Auxiliary system operation method

Abstract

The invention relates to a method for operating an assistance system to achieve automated driving of a vehicle (1), which is guided in a longitudinally and laterally adjustable manner along a determined standard movement trajectory (S), wherein an emergency movement trajectory (N) for transferring the vehicle (1) into a stopped state in a longitudinally and laterally adjustable manner after activation of an emergency operation of the vehicle (1) is continuously determined. The invention provides that when the vehicle (1) is about to or has started to change lanes from a starting lane (F1) to a target lane (F2) according to the determined standard movement trajectory (S), it is determined whether the vehicle (1) should be transferred into the stopped state on the starting lane (F1) or on the target lane (F2) when the emergency operation is activated, wherein this determination is made based on the position of the vehicle on the standard movement trajectory (S). Here, when an emergency movement trajectory (N) for transferring the vehicle (1) into the stopped state on the starting lane (F1) within a prescribed travel length and / or within a prescribed time period is planned, and when at the same time a prescribed comfort value of the lateral acceleration acting on the vehicle (1) is not exceeded and a prescribed entry depth of the vehicle (1) into the target lane (F2) is not exceeded, the vehicle (1) is transferred into the stopped state on the starting lane (F1).

Description

Field of the Invention

[0001] The present invention relates to a method for operating an assistance system for automated driving of a vehicle, guiding / maneuvering the vehicle along a determined standard motion trajectory by means of longitudinal and lateral adjustments, wherein an emergency motion trajectory is continuously determined, and after activating an emergency operation of the vehicle, the vehicle is longitudinally and laterally adjusted along the emergency motion trajectory and brought into a stopped state. Background Art

[0002] DE 10 2015 003 124 A1 discloses a method and a device for operating a vehicle in an automated driving mode. During the normal function of automated driving, an emergency ideal motion trajectory is continuously determined and stored, and after at least one predetermined fault event occurs, the automated motion trajectory of the vehicle should be adjusted according to the emergency ideal motion trajectory. When at least one predetermined fault event is detected, an emergency operation mode is activated. Here, if and as long as the vehicle driver does not take over the driving of the vehicle, the automated motion trajectory control of the vehicle is started and executed according to the emergency ideal motion trajectory stored before at least one predetermined fault event occurs for a predetermined time and / or until the vehicle stops.

[0003] Furthermore, DE 10 2017 011 808 A1 describes a method for adjusting the motion of a vehicle in automated driving and a device for performing the method. When it is determined that the main controller function is impaired, the automated driving is switched from the normal operation mode (wherein the vehicle is automatically guided along a normal ideal motion trajectory to a predetermined target position by means of the main controller) to an emergency operation mode (wherein the vehicle is automatically guided along an emergency operation ideal motion trajectory to an emergency stop position by means of the secondary controller). In the normal operation mode, a normal ideal motion trajectory, an emergency operation ideal motion trajectory, and the lane orientation of the lane in which the vehicle is traveling are continuously determined in the vehicle-fixed coordinate system of the main controller. The determined emergency operation ideal motion trajectory and the determined lane orientation are supplied to the secondary controller and stored therein. In the emergency operation mode, the lane orientation of the lane in which the vehicle is traveling is determined in the vehicle-fixed coordinate system of the secondary controller. In the emergency operation mode, the deviation between the coordinate system of the main controller and the coordinate system of the secondary controller is compensated based on the lane orientation stored in the secondary controller and the lane orientation of the lane determined by the secondary controller. Summary of the Invention

[0004] The present invention is based on the task of specifying a method for operating an assistance system for automated driving of a vehicle.

[0005] A method for operating an assistance system to achieve automated driving of a vehicle is proposed according to the present invention. The vehicle is guided in a longitudinally and laterally adjustable manner along a determined standard motion trajectory. An emergency motion trajectory for longitudinally and laterally adjusting the vehicle to a stop state after activating an emergency operation of the vehicle is continuously determined. When the vehicle is about to or has started to change lanes from a starting lane to a target lane according to the determined standard motion trajectory, it is judged based on the position of the vehicle on the determined standard motion trajectory whether the vehicle should be brought to a stop state on the starting lane or on the target lane when the emergency operation is activated. And when an emergency motion trajectory for bringing the vehicle to a stop state on the starting lane within a specified travel length and / or within a specified time period is planned, and at the same time when the specified comfort value of the lateral acceleration acting on the vehicle is not exceeded and the specified entry depth for the vehicle to enter the target lane is not exceeded, the vehicle is brought to a stop state on the starting lane.

