Method for controlled entry into the oncoming lane

Abstract

A method for a vehicle to drive onto an oncoming lane in a controlled manner is disclosed, wherein an environment detection device detects the environment of the vehicle, and a control device receives measurement data of the environment sensor device, and wherein the control device identifies the road direction and other traffic members in the environment of the vehicle based on the received measurement data, wherein the measurement data is used for trajectory planning, wherein a road section is detected by the control device, wherein the vehicle cuts into the oncoming lane when driving onto the road section, wherein the parking position of the vehicle before driving into the detected road section is determined and whether the oncoming lane is unobstructed is checked. A control device, a computer program, and a machine-readable storage medium are also disclosed.

Description

Technical Field

[0001] The invention relates to a method for a vehicle to drive onto an oncoming lane in a controlled manner. The 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 known. In such methods, in particular, longitudinal and transverse control of the vehicle is used, which is based on so-called lane center control. For this purpose, the vehicle is regulated in the middle of the lane by a vehicle control device.

[0003] In the case of larger vehicles, such as trucks or buses, it may be unavoidable to cut into the oncoming lane when entering a narrow bend. This driving maneuver can lead to traffic jams in particular on poorly visible road sections, since the vehicle does not check before entering the road section whether it can freely pass through the oncoming lane during the entire preceding maneuver.

[0004] In particular, in the case of increased traffic volume, such a traffic jam may occur if following traffic members drive closely to and impede the maneuverability of the vehicle taking the maneuver. Summary of the invention

[0005] It can be seen that the object on which the present invention is based is to specify a method and a control device for safely executing a driving maneuver in which the oncoming lane is blocked.

[0006] This object is achieved by means of the corresponding subject matter according to the invention. Advantageous embodiments of the invention are the corresponding subjects described below.

[0007] According to one aspect of the present invention, a method is proposed for controlled driving of a vehicle onto an oncoming lane, in particular on an unclear road section.

[0008] The surroundings of the vehicle are detected by the surroundings sensor system and the measurement data of the surroundings sensor system are received by the control unit.

[0009] The control device identifies the road course and other traffic members in the surroundings of the vehicle based on the received measurement data. The measurement data determined by the surrounding sensor device can be used for trajectory planning of the vehicle. Alternatively or additionally, the measurement data can be provided by other vehicles, infrastructure units and / or external server units. Furthermore, alternatively or additionally, trajectory planning can be performed by other control units of the vehicle or by a server unit outside the vehicle, wherein the planned trajectory is provided to the vehicle via a communication connection.

[0010] The control device detects the road section in which the vehicle cuts into the oncoming lane when driving onto the road section. The parking position of the vehicle before driving into the detected road section is determined and a check is made as to whether the oncoming lane is clear.

[0011] According to another aspect of the present invention, a control device is provided, wherein the control device is configured to implement the method. Preferably, the control device may be a control device inside the vehicle. Alternatively or additionally, the control device may be designed as a server unit outside the vehicle or in the form of cloud technology. The control device may also be implemented as a component or module of a vehicle control device for autonomous driving.

[0012] According to one aspect of the invention, a computer program is also provided. The computer program includes the following instructions, which, when the computer program is implemented by a control device, cause the control device to implement the method. According to another aspect of the invention, a machine-readable storage medium is provided, on which the computer program is stored.

[0013] Preferably, the vehicle can be operated in an assisted, partially automated, highly automated and / or fully automated or driverless manner according to the BASt definition. To this end, the vehicle can have a vehicle control device that can access surrounding sensor systems and actuators for steering, accelerating and braking the vehicle.

[0014] The vehicle may in particular have dimensions which exceed those of a common passenger vehicle. The vehicle may be embodied as a bus, a truck, a semitrailer, a tanker, a commercial vehicle, an agricultural vehicle, a trailer or the like.

[0015] By means of the method and the control device, traffic situations ahead of the vehicle that require cutting into the oncoming lane can be safely and comfortably driven through. In this case, a traffic jam with oncoming traffic that has the right of way can be avoided. The traffic flow on such a lane section can also be maintained. By avoiding traffic jams, uncomfortable situations for passengers can also be avoided and comfort can be improved.

