Implementation of the reverse movement of a vehicle traveling ahead at a traffic node

Abstract

A method for adjusting the distance between a first vehicle and a second vehicle traveling in front of the first vehicle, in particular at a traffic node, by means of a control device is disclosed, wherein measurement data of at least one sensor unit are received by the control device, the measurement data of the sensor unit are analyzed to determine a traffic node in front of the second vehicle, in the event of a traffic node being identified in front, a safety distance between the first vehicle and the second vehicle is determined and compliance with the determined safety distance is introduced by the control device, wherein compliance with the safety distance between the first vehicle and the second vehicle is for a possible reverse movement of the second vehicle. A control device, a computer program, and a machine-readable storage medium are also disclosed.

Description

Field of the Invention

[0001] The present invention relates to a method for adjusting the distance between a first vehicle and a second vehicle traveling in front of the first vehicle, in particular for adjusting the distance between a first vehicle and a second vehicle traveling in front of the first vehicle at a traffic node. The present invention also relates to a control device, a computer program, and a machine-readable storage medium. Background Art

[0002] Various methods for the automated operation of vehicles are already known. In particular, in the case of such methods, the longitudinal and lateral guidance control of the vehicle is controlled such that the speed optimally adjusts the distance from the vehicle traveling in front. The safe distance of the vehicle from the vehicle traveling in front can be adjusted according to the defined comfort conditions, traffic signs, lane markings, and optical signals.

[0003] At traffic nodes, such as intersections or highway exits, there may be only a limited overview of traffic events. For example, parked vehicles or stationary objects may obstruct the view. In such traffic situations, the vehicle must carefully drive into the road with limited visibility. In such cases, depending on the situation, the vehicle may need to reverse. Conventional automated vehicles may have an insufficient safe distance from the vehicle traveling in front in such traffic situations and thus obstruct the reverse of the vehicle traveling in front. Summary of the Invention

[0004] It can be seen that the task underlying the present invention is to provide a method and a control device that can enable the vehicle traveling in front to reverse at a traffic node with poor visibility.

[0005] This task is solved by the corresponding subject matter according to the present invention. Advantageous designs of the present invention are the subject of the following description.

[0006] According to one aspect of the present invention, there is provided a method for adjusting the distance between a first vehicle and a second vehicle traveling in front of the first vehicle. In particular, the method for adjusting the safe distance can be implemented by a control device at a traffic node.

[0007] In one step, the control device receives measurement data from at least one sensing unit. In this case, the measurement data may be provided by the sensing units of the first vehicle, the second vehicle, other traffic members, infrastructure units, etc.

[0008] The measurement data of the sensing unit is analyzed to determine the traffic node in front of the second vehicle. In particular, the measurement data of the sensing unit can be checked for the presence of a traffic node.

[0009] In the case where a traffic node is recognized ahead, determine a safety distance of the first vehicle from the second vehicle and introduce compliance with the determined safety distance via a control device.

[0010] Preferably, compliance with the safety distance of the first vehicle from the second vehicle is used for a possible reverse movement of the second vehicle. Thereby, a reverse movement of the second vehicle in a traffic area with poor visibility can be achieved and safety in such a case is increased.

[0011] According to another aspect of the invention, there is provided a control device, wherein the control device is set up to carry out the method. Preferably, the control device can be a control device inside the vehicle. The control device can also be implemented as a component or module of a vehicle control device for autonomous driving. Alternatively or additionally, the control device can be designed as a server unit or cloud outside the vehicle, which server unit or cloud can receive and analyze measurement data of at least one sensing unit via a wireless communication connection.

[0012] According to one aspect of the invention, there is also provided a computer program, which computer program includes instructions that, when the computer program is carried out via a control device, cause the control device to carry out the method. According to another aspect of the invention, there is provided a machine-readable storage medium on which the computer program is stored.

[0013] Preferably, the first vehicle can be operated in an assisted, partially automated, highly automated, and / or fully automated or driverless manner in accordance with the BASt definition. For this purpose, the vehicle can have a vehicle control device that can access a surrounding environment sensing device and actuators for steering, accelerating, and braking the first vehicle.

