstill, and then, taking into account traffic in an oncoming lane, avoids the pothole by using the oncoming lane.
- the risk of damage to the vehicle can be reduced and the vehicle can resume its ferry service after passing the danger zone.
- 1 shows a schematic of a vehicle driving towards a curve in automated ferry operation on a route section, with a hazardous area being located behind the curve and 2 shows a schematic of the vehicle driving towards the curve on the section of road and a braking distance that is highlighted.
- FIG. 1 shows a vehicle 1 driving towards a curve K on a route section S in automated ferry operation, with a hazardous area G being located behind the curve K.
- the vehicle 1 has an assistance system for automated ferry operation, with the vehicle 1, in particular the assistance system, carrying out a driving task in its entirety, so that a vehicle user can pursue another activity during automated ferry operation.
- the assistance system comprises an environment sensor system with a number of detection units arranged in and/or on the vehicle 1, of which at least one sensor system 2, comprising a camera 2.1, is arranged in or on the vehicle 1 in such a way that a detection area E is directed in front of the vehicle 1 and thus a region of the route section S ahead of the vehicle 1 is detected.
- Objects located in the detection area E are detected on the basis of detected signals from the sensor system 2 and a driving speed of the vehicle 1 is adjusted accordingly in automated ferry operation.
- the instantaneous driving speed of the vehicle 1 is limited to a maximum permissible driving speed, which is adapted to the detection range E of the environmental sensors, ie the sensor system 2 .
- the assistance system is coupled in terms of data technology to a computer unit 3 via a communication unit that is not shown in detail.
- a computer unit 3 From this computer unit 3 information about danger spots G, such as static obstacles such. B. potholes, transmitted to the vehicle 1.
- the danger point G can also be other vehicles standing at an intersection.
- the information about danger spots G is determined by the computer unit 3 in that the computer unit 3 receives and evaluates further information about braking operations of the other vehicles from a large number of other vehicles (not shown).
- the danger zone G shown in FIG. 1 is available to the computer unit 3 because of the braking processes transmitted by the other vehicles.
- the vehicle 1, which is data-technically coupled to the computer unit 3, and the other vehicles, which are also data-technically coupled to the computer unit 3, belong, for example, to a vehicle fleet, in particular to a vehicle manufacturer.
- a probability of danger is also determined by means of the computer unit 3, which can be derived in particular based on a statistically recorded number of stopping maneuvers by the other vehicles in the vehicle fleet.
- the danger zone G is a place where braking is frequent, a driving speed of the vehicle 1 driving towards the danger zone is adjusted based on this.
- the vehicle 1 is decelerated over a longer period of time in such a way that the vehicle 1 is decelerated comparatively comfortably to a standstill, that is to say it is braked.
- a braking deceleration is specified as a function of the ascertained probability of danger.
- the method provides that vehicle 1 traveling in automated ferry mode is braked in such a way that vehicle 1 is brought to a standstill within detection range E of sensor system 2 .
- a braking distance B of vehicle 1 is within detection range E, as shown in FIG.
- the computer unit 3 determines the probability of danger, with a probability value being specified as a limit value. If the determined hazard probability value exceeds the specified probability value, with the hazard probability value being 75%, for example, then the vehicle 1 delayed with a lower braking deceleration, so that the vehicle 1 is braked comfortably.
- the vehicle 1 may continue to drive at its current driving speed in automated ferry operation. Stopping is then relatively unexpected and can then be implemented by dynamic braking. Such a circumstance can affect the additional information relating to the braking processes of the additional vehicles, so that the probability of subsequent additional vehicles in the vehicle fleet driving too fast is reduced.
- the method therefore provides that an area of the route section S corresponding to the detection area E is used as the braking distance B for the vehicle 1 .
- the driving speed of the vehicle 1 at a current point in time is determined by calculating backwards from the end of the braking distance B, ie up to the transition to the danger point G, to a current position of the vehicle 1 .
- a target speed as the maximum permissible driving speed is lower than an instantaneous driving speed, the vehicle 1 is comfortably decelerated. This target speed as the maximum permissible driving speed then forms a target variable for longitudinal control in automated ferry operation of vehicle 1.
- the braking distance B is calculated with so-called comfort parameters during reverse calculation with a comparatively high probability of stopping, ie with a comparatively high probability of danger that exceeds the specified probability value.
- the vehicle 1 is expected to stop, so the vehicle 1 can also be decelerated comfortably. In the case of a comparatively low probability of stopping, parameters up to the maximum deceleration capability of the vehicle 1 can be used. Thus, braking is unexpected and may be abrupt as described above.