[0006] A method for operating an assistance system for automated driving of a vehicle provides that the vehicle is guided by longitudinal and lateral adjustment along a determined standard motion trajectory, wherein an emergency motion trajectory for longitudinally and laterally adjusting the vehicle to a stop state after activating an emergency operation of the vehicle is continuously determined. According to the present invention, when the vehicle faces or has initiated a lane change from a starting lane to a target lane according to the determined standard motion trajectory, it is judged whether the vehicle should be brought to a stop state on the starting lane or on the target lane under activation of the emergency operation. That is, it is necessary to judge whether the impending lane change should be initiated or whether an initiated lane change should continue or be aborted. Herein, the judgment is made based on the current position of the vehicle on the determined standard motion trajectory. Herein, when a motion trajectory can be planned as an emergency motion trajectory for bringing the vehicle to a stop state on the starting lane within a predetermined travel length and / or within a predetermined time period and at the same time when the predetermined comfort value of the lateral acceleration acting on the vehicle is not exceeded and the specified entry depth for the vehicle to enter the target lane is not exceeded, the vehicle is then brought to a stop state on the starting lane, and thus returns to the starting lane in the case where a lane change has been initiated.

[0007] In particular, when the determined standard motion trajectory provides for a lane change within a predetermined vehicle observation horizontal plane, i.e., when a lane change is planned within a predetermined time period or route segment, it is assumed that a lane change is impending.

[0008] The term "starting lane" when a lane change is impending refers to the lane of the vehicle from which the impending lane change is initiated, i.e., the current lane of the vehicle. When a lane change has been initiated, the term "starting lane" refers to the lane from which the lane change has been initiated. The term "target lane" refers to the lane of the vehicle in which the lane change should end if it is not aborted prematurely.

[0009] This method is a contingency solution for emergency vehicle operations, for example when the vehicle's main controller fails. In this case, the operation of the vehicle, especially automated driving, is basically achieved without redundant environmental sensors.

[0010] By using this method, it is basically possible to ensure that the vehicle is transferred to a safe stop state on the starting lane or on the target lane according to the judgment made when activating the emergency operation during emergency operation. Thus, it is basically possible to avoid obstructing other vehicles on both lanes or even blocking both lanes.

[0011] Therefore, it is basically possible to prevent the vehicle from suddenly aborting a lane change and being placed in a stop state or driving back to the starting lane when the acting lateral acceleration exceeds the comfort value and the specified entry depth into the target lane when a lane change has been initiated during activation of the emergency operation. In this case, the lane change is carried out, and the vehicle is steered to the target lane in order to decelerate the vehicle more comfortably and safely.

[0012] Another embodiment of this method provides that, taking into account the collision risk present on the starting lane and / or the target lane, it is determined on which lane the vehicle is transferred to the stop state, and the vehicle is transferred to the stop state on the lane with a lower risk. Thus, the vehicle is braked to a stop on the lane where "the risk of conflict and collision with other road users, especially other vehicles, is classified as lower".

[0013] After planning or initiating a lane change, in an improved version of this method, two emergency motion trajectories are continuously determined, which transfer the vehicle to a stop state on the starting lane and on the target lane within a predetermined travel length and / or within a predetermined time period. Thus, it is basically ensured that in the case of an activated emergency operation, the vehicle can be braked to a safe stop state on both the starting lane and the target lane.

[0014] When the vehicle's emergency operation is activated, the vehicle's warning flash device is automatically activated either when the emergency operation is activated or when the vehicle reaches the stop state, depending on the country in which the vehicle is located.

[0015] By activating the warning flash device, other road users in the vehicle's surroundings are made aware of the decelerating or stationary vehicle, so that other road users can avoid the vehicle in advance accordingly.

[0016] For this purpose, the vehicle's current position is determined in particular based on the signals obtained by the satellite-assisted positioning unit, so that the country in which the vehicle is currently located can be determined. If the country is known, it is possible to determine at which moment the vehicle's warning flash device should be activated so that the vehicle attracts attention.