[0016] According to one embodiment, the vehicle stops or slows down at or before the parking position, wherein the road course behind and / or within the unclear road section is checked by analyzing the measurement data to see whether there are oncoming traffic members. If oncoming traffic members are detected, the control device initiates a deceleration or stop of the vehicle.

[0017] The parking position of the vehicle can be a position before turning onto the curve or the road section, at which the oncoming lane can pass unhindered for oncoming traffic. The parking position can be equipped with a safety distance as appropriate. According to an alternative or additional design, the parking position can be selected so that the vehicle at least partially passes the oncoming lane in order to obtain an optimal estimate of the traffic situation on the road section.

[0018] After the parking position is specified, the area that the vehicle may travel through can be calculated. The area can be calculated by the control device based on dynamic and static parameters, such as the turning circle, turning time, length and width of the vehicle.

[0019] The area that the vehicle passes through during the travel section can be compared with the direction of the vehicle's lane. In this way, the area that the vehicle passes through on the opposite lane can be determined. Therefore, in particular, it can be determined at which point the vehicle passes through the opposite lane. Based on this point, a parking position can be selected in the longitudinal direction of the lane.

[0020] According to another embodiment, the time required for the vehicle to pass the unclear road section is determined. According to another design, during the time required for passing the unclear road section, it is checked whether an oncoming traffic member has driven onto the road section.

[0021] The time period may be, in particular, a time period starting with the vehicle entering the oncoming lane and ending with the vehicle completely leaving the oncoming lane.

[0022] The surrounding sensor system can be used to determine the traffic members of the oncoming traffic using the corresponding motion vectors. These motion vectors can be used to predict the possible behavior of the oncoming traffic. Then, it can be checked whether the vehicle can drive into the oncoming lane without hindering the oncoming traffic.

[0023] In order to carry out the method, in particular dynamic objects can be identified based on the measurement data of the surroundings sensor system and can be associated with the roadway. It is also possible to use algorithms for classifying dynamic objects in order to apply a certain type of prediction model.

[0024] According to another embodiment, if no oncoming traffic member drives onto the road section during the time period, driving onto the road section begins, wherein the vehicle passes over the opposing lane along a region when driving onto the unclear road section.

[0025] For this purpose, traffic members of the oncoming traffic can be detected and it can be estimated whether these traffic members are likely to arrive at the lane section. The time until the oncoming traffic arrives can be compared with the time for passing the lane section and other actions of the vehicle can be introduced. The other actions can be designed, for example, by adapting the vehicle speed, by stopping or by continuing to travel. Through this, it is possible to safely pass the lane section.

[0026] According to another embodiment, when an oncoming traffic member is found, the parking position of the oncoming traffic member is determined. Preferably, the parking position of the oncoming traffic member is at an end of the road section opposite to the vehicle. When driving on the road section, the vehicle occupies an area of ​​the opposite lane so that the road section can be successfully passed. Therefore, the parking position of the oncoming traffic member can be specified so that the vehicle can pass the opposite lane unhindered when driving on the road section. According to another design, the parking position is notified to the oncoming traffic member with a signal. Through this, the opposite traffic can be ordered to stop before driving on the road section. This signaling can be realized by wireless communication connection, such as vehicle-to-vehicle communication connection or by light signal. By notifying the oncoming traffic member with the parking position signal, the vehicle that can be automatically operated can be controlled to end its maneuvering action, that is, drive on the road section, because the opposite lane of the road section is at least partially open due to the opposite traffic.

[0027] According to another embodiment, the parking position is signaled to oncoming traffic members in the form of an optical marking. For this purpose, the vehicle can have a signaling device for generating a projection. Preferably, the signaling device can generate a projection visible to oncoming traffic on the lane.