- the vehicle 1 drives towards the danger zone G at a decreasing driving speed, whereas if the probability of danger is lower, the danger zone G is driven at a relatively high driving speed. If the probability of a hazard is low, a dynamic braking process may be necessary if an unexpected event occurs in the area of the hazard point G, which is directly adjacent to the detection area E of the sensor system 2 .
Abstract
The invention relates to a method for operating a vehicle (1) in an automated driving operation, according to which a current driving speed of the vehicle (1) is limited to a maximum permissible driving speed which is adapted to a detection region (E) of a surroundings sensor system that detects a route section (S) lying ahead of the vehicle (1), and information on a danger (G) lying ahead of the vehicle is transmitted to the vehicle (1) by a computing unit (3) which is coupled to the vehicle for data transmission. According to the invention, when a danger (G) lies outside of the detection region (E) of the surroundings sensor system, the maximum permissible driving speed is determined to be such that a braking process with a specifiable deceleration brings the vehicle (1) to a standstill within the detection region (E) of the surroundings sensor system.
Description
Verfahren zum Betrieb eines Fahrzeuges Method of operating a vehicle
Die Erfindung betrifft ein Verfahren zum Betrieb eines Fahrzeuges im automatisierten Fährbetrieb, wobei eine momentane Fahrgeschwindigkeit des Fahrzeuges auf eine maximal zulässige Fahrgeschwindigkeit begrenzt wird, welche an einen Erfassungsbereich einer einen dem Fahrzeug vorausliegenden Streckenabschnitt erfassenden Umgebungssensorik angepasst wird und wobei dem Fahrzeug von einer mit diesem datentechnisch gekoppelten Rechnereinheit Informationen über eine vorausliegende Gefahrenstelle übermittelt werden The invention relates to a method for operating a vehicle in automated ferry mode, with a current driving speed of the vehicle being limited to a maximum permissible driving speed, which is adapted to a detection range of an environmental sensor system that detects a section of road ahead of the vehicle, and the vehicle being provided with data from a coupled computer unit information about an upcoming danger point are transmitted
Aus der DE 102013 021 835 A1 ist ein Verfahren zum Warnen vor einer Gefahrenstelle im Straßenverkehr bekannt. Das Verfahren sieht vor, dass für mindestens ein Kraftfahrzeug bei Erreichen der Gefahrenstelle ein abruptes Fahrmanöver ausgeführt wird, wobei das abrupte Fahrmanöver registriert und eine Nachricht erzeugt wird, mit der auf das abrupte Fahrmanöver hingewiesen wird. Diese Nachricht wird an einen Server übermittelt, von diesem empfangen und von dem Server zu mindestens einem weiteren Kraftfahrzeug übermittelt. DE 102013 021 835 A1 discloses a method for warning of a dangerous spot in road traffic. The method provides that an abrupt driving maneuver is carried out for at least one motor vehicle when it reaches the danger point, the abrupt driving maneuver being registered and a message being generated with which the abrupt driving maneuver is pointed out. This message is transmitted to a server, received by it and transmitted by the server to at least one other motor vehicle.
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Betrieb eines Fahrzeuges im automatisierten Fährbetrieb anzugeben. The invention is based on the object of specifying a method for operating a vehicle in automated ferry operations.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren gelöst, welches die in Anspruch 1 angegebenen Merkmale aufweist. The object is achieved according to the invention by a method which has the features specified in claim 1.
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche. Advantageous configurations of the invention are the subject matter of the dependent claims.
Ein Verfahren zum Betrieb eines Fahrzeuges im automatisierten Fährbetrieb sieht vor, dass eine momentane Fahrgeschwindigkeit des Fahrzeuges auf eine maximal zulässige
Fahrgeschwindigkeit begrenzt wird, welche an einen Erfassungsbereich einer einen dem Fahrzeug vorausliegenden Streckenabschnitt erfassenden Umgebungssensorik angepasst wird und dem Fahrzeug von einer mit diesem datentechnisch gekoppelten Rechnereinheit Informationen über eine vorausliegende Gefahrenstelle übermittelt werden. Erfindungsgemäß wird bei Vorliegen einer Gefahrenstelle außerhalb des Erfassungsbereiches der Umgebungssensorik die maximal zulässige Fahrgeschwindigkeit derart bestimmt, dass das Fahrzeug bei einem Bremsvorgang mit einer vorgebbaren Bremsverzögerung innerhalb des Erfassungsbereiches der Umgebungssensorik in den Stillstand versetzt wird. A method for operating a vehicle in automated ferry operation provides that a current driving speed of the vehicle to a maximum permissible Driving speed is limited, which is adapted to a detection range of a section of road ahead of the vehicle detecting environmental sensors and the vehicle is transmitted from a data-technically coupled with this computer unit information about an upcoming hazardous area. According to the invention, if there is a danger point outside the detection range of the environmental sensors, the maximum permissible driving speed is determined in such a way that the vehicle is brought to a standstill during a braking process with a definable braking deceleration within the detection range of the environmental sensors.