[0017] If the emergency operation of the vehicle is activated, especially due to the recognition of a fault, a warning is issued optically, acoustically and / or haptically in the vehicle, thereby indicating the situation on the vehicle side to the vehicle user and possibly other passengers.

[0018] In order to lock the vehicle in the achieved stopped state, in a possible improvement, the parking brake is activated and the corresponding transmission gear is set, thereby preventing the vehicle from rolling away and locking it. Description of the Drawings

[0019] The embodiments of the present invention will be explained in detail below with reference to the drawings, where:

[0020] FIG. 1 schematically shows a driving situation in the automated driving of a vehicle according to the prior art.

[0021] FIG. 2 schematically shows another driving situation in the automated driving of a vehicle according to the prior art.

[0022] Figure 3 Schematically shows the driving situation of a vehicle driving in an automated driving mode when using the method of the present invention.

[0023] Figure 4 Schematically shows another driving situation of a vehicle driving in an automated driving mode when using the method of the present invention. Detailed Embodiment

[0024] Corresponding components are provided with the same reference numerals in all the figures.

[0025] FIG. 1 and FIG. 2 respectively show the driving situations of a vehicle 1 in an automated driving state according to the prior art.

[0026] In order to achieve automated driving, the vehicle 1 is equipped with an assistance system, which performs all driving tasks in the activated state.

[0027] In automated driving, especially with the assistance of the assistance system, a standard motion trajectory S is determined, which is predefined for the vehicle 1, and the vehicle 1 is guided along this standard motion trajectory by longitudinal and lateral adjustments.

[0028] When the vehicle 1 is guided along the standard motion trajectory S, an emergency motion trajectory N is determined. After the emergency operation of the vehicle 1 is activated, for example, due to the failure of the main controller, the vehicle 1 is transferred into a stopped state, especially a safe stopped state, by longitudinal and lateral adjustments along this emergency motion trajectory. The emergency operation is especially activated when it is not possible to ensure safe continued driving in an automated driving mode.

[0029] Figure 1 shows the driving situation during the autonomous driving of vehicle 1, where vehicle 1 plans to change lanes from the starting lane F1 to the target lane F2, as shown in connection with the planned standard motion trajectory S.

[0030] Regarding the position curve, the emergency motion trajectory N corresponds to the standard motion trajectory S. Therefore, vehicle 1 is braked during the lane change when the emergency operation, which is a redundant driving function of vehicle 1, is activated. Vehicle 1 is decelerated in such a way that it is located not only in the starting lane F1 but also in the target lane F2. Other road users may be obstructed thereby, and here, the stationary vehicle 1 also blocks the starting lane F1 and the target lane F2.

[0031] In the driving situation of vehicle 1 as shown in Figure 2, the lane change has already started, and here, vehicle 1 is still in its starting lane F1. The emergency motion trajectory N corresponds to the standard motion trajectory S regarding its position curve. Therefore, vehicle 1 performs the lane change when the emergency operation is activated.

[0032] Vehicle 1 includes an environment sensor system (not shown), and here, the functions of multiple environment sensors of the environment sensor system are also available when the emergency operation of vehicle 1 is activated.

[0033] The assistance system includes a main controller for performing autonomous driving and a secondary controller for controlling vehicle 1 during an emergency operation. The main controller continuously determines the emergency motion trajectory N to be used in the emergency operation during autonomous driving and provides it to the secondary controller. During the activated emergency operation, the secondary controller takes over the task of controlling vehicle 1. Therefore, the assistance system can transfer vehicle 1 into a safe state, especially a safe stop state, according to the emergency motion trajectory N previously determined by the main controller even in an emergency operation caused by a malfunction of the main controller. Generally, the performance of the secondary controller is designed to be lower than that of the main controller. In particular, the secondary controller is a controller for driving dynamic stabilization and is designed to process satellite-aided information and signals collected by the vehicle-side camera as an environment sensor. Based on the satellite-aided information, compared with determining the current position of vehicle 1 based on the measured wheel speeds, a more accurate positioning of vehicle 1 can be achieved.

[0034] In the case of a relatively significant functional failure of the autonomous driving of vehicle 1, such as a malfunction of the main controller, the functions of the urgently needed environment sensors are provided to vehicle 1 when the emergency operation is activated. This allocation enables vehicle 1 to be controlled even without redundant environment sensors in case of a malfunction of the main controller or the secondary controller.

