Method for carrying out an automated overtaking maneuver of a vehicle

Abstract

Method for carrying out an automated overtaking maneuver of a vehicle (1) in which the vehicle (1) automatically changes from a first lane (F1) to a second lane (F2) in order to overtake a vehicle (2) in front, wherein the execution of an automated overtaking maneuver of the vehicle (1) on a road section (F) with a predetermined maximum permissible speed is authorized in two phases when the vehicle detects that a rear observation area (A1) predetermined for the vehicle (1) of both the first lane (F1) and the second lane (F2) is free of other vehicles (3), wherein the vehicle (1) in a first phase changes from the first lane (F1) to the second lane (F2) and remains on the second lane (F2) at a constant distance to the vehicle (2) driving ahead on the first lane (F1), characterized by the fact that the overtaking process is continued in a second phase immediately adjacent to the first phase by overtaking the vehicle (2) ahead in the first lane (F1) in the second lane (F2), or the overtaking process is aborted.

Description

[0001] The invention relates to a method for carrying out an automated overtaking maneuver of a vehicle, in which the vehicle automatically changes from a first lane to a second lane in order to overtake a vehicle driving ahead.

[0002] German patent application DE 10 2018 008 018 A1 discloses a method for operating a vehicle assistance system to perform an overtaking maneuver. The method provides that the overtaking maneuver is initiated during autonomous driving mode when a vehicle ahead is detected whose current speed is less than a predetermined first value than the vehicle's current speed, a determined relative speed exceeds a predetermined second value, the vehicle's current speed does not fall below a predetermined third value due to the topology of a preceding road section, it is determined that overtaking is permitted, sufficient clearance for a lane change is detected, and suitable weather and visibility conditions for the overtaking maneuver are determined.

[0003] From DE 10 2023 001 323 B3, a method for carrying out an automated overtaking maneuver of a vehicle is known, wherein other vehicles traveling in the vicinity of the vehicle are detected, and, during an overtaking maneuver planned by the vehicle, signals from an environmental sensor system are used to check whether there are other vehicles following the vehicle within the sensor's rearward range, either in the vehicle's lane or in an overtaking lane. If the detected signals indicate that there is only one following vehicle within the sensor range, the vehicle's current speed is reduced by a predetermined speed value to cause the following vehicle to overtake the vehicle and any vehicle ahead of it.After the following vehicle has at least overtaken the vehicle, signals from the surrounding sensors are used to check whether there is sufficient space on the overtaking lane to carry out the overtaking maneuver.

[0004] From DE 43 13 568 C1, a method is known in which the approach and return areas of at least the adjacent destination lane are monitored for the desired lane change. Furthermore, the distances of objects detected there and their speeds are measured, and the safety distances to be maintained are calculated from this data. If all measured safety distances are greater than the calculated safety distances, a lane change is carried out.

[0005] The invention is based on the objective of providing a further method for carrying out an automated overtaking maneuver of a vehicle.

[0006] The problem is solved according to the invention by a method which has the features specified in claim 1.

[0007] Advantageous embodiments of the invention are the subject of the dependent claims.

[0008] A method for carrying out an automated overtaking maneuver of a vehicle, in which the vehicle automatically changes from a first lane to a second lane to overtake a vehicle ahead, provides that the execution of an automated overtaking maneuver of the vehicle on a road with a predetermined maximum permissible speed is released in two phases when it is recognized by the vehicle that a rear observation area predetermined for the vehicle of both the first lane and the second lane is free of other vehicles.

[0009] By applying this procedure, safety for the vehicle and other vehicles on the route, especially a motorway for which a maximum speed limit is specified, but where unusually high speed violations are to be expected, can be increased.

[0010] In particular, the application of this method allows for the design of a vehicle's environmental sensors to function appropriately in such cases, especially since these cases are relatively rare. Nevertheless, with such environmental sensor functionality, and especially sensor performance, these cases, particularly extreme cases, can be detected by the vehicle from a relatively safe position for conventional speeding violations and an observation phase. From this position, it is still possible, if necessary, to swerve to avoid a collision with a following vehicle.

[0011] In this process, the vehicle initially changes from the first lane to the second lane and remains, particularly at first, in the second lane at a constant distance from the vehicle ahead in the first lane. This means that the vehicle does not perform the automated overtaking maneuver smoothly, but rather takes into account other vehicles approaching at an unusually high speed.