Durch Anwendung des Verfahrens und einer dadurch bedingten Anpassung der maximal zulässigen Fahrgeschwindigkeit des Fahrzeuges wird ein Komfort optimiert, da eine Anhaltewahrscheinlichkeit des Fahrzeuges wegen einer unmittelbar an den Erfassungsbereich der Umgebungssensorik angrenzenden Gefahrenstelle berücksichtigt wird. Somit können an einer Kreuzung statistisch vergleichsweise häufig haltende weitere Fahrzeuge, beispielsweise hinter einer dem Fahrzeug vorausliegenden Kurve, antizipiert werden und die momentane Fahrgeschwindigkeit des Fahrzeuges derart angepasst werden, dass ein verhältnismäßig komfortabler Bremsvorgang möglich ist. Comfort is optimized by using the method and a resulting adjustment of the maximum permissible driving speed of the vehicle, since the probability of the vehicle stopping due to a hazardous area immediately adjacent to the detection range of the environmental sensors is taken into account. Statistically, other vehicles stopping relatively frequently at an intersection, for example behind a bend ahead of the vehicle, can thus be anticipated and the instantaneous driving speed of the vehicle can be adjusted in such a way that a relatively comfortable braking process is possible.
In einer Ausführung des Verfahrens wird die Bremsverzögerung in Abhängigkeit einer Gefahrenwahrscheinlichkeit, dass sich unmittelbar angrenzend an den Erfassungsbereich der Umgebungssensorik eine Gefahrenstelle befindet, vorgegeben. Dadurch ist es möglich, die Bremsverzögerung relativ genau zu bestimmen, mit welcher das Fahrzeug verzögert wird, um innerhalb des Erfassungsbereiches der Umgebungssensorik in den Stillstand versetzt zu werden. In one embodiment of the method, the braking deceleration is specified as a function of the probability of a hazard that a hazard point is located directly adjacent to the detection range of the environmental sensors. This makes it possible to determine the braking deceleration relatively precisely, with which the vehicle is decelerated in order to be brought to a standstill within the detection range of the environmental sensors.
Die Bremsverzögerung wird in einer Weiterbildung derart vorgegeben, dass das Fahrzeug bei einer Gefahrenwahrscheinlichkeit, die einen vorgegebenen Wahrscheinlichkeitswert überschreitet, mit einer geringeren Bremsverzögerung über einen längeren Zeitraum verzögert wird, als bei einer den vorgegebenen Wahrscheinlichkeitswert unterschreitenden geringeren Gefahrenwahrscheinlichkeit. Somit ist es möglich, dass das Fahrzeug vergleichsweise komfortabel verzögert wird und ein abrupter Bremsvorgang bei Vorliegen einer potentiellen Gefahrenstelle hinter dem Erfassungsbereich der Umgebungssensorik weitestgehend vermieden werden kann. In one development, the braking deceleration is specified such that the vehicle is decelerated over a longer period of time with a lower braking deceleration when the probability of danger exceeds a specified probability value than when the probability of danger falls below the specified probability value. It is thus possible for the vehicle to be decelerated comparatively comfortably and an abrupt braking process can be largely avoided if there is a potential danger point behind the detection range of the environmental sensors.
Eine weitere Ausführung sieht vor, dass eine Information über die Gefahrenwahrscheinlichkeit von der mit dem Fahrzeug datentechnisch gekoppelten
Rechnereinheit an das Fahrzeug übermittelt wird. Die Gefahrenwahrscheinlichkeit wird also außerhalb des Fahrzeuges ermittelt, so dass andere Fahrzeuge, beispielweise einer Fahrzeugflotte, der das Fahrzeug zugehörig ist, über das Vorliegen der Gefahrenstelle in Kenntnis gesetzt sind. So ist es für die anderen Fahrzeuge nicht irritierend, dass das Fahrzeug mit der in Abhängigkeit von der Gefahrenwahrscheinlichkeit vorgegebenen Bremsverzögerung unter Umständen bis in den Stillstand verzögert wird. A further embodiment provides that information about the probability of danger from the data linked to the vehicle Computer unit is transmitted to the vehicle. The probability of danger is thus determined outside the vehicle, so that other vehicles, for example a vehicle fleet to which the vehicle belongs, are informed of the presence of the danger zone. So it is not irritating for the other vehicles that the vehicle may be decelerated to a standstill with the braking deceleration specified as a function of the probability of danger.