[0014] In particular, the first vehicle can be implemented as a sedan, truck, passenger vehicle such as a taxi or bus, commercial vehicle, agricultural vehicle, etc.

[0015] The at least one sensing unit can for example be a camera sensor, radar sensor, LIDAR sensor, GPS sensor, etc.

[0016] The traffic node can in particular be configured as a traffic area with poor visibility.

[0017] The traffic node can be a traffic area where the line of sight of traffic members to the lane is restricted. Due to the restricted line of sight to the future lane, the corresponding traffic members must carefully "probe" into the lane in order to minimize the accident risk. The traffic node can for example be an intersection, T-junction, highway exit, roundabout, parking lot, parking garage, etc.

[0018] The method and control device according to the present invention enable an automatically operable vehicle, in particular a first vehicle, to determine during a following operation behind a preceding vehicle or a second vehicle whether to agree to a greater spacing from the second vehicle at a traffic node.

[0019] If a traffic node is detected by analyzing measurement data, the safety spacing from the second vehicle traveling in front can be adjusted. In particular, access to the actuator and the vehicle control device can be achieved by the control device in order to effect early braking of the first vehicle in front of the second vehicle.

[0020] Preferably, the safety spacing can be measured such that a possible backward movement of the second vehicle can be achieved. If no unclear traffic situation or traffic area is determined by analyzing the measurement data of at least one sensing unit, the spacing of the first vehicle from the second vehicle traveling in front can be maintained.

[0021] By this method and this control device, rear-end collisions and jams can also be avoided. It can also be prevented that the first vehicle travels too close to the vehicle traveling in front on an unclear traffic section and obstructs the backward movement of the vehicle traveling in front.

[0022] According to another embodiment, in order to determine a traffic node, the measurement data of at least one sensing unit of the first and / or second vehicle are used. Thereby, the control device can access the environmental sensing device of the second vehicle, thereby increasing the "field of view" of the environmental sensing device of the first vehicle. Preferably, these vehicles can be coupled in a data-conducting manner by means of a wireless communication connection, and thus an exchange of measurement data can be achieved.

[0023] According to another embodiment, in order to determine a traffic node, the measurement data of at least one sensing unit of at least one third vehicle and / or infrastructure unit are used. Thereby, the field of view or the scanning range of the environmental sensing device can be increased. Thus, unclear traffic sections can be identified earlier. The measurement data can be exchanged directly between traffic participants or indirectly via an external server unit or the cloud. For example, vehicle-to-vehicle, vehicle-to-infrastructure, mobile radio or WLAN communication connections can be used to exchange these measurement data.

[0024] In addition, not only can traffic nodes be identified, but existing traffic nodes are updated more quickly as long as the traffic situation has changed. For example, when a stopped vehicle starts moving and moves away from a traffic node, the traffic situation may change, thereby increasing the visibility at the traffic node.

[0025] According to another embodiment, when identifying a traffic node, parked vehicles and / or stationary objects are determined. For example, a stopped or parked vehicle that restricts the line of sight of the lane of the traffic node can be determined. In addition, containers, construction sites, personnel, etc. may obstruct visibility at such traffic nodes. These factors can be used as an indicator of an unclear traffic situation and thus prompt the control device to cause the first vehicle to observe a safety distance from the second vehicle traveling in front.

[0026] According to another embodiment, in order to identify a traffic node, the determined measurement data of at least one sensing unit is sent to an external server unit and provided for the invocation of other traffic members. Through this, a centralized collection point for the determined measurement data can be provided. The server unit can be designed as a cloud, for example. The measurement data received by the server unit can be stored and / or analyzed similar to the control device. In particular, the server unit can create a map with unclear traffic areas based on these measurement data and provide the map to traffic members.

[0027] Alternatively or additionally, the already determined or identified unclear traffic area can be transmitted to the server unit, for example, by the control device of the vehicle to the server unit. The server unit can, for example, mark the transmitted location or area on the map.

[0028] According to another embodiment, map data is used to determine traffic nodes. Here, these map data can be received and analyzed by the control device. In particular, the control device can study in advance along the planned trajectory of the first vehicle with respect to unclear traffic areas and mark these unclear traffic areas. Then, according to the vehicle position of the first vehicle, a safety distance can be automatically observed in such traffic areas. For this purpose, the control device can receive the measurement data of one or more position sensors of the first vehicle.