[0012] According to the invention, the overtaking maneuver is continued in a second phase immediately adjacent to the first phase by overtaking the vehicle ahead in the first lane in the second lane, or the overtaking maneuver is aborted. In particular, the continuation or aborting takes into account subsequent vehicles that may be approaching the vehicle at an unusually high speed and are detected within the vehicle's rearward field of view. Thus, the safety of the automated vehicle and the subsequent vehicles following it can be increased, even if they are traveling at a speed exceeding the specified maximum permissible speed.

[0013] In a further development of the procedure, the vehicle decides, based on the situation detected in the second lane within its rearward observation area, whether the first phase should end normally after a predetermined time or before the end of the predetermined time, and whether the overtaking maneuver should be continued or aborted in the second phase. Thus, the decision to continue or abort the overtaking maneuver depends on the situation detected in the rearward observation area, particularly due to other vehicles approaching the vehicle in the second lane at an unusually high speed exceeding the posted speed limit.

[0014] In another version, the vehicle decides that the first phase ends normally if no other vehicle whose speed exceeds a predetermined threshold is detected in the vehicle's rear observation area within the specified time period. This means that no other vehicle, particularly in the second lane, is approaching from behind for which the vehicle in the second lane could represent a potential collision object.

[0015] In one possible implementation, the threshold value is set as the maximum permissible speed for the route plus a specific speed value. This means that the threshold value exceeds the specified maximum permissible speed by this specific speed value, thus creating a tolerance range with regard to the maximum speed.

[0016] In another iteration of the procedure, the first phase of the overtaking maneuver is prematurely terminated if, within the specified time period, another vehicle enters the vehicle's rearward field of view at a speed exceeding the specified threshold. This means that the vehicle is approaching at a comparatively high speed, and a rear-end collision is therefore imminent. To increase the safety of both the vehicle and the other vehicle, the first phase of the overtaking maneuver, and thus the overtaking maneuver itself, is aborted.

[0017] In one implementation, if the first phase is completed successfully, the overtaking maneuver is decided to continue in the second phase. During the first phase, no other vehicle is detected entering the rearward observation range of the vehicle entering the overtaking maneuver, so there is no potential risk of a rear-end collision, and the vehicle can continue its automated overtaking maneuver.

[0018] In advanced training, if the first phase of the overtaking maneuver is prematurely terminated, the second phase is aborted, and the vehicle is guided back into the first lane, into a position behind the vehicle in front. Specifically, the overtaking maneuver is aborted in the second phase if another vehicle enters the rearward observation area at a speed exceeding the threshold, thus creating a potential risk of a rear-end collision between the other vehicle and the overtaking vehicle. The vehicle automatically moves back into the first lane, thereby increasing safety for all vehicles involved in such a situation.

[0019] Exemplary embodiments of the invention are explained in more detail below with reference to drawings.

[0020] This shows: Fig. 1 schematically a road with two lanes and a vehicle intending to overtake and Fig. 2 schematically a road with two lanes and a vehicle intending to overtake in a second lane.

[0021] Corresponding parts are marked with the same reference symbols in all figures.

[0022] Fig. Figure 1 shows a driving route F, in particular a motorway, with two lanes F1, F2, wherein a vehicle 1 is driving on a first lane F1 in automated driving mode, in particular in autonomous driving mode, and intends to overtake a vehicle 2 driving ahead, according to Fig. Vehicle 1 is attempting to overtake a truck. On a second lane, F2, another vehicle, 3, approaches vehicle 1 at a comparatively high speed. This second vehicle, 3, is outside the rear detection range E of an environmental sensor 4 of vehicle 1. This means that vehicle 1 does not detect the second vehicle, 3.

[0023] Especially on highways, lane changes for overtaking are essential driving maneuvers for reducing travel time. Assistance systems for automated driving are being further developed to initiate lane changes in order to relieve the driver of a vehicle equipped with an automated driving assistance system and get them to their destination as quickly as possible.

[0024] To initiate an automated lane change from the first lane F1 to the second lane F2 using the assistance system, it is necessary that a sufficiently large gap is detected, at least on the second lane F2, using the vehicle's (1) environmental sensors 4. The size of the gap depends in particular on the potential speed of other vehicles 3 on the second lane F2.

[0025] In the present embodiment in Fig. 1. A maximum permissible speed of 130 km / h applies to route F, whereby this speed limit G requires all vehicles 1 to 3 traveling on route F not to exceed this maximum permissible speed. Nevertheless, it can happen that, for example, other vehicles 3 are traveling at excessive speeds. Therefore, a threshold value is specified for the assistance system for the automated driving operation of vehicle 1. This threshold value is derived from the maximum permissible speed for route F, for example, 130 km / h, plus a speed value as a delta speed of, for example, 30 km / h, so that another vehicle 3, traveling at a speed of up to 160 km / h, is taken into account within the required sensor range of the environmental sensors 4.Such a threshold can also be provided for another assistance system, for example for a lane keeping assistant.