In einerweiteren möglichen Ausbildung des Verfahrens werden die Informationen über die Gefahrenstelle anhand empfangener weiterer Informationen einer Vielzahl weiterer Fahrzeuge über deren Bremsvorgänge von der Rechnereinheit empfangen und ausgewertet. Dazu sind die weiteren Fahrzeuge ebenfalls datentechnisch mit der Rechnereinheit gekoppelt. Die Gefahrenstelle wird also anhand eines Bremsverhaltens auf diesem Streckenabschnitt ermittelt, so dass es möglich ist, dass nach einer bestimmten Anzahl von Fahrzeugen, die dort bremsen, diese Gefahrenstelle in einer digitalen Karte zu vermerken. Beispielsweise kann diese digitale Karte als Verkehrsinformation auch Fahrzeugen einer anderen Fahrzeugflotte, z. B. entgeltlich, zur Verfügung gestellt werden. In a further possible embodiment of the method, the information about the danger zone is received and evaluated by the computer unit using further information received from a large number of other vehicles about their braking processes. For this purpose, the other vehicles are also linked to the computer unit in terms of data technology. The danger spot is thus determined based on a braking behavior on this stretch of road, so that it is possible for this danger spot to be noted on a digital map after a certain number of vehicles braking there. For example, this digital map can also be used as traffic information for vehicles in another vehicle fleet, e.g. B. against payment, are made available.
In einerweiteren möglichen Ausführung werden Informationen zumindest zu einem stationären Hindernis als Gefahrenstelle an das Fahrzeug übermittelt. Beispielsweise bildet ein Schlagloch auf einer Fahrspur des Fahrzeuges das stationäre Hindernis als Gefahrenstelle, so dass das Fahrzeug zunächst bis in den Stillstand verzögert wird, um dann unter Berücksichtigung eines Verkehrs auf einer Gegenspur das Schlagloch durch Nutzung der Gegenspur zu umfahren. Dadurch kann ein Beschädigungsrisiko des Fahrzeuges verringert werden und das Fahrzeug kann nach einem Passieren der Gefahrenstelle seinen Fährbetrieb wieder aufnehmen. In a further possible embodiment, information about at least one stationary obstacle as a danger point is transmitted to the vehicle. For example, a pothole in one lane of the vehicle forms the stationary obstacle as a danger point, so that the vehicle is first decelerated until it comes to a standstill, and then, taking into account traffic in an oncoming lane, avoids the pothole by using the oncoming lane. As a result, the risk of damage to the vehicle can be reduced and the vehicle can resume its ferry service after passing the danger zone.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert. Exemplary embodiments of the invention are explained in more detail below with reference to drawings.
Dabei zeigen: show:
Fig. 1 schematisch ein auf einem Streckenabschnitt auf eine Kurve im automatisierten Fährbetrieb zufahrendes Fahrzeug, wobei sich hinter der Kurve eine Gefahrenstelle befindet und
Fig. 2 schematisch das auf dem Streckenabschnitt auf die Kurve zufahrende Fahrzeug und ein hervorgehoben dargestellter Bremsweg. 1 shows a schematic of a vehicle driving towards a curve in automated ferry operation on a route section, with a hazardous area being located behind the curve and 2 shows a schematic of the vehicle driving towards the curve on the section of road and a braking distance that is highlighted.
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen. Corresponding parts are provided with the same reference symbols in all figures.
Figur 1 zeigt ein auf einem Streckenabschnitt S auf eine Kurve K im automatisierten Fährbetrieb zufahrendes Fahrzeug 1, wobei sich hinter der Kurve K eine Gefahrenstelle G befindet. FIG. 1 shows a vehicle 1 driving towards a curve K on a route section S in automated ferry operation, with a hazardous area G being located behind the curve K.
Das Fahrzeug 1 verfügt über ein Assistenzsystem zum automatisierten Fährbetrieb, wobei das Fahrzeug 1, insbesondere das Assistenzsystem vollumfänglich eine Fahraufgabe ausführt, so dass ein Fahrzeugnutzer während des automatisierten Fährbetriebes einer anderen Tätigkeit nachgehen kann. The vehicle 1 has an assistance system for automated ferry operation, with the vehicle 1, in particular the assistance system, carrying out a driving task in its entirety, so that a vehicle user can pursue another activity during automated ferry operation.
