Vehicle Assistance Methods

Abstract

The invention relates to a method for assisting a vehicle (2) travelling in automated driving mode in a merging manoeuvre from an acceleration strip (F1) to a lane (F2) of a multi-lane highway section (F), wherein the vehicle (2) is connected to a central computer unit (1) via a radio connection (B). According to the invention, the merging manoeuvre intention of the vehicle (2) is transmitted to the central computer unit (1) via the radio connection (B), the central computer unit (1) transmits information about the merging manoeuvre intention of the vehicle (2) to at least two other vehicles (3, 5) on the highway section (F) in the vicinity of the vehicle (2), then a merging gap (E) is provided to the vehicle (2) on the lane (F2) by means of one of the two other vehicles (3), and a traffic participant is prevented from merging from a passing lane (F3) into the merging gap (E) on the lane (F2) by means of another of the two other vehicles (5).

Description

Technical Field

[0001] The invention relates to a method for assisting a vehicle travelling in automated driving mode during a merging manoeuvre from an acceleration strip to a lane of a multi-lane highway section, wherein the vehicle is connected to a central processing unit via a radio link. Background Art

[0002] DE 10 2014 009 625 A1 discloses a method for operating a motor vehicle, wherein the motor vehicle in an operating mode regulates a normal distance to a preceding motor vehicle on a road by automatic speed regulation, wherein the distance is automatically increased to a greater distance at an entry and / or exit of the road.

[0003] Furthermore, DE 10 2016 009 118 A1 describes a vehicle communication method. The method provides for wireless data transmission between a leading vehicle or an external server connected to the leading vehicle and at least one trailing vehicle following the leading vehicle on at least one road section when at least one trailing vehicle is within a predetermined distance range from the leading vehicle. A control signal is transmitted from the leading vehicle or the external server to at least one trailing vehicle, wherein at least one function of a driver assistance device integrated in the at least one trailing vehicle is controlled by means of the control signal. Summary of the invention

[0004] The object of the present invention is to specify a method for assisting a vehicle which is traveling in automated driving mode.

[0005] According to the invention, a method for assisting a vehicle traveling in automated driving mode in a merging maneuver from an acceleration strip to a lane of a multi-lane highway section, wherein the vehicle is connected to a central processing unit via a radio connection, provides that the vehicle's merging maneuver intention is transmitted to the central processing unit via the radio connection, and that information about the vehicle's merging maneuver intention is transmitted by the central processing unit to at least two other vehicles on the highway section in the vicinity of the vehicle. Subsequently, a merging gap is provided to the vehicle on the lane by means of one of the two other vehicles, and the vehicle is prevented from entering the merging gap on the lane from the overtaking lane by means of the other of the two other vehicles.

[0006] By using this method to assist an autonomous vehicle in merging into a traffic lane, the duration of the merging maneuver can be optimized, in particular shortened. With the aid of this method, a merging maneuver for an autonomous vehicle can be facilitated by cooperation with other vehicles.

[0007] In one embodiment of the method, the two other vehicles are also vehicles that are driven in an automated mode and are connected to the central computing unit via a radio link. That is, the two other vehicles are assigned a driving task to provide a merging gap by means of the computing unit, and the two other vehicles perform this driving task. If the two other vehicles were driven manually, there is the risk that no merging gap would be created and the vehicles would therefore have to wait to find a corresponding merging gap themselves in order to perform the merging maneuver.

[0008] In another embodiment, a confirmation of the knowledge of the intended merging maneuver is sent to the vehicle via the central computing unit with the aid of two other vehicles, so that the vehicle is accordingly informed and knows the corresponding time slot for performing the merging maneuver and can perform the merging maneuver from the acceleration zone to the driving lane.

[0009] One embodiment of the method provides that the other vehicle reduces its current driving speed in order to create a merging gap, thereby allowing the vehicle to merge into the lane before the other vehicle. Since the other vehicle does not create a merging gap by increasing its driving speed so that the vehicle merges into the lane behind the other vehicle, it can be substantially ruled out that the vehicle behind the other vehicle follows too closely, so that the time slot for the vehicle's merging maneuver is too short and the waiting process of the vehicle is thus prolonged.

[0010] In another possible embodiment, the other vehicle performs a lane change from the passing lane to the lane in order to create a merging gap, so that the vehicle can start its merging maneuver into the lane. In this case, the lane change of the other vehicle is used to essentially prevent the traffic participant from using the space that is otherwise available on the lane and thus preventing the vehicle from merging into the lane.

[0011] In particular, in one possible development, the merging gap is formed taking into account other road users in the surroundings of the other vehicle, so that essentially at any time when the merging gap is formed there is no danger to the vehicle, other vehicles and other road users. With the aid of two other vehicles, a cooperative merging of vehicles into the roadway is possible, wherein safety aspects for all users on the road section are taken into account.

[0012] Furthermore, in another possible specific embodiment of the method, information about the vehicle's intended merging maneuver is transmitted by means of the central processing unit to other vehicles which, based on their current position, are classified by the central processing unit as suitable for forming a merging gap.

[0013] It is therefore necessary to determine which other vehicles are in a suitable position relative to the acceleration strip and the vehicle in order to create a merging gap provided for the vehicle into which the vehicle merges without hindering and / or endangering other road users. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The embodiments of the present invention will be explained in detail below with reference to the drawings.