[0035] Both the main controller and the secondary controller of vehicle 1 are respectively connected to the driving controller for autonomous driving and emergency operation, the devices for steering and braking, multiple environment sensors, and other sensors.

[0036] During an emergency stop operation, the function of at least one sensor, such as a camera, is available, and based on the acquired signals, especially image signals, the starting lane F1 and the target lane F2 are detected. The acquisition range of the camera points in front of the vehicle 1 and continuously acquires signals during the driving operation of the vehicle 1. Based on this signal, objects and obstacles in front of the vehicle 1 are also detected. Thereby, measures to avoid collisions and / or mitigate the consequences of collisions can be initiated.

[0037] The assistance system attempts to move the vehicle 1 at a higher cruising speed in automated driving using the acquired signals of the environmental sensors, where the vehicle 1 follows a standard motion trajectory S through longitudinal and lateral adjustment.

[0038] According to the prior art, the standard motion trajectory S is used as an emergency motion trajectory N for an activated emergency operation, where the vehicle 1 is brought into a stopped state with a predetermined deceleration curve. In particular, the standard motion trajectory S and the emergency motion trajectory N not only specify a series of position coordinates for guiding the vehicle 1, but also information related to the desired speed and acceleration curves along the position coordinates.

[0039] If the vehicle 1 performs a lane change according to the standard motion trajectory S and, during this period, the emergency operation of the vehicle 1 is activated, there is a risk that the vehicle 1 is brought into a stopped state during the lane change and thus stops on the starting lane F1 and the target lane F2, as shown in FIG. 1.

[0040] If the vehicle 1 follows the standard motion trajectory S with a deceleration curve of decreasing deceleration as shown in FIG. 2 during an activated emergency operation and thus follows the emergency motion trajectory N and performs a lane change, the vehicle 1 is located on the target lane F2, which is the target lane for the lane change, but this is achieved without lateral and rear object detection. Thus, the vehicle 1 is a significant threat to other road users and itself is at a relatively high risk of collision. For example, other road users may drive into the target lane F2 within the area of the vehicle 1 that is changing lanes, where other road users are not recognized or are recognized only relatively late. Such a risk increases with the driving time on the predetermined emergency motion trajectory N on the target lane F2. Generally, the vehicle 1 can change lanes to the target lane F2, an exit lane or a parking strip not shown in detail in automated driving.

[0041] In order to optimize the activated emergency operation of the vehicle 1 in terms of the comfort and safety of the vehicle 1 and other road users during a planned or initiated lane change, the following method described in conjunction with Figure 3 and Figure 4 is specified.

[0042] In the autonomous driving of vehicle 1, two emergency motion trajectories N are determined after planning or initiating a lane change, where vehicle 1 is transferred into a safe stop state along one of the emergency motion trajectories N on the starting lane F1 of vehicle 1 within a predetermined travel length or within a predetermined time period. The other determined emergency motion trajectory N is provided for transferring vehicle 1 into a stop state on the target lane F2 within a predetermined travel length or within a predetermined time period.

[0043] According to Figure 3 the embodiment in, vehicle 1 follows the emergency motion trajectory N determined on the starting lane F1, but at the same time plans a lane change to the target lane F2 as shown by the standard motion trajectory S. Vehicle 1 is placed in a stop state according to the predetermined deceleration curve of the emergency motion trajectory N.

[0044] In particular, when the emergency motion trajectory N indicates that vehicle 1 can be decelerated on the starting lane F1 within a predetermined travel length or within a predetermined time period, and the lateral acceleration acting on vehicle 1 does not exceed a predetermined comfort value and vehicle 1 has not entered the target lane F2 to a predetermined depth, as Figure 4 shown, vehicle 1 is placed in a stop state on the starting lane F1.

[0045] For example, the predetermined comfort value related to the lateral acceleration is in the range of 0.5 m / s 2 to 3 m / s 2 .

[0046] Based on the lateral acceleration and the entry depth of vehicle 1 into the target lane F2 as the judgment criteria under the condition that the lane change has been initiated, the corresponding emergency motion trajectory N is selected, and vehicle 1 is transferred into a safe stop state along it. At this time, the selected emergency motion trajectory N is an ideal motion trajectory for the longitudinal and lateral adjustment of vehicle 1.