Das Assistenzsystem umfasst eine Umgebungssensorik mit einer Anzahl von im und/oder am Fahrzeug 1 angeordneten Erfassungseinheiten, von denen zumindest ein Sensorsystem 2, umfassend eine Kamera 2.1, derart in oder an dem Fahrzeug 1 angeordnet ist, dass ein Erfassungsbereich E vor das Fahrzeug 1 gerichtet ist und somit ein Bereich des dem Fahrzeug 1 vorausliegenden Streckenabschnittes S erfasst wird. The assistance system comprises an environment sensor system with a number of detection units arranged in and/or on the vehicle 1, of which at least one sensor system 2, comprising a camera 2.1, is arranged in or on the vehicle 1 in such a way that a detection area E is directed in front of the vehicle 1 and thus a region of the route section S ahead of the vehicle 1 is detected.
Anhand erfasster Signale des Sensorsystems 2 werden sich in dem Erfassungsbereich E befindende Objekte detektiert und eine Fahrgeschwindigkeit des Fahrzeuges 1 im automatisierten Fährbetrieb entsprechend angepasst. Objects located in the detection area E are detected on the basis of detected signals from the sensor system 2 and a driving speed of the vehicle 1 is adjusted accordingly in automated ferry operation.
Insbesondere wird die momentane Fahrgeschwindigkeit des Fahrzeuges 1 auf eine maximal zulässige Fahrgeschwindigkeit begrenzt, welche an den Erfassungsbereich E der Umgebungssensorik, also des Sensorsystems 2, angepasst wird. In particular, the instantaneous driving speed of the vehicle 1 is limited to a maximum permissible driving speed, which is adapted to the detection range E of the environmental sensors, ie the sensor system 2 .
Des Weiteren ist das Assistenzsystem über eine nicht näher dargestellte Kommunikationseinheit datentechnisch mit einer Rechnereinheit 3 gekoppelt. Von dieser Rechnereinheit 3 werden Informationen über Gefahrenstellen G, beispielsweise statische Hindernisse, wie z. B. Schlaglöcher, an das Fahrzeug 1 übermittelt. Bei der Gefahrenstelle G kann es sich auch um an einer Kreuzung stehende andere Fahrzeuge handeln.
Die Informationen über Gefahrenstellen G werden von der Rechnereinheit 3 ermittelt, indem die Rechnereinheit 3 von einer Vielzahl nicht gezeigter weiterer Fahrzeuge weitere Informationen über Bremsvorgänge der weiteren Fahrzeuge empfängt und auswertet. Die in Figur 1 dargestellte Gefahrenstelle G liegt der Rechnereinheit 3 wegen der von den weiteren Fahrzeugen übermittelten Bremsvorgänge vor. Furthermore, the assistance system is coupled in terms of data technology to a computer unit 3 via a communication unit that is not shown in detail. From this computer unit 3 information about danger spots G, such as static obstacles such. B. potholes, transmitted to the vehicle 1. The danger point G can also be other vehicles standing at an intersection. The information about danger spots G is determined by the computer unit 3 in that the computer unit 3 receives and evaluates further information about braking operations of the other vehicles from a large number of other vehicles (not shown). The danger zone G shown in FIG. 1 is available to the computer unit 3 because of the braking processes transmitted by the other vehicles.
Das mit der Rechnereinheit 3 datentechnisch gekoppelte Fahrzeug 1 und die ebenfalls datentechnisch mit der Rechnereinheit 3 gekoppelten weiteren Fahrzeuge sind beispielsweise einer Fahrzeugflotte, insbesondere eines Fahrzeugherstellers, zugehörig. The vehicle 1, which is data-technically coupled to the computer unit 3, and the other vehicles, which are also data-technically coupled to the computer unit 3, belong, for example, to a vehicle fleet, in particular to a vehicle manufacturer.
Wie oben beschrieben, befindet sich hinter Kurve K eine Gefahrenstelle G, die jedoch aufgrund einer Reichweite des Sensorsystems 2 fahrzeugseitig nicht erfasst werden kann. As described above, there is a danger point G behind curve K, which, however, cannot be detected on the vehicle side due to the range of sensor system 2 .
Mittels der Rechnereinheit 3 wird zudem eine Gefahrenwahrscheinlichkeit ermittelt, die insbesondere basierend auf einer statistisch erfassten Anzahl von Anhaltemanövern von den weiteren Fahrzeugen der Fahrzeugflotte abgeleitet werden kann. A probability of danger is also determined by means of the computer unit 3, which can be derived in particular based on a statistically recorded number of stopping maneuvers by the other vehicles in the vehicle fleet.
Da es sich bei der Gefahrenstelle G um einen Ort handelt, an dem häufiger gebremst wird, wird darauf basierend eine Fahrgeschwindigkeit des auf die Gefahrenstelle zufahrenden Fahrzeuges 1 angepasst. Dazu ist vorgesehen, dass das Fahrzeug 1 über einen längeren Zeitraum derart verzögert wird, dass das Fahrzeug 1 vergleichsweise komfortabel in den Stillstand verzögert, also abgebremst wird. Since the danger zone G is a place where braking is frequent, a driving speed of the vehicle 1 driving towards the danger zone is adjusted based on this. For this purpose, it is provided that the vehicle 1 is decelerated over a longer period of time in such a way that the vehicle 1 is decelerated comparatively comfortably to a standstill, that is to say it is braked.