[0028] According to another embodiment, the optical marking is generated on the oncoming lane by at least one light source of the vehicle. In this way, the signaling device can be implemented as a headlight of the vehicle or as an existing light source of the vehicle. For example, one or more matrix lights and the like can be used to generate the optical marking. By means of optical markings for oncoming traffic, the coordinated behavior of traffic members can be promoted. By means of such markings, the vehicle can be enabled to continue driving smoothly and safely, especially when the traffic volume is heavy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In the following, a preferred embodiment of the present invention is explained in detail based on a very simplified schematic diagram. In this case:

[0030] Figure 1 A schematic top view of a carriageway section is shown;

[0031] Figure 2shows a schematic top view of a roadway section with a vehicle in a parking position;

[0032] Figure 3 shows a schematic top view of a road section with a parking position projected by the vehicle for oncoming traffic; and Figure 4 A schematic flow chart of a method according to one embodiment is shown. DETAILED DESCRIPTION

[0033] exist Figure 1 , a road section 1 is shown in a schematic top view. A vehicle 2 drives onto a lane 4 and follows the course of the lane 4. To this end, the vehicle 2 must drive onto a curve 6.

[0034] According to this embodiment, the vehicle 2 is designed as an automatically operated bus. Due to the size of the vehicle 2, the vehicle 2 does not remain in its lane 8 or lane when driving on the curve 6, but must cut into the area 10 of the oncoming lane 12 when continuing to drive. Figure 2 and 3 Indicated in detail.

[0035] This situation can lead to difficult-to-solve traffic jams or even to unsafe driving situations, in particular if a road user 14 with the right of way in oncoming traffic approaches during the cut-in.

[0036] Figure 2 Shows the Figure 1 1 shows a schematic top view of a road section 1 illustrated in FIG. 1 , which has a vehicle 1 which is parked in a parking position 16 or is traveling at a reduced speed.

[0037] In this case, a method according to one specific embodiment is explained. Vehicle 1 has a control device 18 which is configured to carry out the method. For this purpose, control device 18 is connected to an environment sensor system 20 and a machine-readable memory 22 in a data-conducting manner.

[0038] The surroundings sensor device 20 may have one or more sensors. In particular, the surroundings sensor device 20 may have a camera sensor, a LIDAR (laser radar) sensor, a radar sensor, etc. A scanning area 24 of the surroundings sensor device 20 is shown as an example. The surroundings sensor device 20 can collect measurement data of the scanning area 24 and forward these measurement data to the control device 18. The control device 18 can analyze the received measurement data and implement Figure 4 The method described in .

[0039] The vehicle 2 is driven into the intersection or curve 6 at a reduced speed, so that a comfortable stop can still be performed before passing through the area 10 of the oncoming lane 12. The corresponding parking line or parking position 16 is drawn in as an example.

[0040] The surroundings sensor system 20 is also used to monitor the lane 4 for approaching vehicles 14. If there should be no oncoming traffic 14 occupying the oncoming lane 12 within a distance long enough for the vehicle 2 to comfortably pass the area 10 of the oncoming lane 12, the vehicle 2 can start the maneuver for driving onto the curve 6.

[0041] exist Figure 3 , a schematic top view of a road section 1 with a parking position 26 created by a vehicle 2 for oncoming traffic 14 is illustrated. Figure 2 An alternative or supplement to the behavior of vehicle 2 shown in FIG.

[0042] In this case, the oncoming traffic 14 can be requested to stop driving onto the curve 6, because the vehicle 2 at least partially requires the oncoming lane 12. The vehicle 2 has a signaling device 28 for generating a projection 30. Preferably, the signaling device 28 can generate a projection 30 on the lane 8, 12 that is visible to the oncoming traffic 14. The signaling device 28 is also connected to the control device 18 and can be controlled and regulated by the control device 28.

[0043] According to this exemplary embodiment, the signaling device 28 is integrated in the headlight of the vehicle 2. The projection 30 serves as the stop line 26 for the oncoming traffic 14. This makes it possible to dispense with modifications to the infrastructure, such as the erection of traffic lights, since the signaling is performed by the vehicle 2.

[0044] Such a projection 30 can also be generated when leaving a parking area or during a maneuvering process in order to be able to drive onto the oncoming lane 12 safely.