[0047] By taking into account the image signals of the cameras as environmental sensors, objects at risk of collision on the respective emergency motion trajectories N can be detected, which were not detected when determining the emergency motion trajectories N. Thereby, for example, a collision between vehicle 1 and a potential collision object can be avoided by braking more strongly. Therefore, the speed curve and / or acceleration curve of the emergency motion trajectory N is adapted to the changing environmental conditions. An emergency motion trajectory N is also selected that has a lower collision risk and can basically avoid hard braking. Therefore, in addition to the lateral acceleration or the entry depth, an emergency motion trajectory N is also selected that has a low risk or no risk with respect to the dangerous situation. For example, a dangerous situation may be caused by a relatively short-lived obstacle located on one of the emergency motion trajectories N, such as other vehicles moving slowly or converging or stationary objects.

[0048] Furthermore, the method provides for a warning to be issued in the vehicle 1 when the emergency operation of the vehicle 1 is activated, wherein the warning is issued optically, acoustically and / or haptically, for example by activating a reversible seat belt buckle.

[0049] Depending on the country in which the vehicle 1 is located, the warning flash device of the vehicle 1 is automatically switched on at the moment when the emergency operation is activated or when the vehicle 1 is stationary.

[0050] In order to determine in which country the vehicle 1 is located, the current position of the vehicle 1 is measured based on the positioning signals of a satellite-assisted positioning unit. The warning flash device is switched on according to the country and the current regulations.

[0051] Furthermore, the parking brake is automatically activated and a transmission gear for parking is engaged in the stationary state of the vehicle 1 in order to prevent the vehicle 1 from rolling away and locking it.

Claims

1. A method for operating an assistance system to achieve automated driving of a vehicle (1), the vehicle being guided in a longitudinally and laterally adjustable manner along a determined standard motion trajectory (S). Wherein, An emergency motion trajectory (N) for transferring the vehicle (1) into a stopped state in a longitudinally and laterally adjustable manner after activating an emergency operation of the vehicle (1) is continuously determined. It is characterized in that, When the vehicle (1) is about to or has started to change lanes from a starting lane (F1) to a target lane (F2) according to the determined standard motion trajectory (S), it is judged based on the position of the vehicle on the determined standard motion trajectory (S) whether the vehicle (1) should be transferred into a stopped state on the starting lane (F1) or on the target lane (F2) when the emergency operation is activated, and When an emergency motion trajectory (N) for transferring the vehicle (1) into a stopped state on the starting lane (F1) within a specified travel length and / or within a specified time period is planned, and at the same time when the specified comfort value of the lateral acceleration acting on the vehicle (1) is not exceeded and the specified entry depth for the vehicle (1) to enter the target lane (F2) is not exceeded, the vehicle (1) is transferred into a stopped state on the starting lane (F1).

2. The method according to claim 1, It is characterized in that, The said judgment is made considering the collision risk existing on the starting lane (F1) and / or the target lane (F2), and the vehicle (1) is transferred into a stopped state on the lane (F1; F2) with lower risk.

3. The method according to claim 1 or 2, It is characterized in that, After planning or initiating a lane change, two emergency motion trajectories (N) are continuously determined to transfer the vehicle (1) into a stopped state on the starting lane (F1) and on the target lane (F2) within a specified travel length and / or within a specified time period.

4. The method according to claim 1 or 2, It is characterized in that, When activating the emergency operation of the vehicle (1), the warning flash device of the vehicle (1) is automatically activated according to the country where the vehicle (1) is located when activating the emergency operation or when reaching the stopped state of the vehicle (1).

5. The method according to claim 1 or 2, It is characterized in that, The current position of the vehicle (1) is determined based on the signals collected by a satellite-assisted positioning unit.

6. The method according to claim 1 or 2, It is characterized in that, When activating the emergency operation of the vehicle (1), a warning is issued inside the vehicle (1) in an optical, acoustic and / or tactile manner.

7. The method according to claim 1 or 2, It is characterized in that, In the stopped state reached by the vehicle (1), the parking brake of the vehicle (1) is activated and the corresponding transmission gear is engaged.

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