Um das Fahrzeug 1 bei Vorliegen einer solchen Gefahrenstelle G vergleichsweise komfortabel bis in den Stillstand abzubremsen, wird eine Bremsverzögerung in Abhängigkeit der ermittelten Gefahrenwahrscheinlichkeit vorgegeben. In order to brake the vehicle 1 to a standstill in a comparatively comfortable manner when such a danger zone G is present, a braking deceleration is specified as a function of the ascertained probability of danger.
Insbesondere sieht das Verfahren vor, dass das im automatisierten Fährbetrieb fahrende Fahrzeug 1 derart abgebremst wird, dass das Fahrzeug 1 innerhalb des Erfassungsbereiches E des Sensorsystems 2 in den Stillstand versetzt wird. Somit befindet sich ein Bremsweg B des Fahrzeuges 1 innerhalb des Erfassungsbereiches E, wie in Figur 2 gezeigt ist. In particular, the method provides that vehicle 1 traveling in automated ferry mode is braked in such a way that vehicle 1 is brought to a standstill within detection range E of sensor system 2 . Thus, a braking distance B of vehicle 1 is within detection range E, as shown in FIG.
Die Rechnereinheit 3 ermittelt die Gefahrenwahrscheinlichkeit, wobei ein Wahrscheinlichkeitswert als Grenzwert vorgegeben ist. Überschreitet der ermittelte Gefahrenwahrscheinlichkeitswert den vorgegebenen Wahrscheinlichkeitswert, wobei der Gefahrenwahrscheinlichkeitswert beispielsweise 75 % beträgt, dann wird das Fahrzeug 1
mit einer geringeren Bremsverzögerung verzögert, so dass das Fahrzeug 1 komfortabel abgebremst wird. The computer unit 3 determines the probability of danger, with a probability value being specified as a limit value. If the determined hazard probability value exceeds the specified probability value, with the hazard probability value being 75%, for example, then the vehicle 1 delayed with a lower braking deceleration, so that the vehicle 1 is braked comfortably.
Unterschreitet die ermittelte Gefahrenwahrscheinlichkeit den vorgegebenen Wahrscheinlichkeitswert, d. h. dass ein Gefahrenpotential, z. B. für hinter der Kurve stehende andere Fahrzeuge, vergleichsweise gering ist, fährt das Fahrzeug 1 unter Umständen mit seiner momentanen Fahrgeschwindigkeit im automatisierten Fährbetrieb weiter. Ein Anhalten ist dann relativ unerwartet und kann dann durch einen dynamischen Bremsvorgang realisiert werden. Ein solcher Umstand kann sich auf die weiteren Informationen in Bezug auf die Bremsvorgänge der weiteren Fahrzeuge auswirken, so dass die Wahrscheinlichkeit eines zu schnellen Fahrens nachfolgender weiterer Fahrzeuge der Fahrzeugflotte verringert wird. If the determined probability of danger falls below the specified probability value, i. H. that a hazard potential, e.g. B. for other vehicles standing behind the curve, is comparatively low, the vehicle 1 may continue to drive at its current driving speed in automated ferry operation. Stopping is then relatively unexpected and can then be implemented by dynamic braking. Such a circumstance can affect the additional information relating to the braking processes of the additional vehicles, so that the probability of subsequent additional vehicles in the vehicle fleet driving too fast is reduced.
Das Verfahren sieht also vor, dass ein dem Erfassungsbereich E entsprechender Bereich des Streckenabschnittes S als Bremsweg B für das Fahrzeug 1 genutzt wird. Das bedeutet, dass das Fahrzeug 1 im schlimmsten Fall, insbesondere bei einer an den Erfassungsbereich E unmittelbar angrenzenden Gefahrenstelle G, in den Stillstand versetzt werden muss. Dieser Umstand bedeutet auf-Sicht-fahren. The method therefore provides that an area of the route section S corresponding to the detection area E is used as the braking distance B for the vehicle 1 . This means that in the worst case, in particular in the case of a danger point G immediately adjacent to the detection area E, the vehicle 1 must be brought to a standstill. This circumstance means driving on sight.