[0045] Figure 4 A schematic flow chart of a method 32 according to one specific embodiment is shown. The method 32 can preferably be carried out by a control device 18 which influences a vehicle control system of the vehicle 2 .

[0046] The method 32 is used to prevent traffic jams in unclear road sections 1, in particular when a vehicle 2 cuts into an oncoming lane 12. Surroundings 24 of the vehicle 2 are detected 33 by a surroundings sensing device 20. Measurement data of the surroundings sensing device 20 are received 34 by a control device 18.

[0047] Based on the received measurement data, control device 18 can detect 35 the course of the road and other traffic members 14 in surroundings 24 of vehicle 2 .

[0048] In one step, the unclear road section 1 can be determined 36 by the control device 18 .

[0049] Before driving into the unclear road section 1 , the parking position 16 of the vehicle 2 is determined 37 and a check 38 is performed to determine whether the unclear road section is clear.

[0050] Control device 18 can stop vehicle 2 in parking position 16 or at least slow it down.

[0051] According to this exemplary embodiment, oncoming traffic member 14 is detected at a sufficient distance from curve 6 so that vehicle 2 can drive onto the curve without hindrance. Control device 18 can generate a corresponding control command for initiating further driving 39 .

Claims

1. A method (32) for a vehicle (2) to move onto an oncoming lane (12) in a controlled manner, wherein an environment (24) of the vehicle (2) is detected (33) by an environment sensor device (20), and measurement data of the environment sensor device (20) are received (34) by a control device (18), and wherein the control device (18) identifies (35) a road course (4) and other traffic elements (14) in the environment (24) of the vehicle (2) based on the received measurement data, wherein the measurement data are used for trajectory planning, It is characterized in that A road section (1) is detected (36) by the control device (18), wherein the vehicle (2) cuts into the oncoming lane (12) when driving onto the road section, wherein a parking position (16) of the vehicle (2) before driving into the detected road section (1, 6) is determined (37) and a check (38) is made as to whether the oncoming lane (12) is clear, wherein if it is determined that the oncoming lane (12) is passable, the vehicle (2) first partially drives into the oncoming lane (12) and then continues to drive along the vehicle's (2) own lane.

2. The method according to claim 1, wherein the vehicle (2) stops or slows down at the parking position (16) or before the parking position (16), wherein the road course behind the road section (1, 6) and / or within the road section (1, 6) is checked by analyzing the measurement data to see whether there is an oncoming traffic member (14), wherein when the presence of an oncoming traffic member (14) is detected, the vehicle (2) is decelerated or stopped by the control device (18).

3. The method according to claim 1 or 2, wherein the time required for the vehicle (2) to travel over the road section (1) and / or to cut into the oncoming lane (12) within the road section (1) is determined.

4. The method according to claim 3, wherein during the time required for driving over the road section (1), a check is performed to determine whether an oncoming traffic member (14) is driving onto the road section (1).

5. The method according to claim 3, wherein if no oncoming traffic member (14) has driven onto the lane segment (1) during the time period, driving onto the lane segment (1) is started (39), wherein the vehicle (2) passes the opposing lane (12) along the area (10) when driving onto the lane segment (1).

6. The method according to claim 1 or 2, wherein, when an oncoming member of the traffic (14) is detected, a parking position (26) of the oncoming member of the traffic (14) is determined.

7. The method according to claim 6, wherein the parking position (26) is signaled to the oncoming traffic member (14).

8. The method according to claim 6, wherein the parking position (26) is signaled to the oncoming traffic member (14) in the form of an optical marking (30).

9. The method according to claim 8, wherein the optical marking (30) is produced on the oncoming lane (12) by at least one light source (28) of the vehicle (2).

10. A control device (18), wherein the control device (18) is configured to carry out the method (32) according to any one of claims 1 to 9.

11. A machine-readable storage medium (22) having a computer program stored thereon, the computer program comprising instructions which, when executed by a control device (18), cause the control device to carry out the method (32) according to any one of claims 1 to 9.

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