[0029] According to another embodiment, the safety distance is determined based on the size of the second vehicle. By this measure, the first vehicle can achieve the backing of the second vehicle. Preferably, the safety distance is measured such that the second vehicle can fully drive into the safety distance.

[0030] According to another embodiment, the length of the safety distance is determined, and the length at least corresponds to the length of the second vehicle. Such a safety distance can be implemented particularly simply technically. For this purpose, the vehicle length of the vehicle traveling in front is determined and / or the vehicle length of the vehicle traveling in front is received via the communication connection between these vehicles. In principle, such a safety distance is sufficient for most traffic situations. Through this, further calculations of the control device can be omitted. Preferably, the safety distance can be greater than the length of the second vehicle in order to provide a sufficient margin for the backing of the vehicle traveling in front.

[0031] According to another alternative or additional embodiment, at a traffic node, the area of the lane of the third vehicle is blocked by the second vehicle. The safety distance is determined based on the size of the blocked area. Thereby, the distance or safety distance required between these vehicles can be determined precisely. In particular, for this purpose, the length by which the second vehicle extends into the lane of the third vehicle can be measured. The lane width of the blocked lane can also be considered as the length of the safety distance.

[0032] According to another embodiment, the length of the safety distance is determined, which length at least corresponds to the length of the blocked area. Here, a tolerance range or safety margin can be added to the determined length of the blocked area. This length can cause the second vehicle to reverse maximally so as to completely clear the lane.

[0033] In particular, when the second vehicle traveling in front attempts to turn obliquely into the lane and is thus visible from the side to the surrounding environment sensor of the first vehicle, the length of the blocked area can be measured. Thereby, an unnecessarily large safety distance between these vehicles can be avoided. In this case, the safety distance can have an additional tolerance range, which increases the safety distance. The tolerance range can be, for example, one centimeter or a few centimeters or one meter or several meters.

[0034] The length of the blocked area can also be determined by receiving the tracking data of the second vehicle and tracking the position of the second vehicle on a digital map. Here, the size of the second vehicle can be used to particularly precisely estimate the length of the blocked area.

[0035] Data can be received via a vehicle-to-vehicle (Car2Car) communication connection, for example, a vehicle-to-vehicle (Car2Car) communication connection between the second vehicle and the first vehicle, as another way to determine the blocked area. For example, the second vehicle can report the position of the second vehicle and the size of the second vehicle to the first vehicle, whereby the control device of the second vehicle can calculate the length of the blocked area. Alternatively or additionally, data can be received from the third vehicle. Here, the first vehicle can also receive the measurement data of the surrounding environment sensor of the third vehicle that has detected the second vehicle. Subsequently, based on the received measurement data, the length of the blocked area can be determined.

[0036] Similar to determining the length of the blocked area based on data transmitted via a vehicle-to-vehicle communication connection, the length of the blocked area can also be determined by means of data from infrastructure units. For this purpose, the first vehicle can establish a vehicle-to-X communication connection with one or more infrastructure units, and the one or more infrastructure units provide surrounding environment measurement data. Through the provided measurement data, the control device can determine the following length, for example, the length along which the second vehicle extends into the cross traffic.

[0037] According to another embodiment, a safety distance between a first vehicle and a second vehicle is defined, and in the case where a traffic node is recognized ahead, compliance with the defined safety distance is introduced by the control device. Thus, the safety distance can be defined statically in advance. Accordingly, the calculation or measurement of the required safety distance can be omitted. By this measure, the safety distance can be adjusted technically particularly simply.

[0038] According to another embodiment, at least one safety distance is defined according to the driving situation of the first vehicle, wherein in addition to the traffic node ahead, the driving situation, in particular the area of the traffic node, is determined, and compliance with the pre-defined safety distance is introduced by the control device. Thereby, one or more static safety distances can be defined in advance. Safety distances can be assigned to different driving situations. For example, a smaller safety distance can be defined in the urban area than in the suburban area. In addition, a larger safety distance can be defined at a railway crossing than at a traffic light or an intersection.