Um dies zu ermöglichen, wird die Fahrgeschwindigkeit des Fahrzeuges 1 zu einem aktuellen Zeitpunkt durch Rückwärtsrechnen vom Ende des Bremsweges B, also bis zum Übergang zu der Gefahrenstelle G, bis zu einer momentanen Position des Fahrzeuges 1 bestimmt. In order to make this possible, the driving speed of the vehicle 1 at a current point in time is determined by calculating backwards from the end of the braking distance B, ie up to the transition to the danger point G, to a current position of the vehicle 1 .
Ist eine Zielgeschwindigkeit als maximal zulässige Fahrgeschwindigkeit kleiner als eine momentane Fahrgeschwindigkeit, wird das Fahrzeug 1 komfortabel verzögert. Diese Zielgeschwindigkeit als maximal zulässige Fahrgeschwindigkeit bildet dann eine Sollgröße einer Längsregelung im automatisierten Fährbetrieb des Fahrzeuges 1. If a target speed as the maximum permissible driving speed is lower than an instantaneous driving speed, the vehicle 1 is comfortably decelerated. This target speed as the maximum permissible driving speed then forms a target variable for longitudinal control in automated ferry operation of vehicle 1.
Der Bremsweg B wird also beim Rückwärtsrechnen bei vergleichsweise hoher Anhaltewahrscheinlichkeit, d. h. bei vergleichsweise hoher Gefahrenwahrscheinlichkeit, die den vorgegebenen Wahrscheinlichkeitswert überschreitet, mit sogenannten Komfort- Parametern berechnet. Das Anhalten des Fahrzeuges 1 wird erwartet, so dass das Fahrzeug 1 auch komfortabel verzögert werden kann.
Bei einer vergleichsweise geringen Anhaltewahrscheinlichkeit können Parameter bis zur maximalen Verzögerungsfähigkeit des Fahrzeuges 1 verwendet werden. Somit ist der Bremsvorgang unerwartet und kann, wie oben beschrieben, abrupt erfolgen. The braking distance B is calculated with so-called comfort parameters during reverse calculation with a comparatively high probability of stopping, ie with a comparatively high probability of danger that exceeds the specified probability value. The vehicle 1 is expected to stop, so the vehicle 1 can also be decelerated comfortably. In the case of a comparatively low probability of stopping, parameters up to the maximum deceleration capability of the vehicle 1 can be used. Thus, braking is unexpected and may be abrupt as described above.
Bei einer den vorgegebenen Wahrscheinlichkeitswert überschreitenden Gefahrenwahrscheinlichkeit fährt das Fahrzeug 1 mit sich verringernder Fahrgeschwindigkeit auf die Gefahrenstelle G zu, wohingegen bei einer niedrigeren Gefahrenwahrscheinlichkeit mit einer verhältnismäßig hohen Fahrgeschwindigkeit auf die Gefahrenstelle G zugefahren wird. Ist die Gefahrenwahrscheinlichkeit gering, kann ein dynamischer Bremsvorgang erforderlich sein, falls doch ein unerwartetes Ereignis im Bereich der Gefahrenstelle G, welche unmittelbar an den Erfassungsbereich E des Sensorsystems 2 angrenzt, eintritt.
If the probability of danger exceeds the predefined probability value, the vehicle 1 drives towards the danger zone G at a decreasing driving speed, whereas if the probability of danger is lower, the danger zone G is driven at a relatively high driving speed. If the probability of a hazard is low, a dynamic braking process may be necessary if an unexpected event occurs in the area of the hazard point G, which is directly adjacent to the detection area E of the sensor system 2 .