[0026] It is also possible that another vehicle 3 travels at a speed that grossly negligently exceeds the permitted maximum speed. For example, despite the permitted maximum speed being 130 km / h, the other vehicle 3 might travel at a speed of, say, 250 km / h on route F.

[0027] If vehicle 1 performs an automated overtaking maneuver and changes from the first lane F1 to the second lane F2, in such an extreme case, where the other vehicle 3 approaches at a significantly excessive speed exceeding the specified threshold, there is a considerable risk of collision.

[0028] The following describes a procedure by which the risk of collision in such an extreme case can be reduced.

[0029] Fig. Figure 2 shows a road F with two lanes F1 and F2, where vehicle 1 is automatically performing an overtaking maneuver, intending to overtake a vehicle 2 ahead, in particular a truck, which is traveling at a speed of 80 km / h. A maximum speed limit of 130 km / h applies on road F, particularly for passenger cars.

[0030] The environmental sensor system 4 of vehicle 1 has a detection range E, which essentially corresponds to a rear observation range A1, in which approaching vehicles 3 traveling at speeds below the threshold (e.g., up to 160 km / h) are detected. This rear observation range A1 is covered by the environmental sensor system 4 of vehicle 1, so that if another vehicle 3 is detected in the observation range A1, an intended automated overtaking maneuver, in which vehicle 1 changes lanes from a first area S1 on the first lane F1 to a second area S2 on the second lane F2, is suppressed.

[0031] This initial section S1 of the first lane F1 is located behind the vehicle 2 to be overtaken and may, however, partially extend into the second lane F2, particularly if the lane width allows the other vehicle 3 in the second lane F2 to pass vehicle 1 at excessive speed. The initial section S1 forms the starting position for vehicle 1 to begin a lane change for the automated overtaking maneuver.

[0032] The second area S2 on the second lane F2 forms a waiting area for vehicle 1 during the first phase of its automated overtaking maneuver. Within this second area S2, the overtaking maneuver of vehicle 1 is visible to the other vehicle 3 also on the second lane F2. The second area S2 borders the first area S1 laterally, which serves as a fallback zone, particularly if the automated overtaking maneuver of vehicle 1 needs to be aborted. If vehicle 1 is in the second area S2, a reaction from the other vehicle 3, specifically braking, is required.

[0033] Behind the rear observation area A1, on the second lane F2, is a necessary detection area A2 for detecting the other vehicle 3, which is traveling at a speed that unusually exceeds the permitted maximum speed, for example, up to 250 km / h. Specifically, the other vehicle 3 is traveling at a speed above the threshold value of, for example, 160 km / h. This detection area A2 is not covered by the assistance system of vehicle 1, in particular the environmental sensors 4, with regard to the detection of other vehicles 3, because the required ranges are too great.

[0034] Adjacent to the necessary detection area A2 is a reaction area A3, in which the further vehicle 3 with the unusually high speed exceedance of up to 250 km / h is able to react to the vehicle 1 in the second area S2 without causing a rear-end collision with respect to the vehicle 1.

[0035] During an intended automated overtaking maneuver by vehicle 1, the overtaking maneuver is initiated by a lane change from the first area S1 to the second area S2 on the second lane F2, i.e., by a lateral offset, if no other vehicle 3 is present in the rear observation area A1 of vehicle 1, i.e., if no other vehicle 3 is detected in the detection area E of the environmental sensors 4. It is also ensured that no other vehicle 3 is present that could occupy the first area S1.

[0036] If these conditions are met, vehicle 1, in the first phase of the overtaking maneuver, moves from the first area S1 on the first lane F1 to the second area S2 on the second lane F2. While vehicle 1 is in the second area B2 on the second lane F2, it initially maintains a constant distance from the vehicle 2 ahead on the first lane F1.

[0037] Depending on the situation detected in the rear observation area A1 of vehicle 1 on the second lane F2, the vehicle decides whether the first phase should end normally after a predetermined time or before the predetermined time has elapsed, and whether the overtaking maneuver should be continued or aborted in the second phase. This means that vehicle 1 is initially in an observation phase and remains in the second area S2 on the second lane F2. In particular, vehicle 1 remains relatively close to the first area S1 in the second area S2 and thus occupies a relatively safe position should the overtaking maneuver need to be aborted.