[0039] The driving situation can be designed as a traffic node, such as an intersection, a railway crossing, a T-junction, a road entrance or a construction site, and / or as the surrounding environment, such as an urban area, a suburban area. Description of the Drawings

[0040] In the following, preferred embodiments of the present invention will be further described based on highly simplified schematic diagrams. In this case:

[0041] Figure 1 A schematic top view of a traffic node is shown for clarifying the method according to one embodiment;

[0042] Figure 2 A schematic top view of a traffic node is shown for clarifying the method according to this embodiment; and

[0043] Figure 3 A schematic flow chart of the method according to one embodiment is shown. Detailed Description of the Invention

[0044] In Figure 1 a schematic top view of a traffic node 1 is shown for clarifying a method 2 according to one embodiment. The traffic node 1 is exemplarily designed as an unclear traffic area of a T-junction.

[0045] A first vehicle 4 follows a second vehicle 6. The first vehicle 4 is implemented, for example, as a vehicle that can be automatically operated according to the definition of the BASt and is in the fully automated operation mode.

[0046] The first vehicle 4 has a control device 8 which receives and analyzes measurement data of the environment sensor device 10. Here, the environment sensor device 10 is simplifiedly used for one or more sensor units, and the one or more sensor units may for example have camera sensors, LIDAR sensors, radar sensors, GNSS sensors and so on.

[0047] The control device 8 is connected to a machine-readable storage medium 12 on which one or more computer programs are stored, and the one or more computer programs can be executed by the control device 8 in order to, for example, execute method 2.

[0048] The control device 8 is also connected to a communication unit 14 which is used to establish a communication connection 16 with an external server unit 18.

[0049] The server unit 18 is used to receive measurement data and to provide the determined unclear traffic nodes. In particular, these unclear traffic nodes can be provided to other traffic members, such as a third vehicle 20. The arrows exemplarily illustrate the communication connection 16 and the data exchange between these vehicles.

[0050] In order to expand the scanning range of the first vehicle 4, the measurement data of a second vehicle 6, at least one third vehicle 20, an infrastructure unit 22 and a parked vehicle 24 can be considered during the analysis. For this purpose, for example, the second vehicle 6 and the third vehicle 20 can also have sensor units 26, 28.

[0051] With the aid of the sensors 10, 26, 28, for example, a parked vehicle 24 and stationary objects 30, such as a construction site or a container, can be determined and can be used to evaluate the traffic situation by the control device 8 and / or the server unit 18.

[0052] According to this embodiment, the second vehicle 6 turns into a lane 32 with a blocked line of sight. The line of sight to the lane 32 is restricted by the parked vehicle 24 and the stationary object 30. Thereby, the driver of the second vehicle 6 cannot identify the third vehicle 20 early. The arrows illustrate the predicted trajectories of the vehicles 6, 20.

[0053] The driver of the second vehicle 6 carefully drives into the lane 32 and may, for example, identify the third vehicle 20 too late. In order to prevent a traffic jam, the second vehicle 6 may need to reverse.

[0054] Figure 2 A schematic top view of a traffic node 1 is shown for clarifying method 2 according to this embodiment. Here, in particular, it is illustrated how the first vehicle 4 adjusts the safety distance 34 after identifying an unclear traffic area 1.

[0055] Here, the distance by which the front driver 6 has to reverse so that the associated lane 32 is free again can be understood as a sufficient safety distance. As an alternative, this distance can also be chosen such that the front driver 6 also fits completely again into the safety distance 34.

[0056] According to this embodiment, a safety distance 34 is determined, which has a length corresponding to the length of the blocked area 36 on the lane 32.

[0057] In Figure 3 a schematic flow chart of a method 2 according to an embodiment is shown. The method 2 is used to adjust the safety distance 32 between a first vehicle 4 and a second vehicle 6 driving in front as long as the traffic situation requires it. Preferably, such a traffic situation or traffic area exists if the visibility of the lane 32 to be traversed is restricted. In the case of such a traffic area, at least one lane 32 can also be passable while being restricted by a stopped vehicle 24 or a stationary object 30.