Claims
1. Verfahren zum Betrieb eines Fahrzeuges (1) im automatisierten Fährbetrieb, wobei eine momentane Fahrgeschwindigkeit des Fahrzeuges (1) auf eine maximal zulässige Fahrgeschwindigkeit begrenzt wird, welche an einen Erfassungsbereich (E) einer einen dem Fahrzeug (1) vorausliegenden Streckenabschnitt (S) erfassenden Umgebungssensorik angepasst wird und wobei dem Fahrzeug (1) von einer mit diesem datentechnisch gekoppelten Rechnereinheit (3) Informationen über eine vorausliegende Gefahrenstelle (G) übermittelt werden, dadurch gekennzeichnet, dass bei Vorliegen einer Gefahrenstelle (G) außerhalb des Erfassungsbereiches (E) der Umgebungssensorik die maximal zulässige Fahrgeschwindigkeit derart bestimmt wird, dass das Fahrzeug (1) bei einem Bremsvorgang mit einer vorgebbaren Bremsverzögerung innerhalb des Erfassungsbereiches (E) der Umgebungssensorik in den Stillstand versetzt wird. 1. A method for operating a vehicle (1) in automated ferry operation, wherein a current driving speed of the vehicle (1) is limited to a maximum permissible driving speed, which is limited to a detection area (E) of a route section (S) ahead of the vehicle (1). detecting environmental sensor system is adapted and information about a hazardous area (G) ahead is transmitted to the vehicle (1) by a computer unit (3) which is data-technically coupled to it, characterized in that if there is a hazardous area (G) outside the detection area (E) of the Surrounding sensors, the maximum permissible driving speed is determined in such a way that the vehicle (1) is brought to a standstill during a braking process with a predefinable braking deceleration within the detection range (E) of the surrounding sensors.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Bremsverzögerung in Abhängigkeit einer Gefahrenwahrscheinlichkeit, dass sich unmittelbar angrenzend an den Erfassungsbereich (E) der Umgebungssensorik eine Gefahrenstelle (G) befindet, vorgegeben wird. 2. The method as claimed in claim 1, characterized in that the braking deceleration is specified as a function of a probability of danger that a danger point (G) is located directly adjacent to the detection area (E) of the environmental sensors.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Bremsverzögerung derart vorgegeben wird, dass das Fahrzeug (1) bei einer Gefahrenwahrscheinlichkeit, die einen vorgegebenen Wahrscheinlichkeitswert überschreitet, mit einer geringeren Bremsverzögerung über
einen längeren Zeitraum verzögert wird, als bei einer den vorgegebenen Wahrscheinlichkeitswert unterschreitenden geringeren Gefahrenwahrscheinlichkeit. 3. The method according to claim 1 or 2, characterized in that the braking deceleration is specified such that the vehicle (1) with a risk probability that exceeds a predetermined probability value, with a lower braking deceleration over is delayed for a longer period of time than in the case of a lower probability of danger falling below the specified probability value.
4. Verfahren nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass eine Information über die Gefahrenwahrscheinlichkeit von der mit dem Fahrzeug (1) datentechnisch gekoppelten Rechnereinheit (3) an das Fahrzeug (1) übermittelt wird. 4. The method as claimed in claim 2 or 3, characterized in that information about the probability of danger is transmitted to the vehicle (1) by the computer unit (3) which is data-technically coupled to the vehicle (1).
5. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass Informationen über die Gefahrenstelle (G) anhand empfangener weiterer Informationen einer Vielzahl weiterer Fahrzeuge über deren Bremsvorgänge von der Rechnereinheit (3) empfangen und ausgewertet werden. 5. The method according to any one of the preceding claims, characterized in that information about the danger point (G) is received and evaluated by the computer unit (3) based on further information received from a large number of other vehicles about their braking processes.
6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass Informationen zumindest zu einem stationären Hindernis als Gefahrenstelle (G) an das Fahrzeug (1) übermittelt werden.
6. The method according to any one of the preceding claims, characterized in that information is transmitted to the vehicle (1) at least about a stationary obstacle as a danger point (G).
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DE102013021835A1 (en) | 2013-12-21 | 2015-06-25 | Audi Ag | Procedure for warning of a danger point |
DE102015110812A1 (en) * | 2014-07-16 | 2016-01-21 | Ford Global Technologies, Llc | Motor vehicle drone deployment system |
DE102017005163A1 (en) * | 2017-05-31 | 2017-12-28 | Daimler Ag | Method for operating a driver assistance system |
DE102016219762A1 (en) * | 2016-10-11 | 2018-04-12 | Audi Ag | Method for operating a motor vehicle and motor vehicle |
US20180231974A1 (en) * | 2017-02-14 | 2018-08-16 | Honda Research Institute Europe Gmbh | Risk based driver assistance for approaching intersections of limited visibility |
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DE102010041147A1 (en) | 2010-09-21 | 2012-03-22 | Continental Teves Ag & Co. Ohg | Method and system for reducing a reaction dead time of a vehicle safety control device |
DE102019212578A1 (en) | 2019-08-22 | 2021-02-25 | Robert Bosch Gmbh | Method and system for transmitting road condition information to a vehicle |
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- 2021-06-25 DE DE102021003291.8A patent/DE102021003291A1/en active Pending
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DE102013021835A1 (en) | 2013-12-21 | 2015-06-25 | Audi Ag | Procedure for warning of a danger point |
DE102015110812A1 (en) * | 2014-07-16 | 2016-01-21 | Ford Global Technologies, Llc | Motor vehicle drone deployment system |
DE102016219762A1 (en) * | 2016-10-11 | 2018-04-12 | Audi Ag | Method for operating a motor vehicle and motor vehicle |
US20180231974A1 (en) * | 2017-02-14 | 2018-08-16 | Honda Research Institute Europe Gmbh | Risk based driver assistance for approaching intersections of limited visibility |
DE102017005163A1 (en) * | 2017-05-31 | 2017-12-28 | Daimler Ag | Method for operating a driver assistance system |
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