[0038] The duration, and thus the dwell time, of vehicle 1 in the second area S2 is predetermined such that a risk arises that vehicle 3 will approach vehicle 1 at a speed unusually high exceeding the permissible maximum speed, pass through the required detection area A2, and enter the rear observation area A1. This predetermined duration can therefore be derived from crossing the required detection area A2 at a maximum unusually high speed exceeding the limit, for example, 120 km / h. Furthermore, in the first phase, it is determined whether any potential additional vehicles 3 are approaching vehicle 1 in the second area S2 from outside the rear observation area A1 at a speed exceeding the predetermined threshold.

[0039] If no further vehicle 3 is detected within the specified time period of the first phase of the automated overtaking process, a second phase is initiated and vehicle 1 continues its automated overtaking process, switching from the second area S2 to a third area S3.

[0040] The third area S3, located on the second lane F2 before the second area S2, is reached in the second phase when vehicle 1 accelerates to overtake vehicle 2, which was originally ahead on the first lane F1. Entry into the third area S3 only occurs if, within the specified time period of the first phase, it has been ensured that no other vehicle 3 is present in the detection area A2, which is not visible to the environmental sensors 4 of vehicle 1, and whose speed exceeds the permissible maximum speed and the specified threshold by an unusually large margin, for example, if the other vehicle 3 is traveling at a speed of up to 250 km / h.

[0041] After vehicle 1 has overtaken vehicle 2, which was originally ahead, vehicle 1 can move from the second lane F2 to the first lane F1 and is then in front of vehicle 2, which was originally ahead.

[0042] If, during the specified time period, another vehicle 3 enters the observation area A1 at a speed that is comparatively high or extremely high, for example, exceeding the threshold by more than 250 km / h, and is detected by the environmental sensors 4, the first phase is terminated before the specified time period expires and the automated overtaking maneuver is aborted. Vehicle 1 then moves from the second area S2 on the second lane F2 to the first area B1 on the first lane F1 without having overtaken the vehicle 2 ahead. This allows the other vehicle 3 to pass vehicle 1 and the vehicle 2 ahead.

[0043] Vehicle 1 then remains in the first area S1 on the first lane F2, for example for a further predetermined period, and then initiates another attempt to overtake the vehicle 2 ahead. In particular, another attempt is initiated if vehicle 1 is ahead of vehicle 2 whose speed is below the permitted maximum speed.

[0044] Using this method as a driving strategy for an intended automated overtaking maneuver by vehicle 1, safety on a road section F, particularly a motorway with a speed limit G and where unusually high speed violations are to be expected, can be increased. In the first phase, vehicle 1 can monitor the rear observation area A1 in the second area S2 on the second lane F2 as a safe zone and, to avoid a collision with a following vehicle 3 approaching at a comparatively high speed, swerve by entering the first area S1 on the first lane F1 behind the preceding vehicle 2.

Claims

[1] Method for carrying out an automated overtaking maneuver of a vehicle (1) in which the vehicle (1) automatically changes from a first lane (F1) to a second lane (F2) in order to overtake a vehicle (2) in front, wherein the execution of an automated overtaking maneuver of the vehicle (1) on a road section (F) with a predetermined maximum permissible speed is authorized in two phases when the vehicle detects that a rear observation area (A1) predetermined for the vehicle (1) of both the first lane (F1) and the second lane (F2) is free of other vehicles (3), wherein the vehicle (1) in a first phase changes from the first lane (F1) to the second lane (F2) and remains on the second lane (F2) at a constant distance to the vehicle (2) driving ahead on the first lane (F1), characterized by , that the overtaking process is continued in a second phase immediately adjacent to the first phase by overtaking the vehicle (2) ahead in the first lane (F1) in the second lane (F2), or the overtaking process is aborted. [2] Method according to claim 1, characterized by , that depending on a situation detected on the second lane (F2) in the rear observation area (A1) of the vehicle (1) a decision is made on the vehicle side as to whether the first phase should be completed normally after a specified time period or before the specified time period has elapsed and whether the overtaking maneuver should be continued or aborted in the second phase. [3] Method according to claim 2, characterized by, that the vehicle decides that the first phase will be terminated normally if no further vehicle (3) whose speed exceeds a specified threshold is detected in the rear observation area (A1) of the vehicle (1) within the specified time period. [4] Method according to claim 3, characterized by , that the threshold is set to the maximum permissible speed specified for the route (F) plus a certain speed value. [5] Method according to any one of claims 3 to 4, characterized by , that in the event of a regular completion of the first phase, it will be decided that the overtaking process will continue in the second phase. [6] Method according to any one of claims 3 to 5, characterized by, that if the first phase is terminated prematurely, it is decided that the overtaking maneuver in the second phase will be aborted and the vehicle (1) will then be guided back to the first lane (F1) into a position behind the vehicle (2) in front.

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