[0058] In step 40, measurement data of at least one sensor unit 10, 26, 28 of the first vehicle 4 or at least one other traffic member 6, 20, 22 are received by the control device 8. Alternatively or additionally, measurement data can also be received from the server unit 18.

[0059] By analyzing 41 the measurement data of the at least one sensor unit 10, 26, 28, a traffic node 1 in front of the second vehicle 6 is identified. In particular, the measurement data of the sensor units 10, 26, 28 can be checked for the presence of a traffic node. These measurement data can be checked continuously or at defined time intervals.

[0060] In the case where a traffic node 1 is identified in front, the safety distance 34 between the first vehicle 4 and the second vehicle 6 is determined and compliance 42 with the determined safety distance 34 is introduced 43 by the control device 8.

Claims

1. A method (2) for adjusting a safety distance (34) between a first vehicle (4) and a second vehicle (6) traveling in front of the first vehicle (4) by means of a control device (8), wherein - at least one sensor unit (10, 26, 28) measurement data is received (40) by the control device (8), - the measurement data of the sensor unit (10, 26, 28) is analyzed (41) to determine a traffic node (1) in front of the second vehicle (6), - in the case of identifying a traffic node (1) ahead, a safety distance (34) of the first vehicle (4) from the second vehicle (6) is determined (42) and compliance with the determined safety distance (34) is introduced (43) by the control device (8), It is characterized in that Complying with the safety distance (34) of the first vehicle (4) from the second vehicle (6) for a possible reverse of the second vehicle (6).

2. The method according to claim 1, wherein The method (2) is used to adjust the safety distance (34) between a first vehicle (4) and a second vehicle (6) traveling in front of the first vehicle (4) at the traffic node (1) by means of the control device (8).

3. The method according to claim 1, wherein measurement data of at least one sensor unit (10, 26) of the first vehicle (4) and / or the second vehicle (6) is used to determine the traffic node (1).

4. The method according to any one of claims 1 to 3, wherein measurement data of at least one sensor unit (28) of at least one third vehicle (20) and / or an infrastructure unit (20) is used to determine the traffic node (1).

5. The method according to any one of claims 1 to 3, wherein parked vehicles (24) and / or stationary objects (30) are determined when the traffic node (1) is identified.

6. The method according to any one of claims 1 to 3, wherein the determined measurement data of the at least one sensor unit (10, 26, 28) is sent to an external server unit (18) and provided for other traffic members (6, 20) to call in order to identify the traffic node (1).

7. The method according to any one of claims 1 to 3, wherein map data is used to determine the traffic node (1).

8. The method according to any one of claims 1 to 3, wherein the safety distance (34) is determined based on the size of the second vehicle (6).

9. The method according to claim 8, wherein the length of the safety distance (34) is determined, and the length corresponds at least to the length of the second vehicle (6).

10. The method according to any one of claims 1 to 3, wherein at the traffic node (1), an area (36) of the lane (32) of the third vehicle (20) is blocked by the second vehicle (6), and the safety distance (34) is determined based on the length of the blocked area (36).

11. The method according to claim 10, wherein the length of the safety distance (34) is determined, and the length corresponds at least to the length of the blocked area (36).

12. The method according to any one of claims 1 to 3, wherein a safety distance (34) of the first vehicle (4) from the second vehicle (6) is defined, and in the case where a traffic node (1) is recognized ahead, compliance with the defined safety distance (34) is introduced (43) by the control device (8).

13. The method according to claim 12, wherein at least one safety distance (34) is defined according to the driving situation of the first vehicle (4), wherein in addition to the traffic node (1) ahead, the driving situation is determined, and compliance with the pre-defined safety distance (34) is introduced (43) by the control device (8).

14. The method according to claim 13, wherein the driving situation is the area of the traffic node (1).

15. A control device (8), wherein the control device (8) is configured to carry out the method (2) according to any one of claims 1 to 14.

16. A computer program product, the computer program product comprising a computer program, the computer program comprising instructions which, when the computer program is executed by a control device (8), cause the control device to carry out the method (2) according to any one of claims 1 to 14.

17. A machine-readable storage medium (12) on which a computer program is stored, the computer program comprising instructions which, when the computer program is executed by a control device (8), cause the control device to carry out the method (2) according to any one of claims 1 to 14.

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