[0015] Figure 1 Schematic representation of a highway section with a plurality of lanes and acceleration strips with a plurality of vehicles and a central computing unit,

[0016] Figure 2 schematically shows a highway segment and two vehicles in a first traffic situation communicating via a central processing unit,

[0017] Figure 3 schematically shows a highway segment and two vehicles in a second traffic situation communicating via a central processing unit,

[0018] Figure 4 A road segment and three vehicles communicating via a central processing unit are shown schematically.

[0019] Corresponding parts are provided with the same reference symbols in all the figures. DETAILED DESCRIPTION

[0020] Figure 1 A highway section F is shown with an acceleration strip F1 , a driving lane F2 and an overtaking lane F3 , wherein the central computer unit 1 is also shown.

[0021] A vehicle 2 traveling on an acceleration strip F1 starts in an automated driving mode, wherein on a lane F2 there is another vehicle 3 behind the vehicle 2 that is also automated driving. All other traffic participants are manually driven vehicles 4 .

[0022] The development of automated vehicles 2, 3 in road traffic is a relatively large research area in the automotive industry. The driving behavior of automated vehicles 2, 3 can differ significantly from that of manually driven vehicles 4. This can lead to both disadvantages and advantages in so-called mixed traffic.

[0023] Mixed traffic can be a relatively large challenge for automated vehicles 2 , 3 , since the driving behavior of manually driven vehicles 4 is relatively difficult to predict and manually driven vehicles 4 can have generally unpredictable driving behaviors due to the actions of the respective vehicle users.

[0024] For example, it is relatively difficult for the automated driving vehicle 2 to merge from the acceleration lane F1 into the driving lane F2 because the manually driven vehicle 4 may cause trouble to the vehicle 2 due to its unpredictable driving behavior.

[0025] The time slot used by manually driven vehicle 4 for merging into lane F2 is relatively short for vehicles 2 , 3 travelling in automated mode, so that vehicles travelling in automated mode cannot use such time slots and are therefore at risk of violating a law by blocking traffic flow.

[0026] The term "time slot" refers to a time period during which two vehicles 2 to 4 traveling one after the other pass a specific point.

[0027] In order to allow the automated vehicle 2 to merge into the lane F2 in mixed traffic, in particular within a predetermined time slot, the method described below is provided for assisting the cooperative merging maneuver of the vehicle 2 .

[0028] Autonomous driving vehicles 2, 3 Figure 2 As shown, they are connected to the central processing unit 1 via a radio link B, which is indicated by a dashed line. In this case, the vehicles 2 , 3 are connected to the central processing unit 1 in order to send information to the central processing unit 1 or to receive information from it.

[0029] The central computer unit 1 is located in the local surroundings of the vehicle 2, 3 being assisted by the computer unit 1. Due to the geographical proximity between the central computer unit 1 and the autonomous vehicle 2, 3, the duration required for transmission and reception is relatively short, for example less than 1 second.

[0030] The two autonomous driving vehicles 2 , 3 and the plurality of manually driven vehicles 4 are traveling on the highway section F as described above, wherein the autonomous driving vehicle 2 is located on the acceleration belt F1 of the highway section F.

[0031] When the vehicle 2 approaches the acceleration zone F1 , but at the latest when the vehicle 2 drives onto the acceleration zone F1 , the vehicle 2 sends its merging maneuver intention to the central computing unit 1 .

[0032] according to Figure 2 In the present exemplary embodiment of FIG. 2 , information about the merging maneuver intention of vehicle 2 into lane F2 is transmitted to other autonomously driven vehicles 3 by means of central processing unit 1 .

[0033] The other vehicle 3 transmits a confirmation of the detection of the intention of the merging maneuver to the vehicle 2 via the central processing unit 1 , whereby the other vehicle 3 signals its cooperation with respect to the merging maneuver of the vehicle 2 .

[0034] The other vehicle 3 reduces its driving speed to increase the distance between it and the preceding manned vehicle 4 , whereby the other vehicle 3 forms a merging gap E for the vehicle 2 on the roadway F2 .

[0035] Alternatively or additionally, if the other autonomously driven vehicle 3 receives information about the merging maneuver intention of the vehicle 2, Figure 3The vehicle 2 is shown traveling on the overtaking lane F3 , then it changes lanes to the driving lane F2 . Thus, the merging gap E for the vehicle 2 is also formed, in particular, by reducing the driving speed of the other vehicle 3 , wherein the other vehicle 3 thus serves as a placeholder for the vehicle 2 .

[0036] If Figure 4 As shown, two other autonomously driven vehicles 3 and 5 are located in the surroundings of the vehicle 2 on the acceleration strip F1 , especially behind it, and the two other vehicles 3 and 5 may cooperate with the vehicle 2 with respect to the merging intention.

[0037] according to Figure 4 In one embodiment of the present invention, the other vehicle 2 is traveling on the driving lane F2, and another other vehicle 5 is traveling on the side and rear of the other vehicle 3 in the overtaking lane.

[0038] In particular, a merging gap E for vehicle 2 is formed on lane F2 by means of other vehicle 2 , wherein a traffic participant, in particular a manned vehicle 4 , is substantially prevented from merging into merging gap E from overtaking lane F3 by means of a further other vehicle 5 .

[0039] With the aid of two other vehicles 2 , 3 , the central computer unit 1 enables the vehicle 2 to carry out a cooperative merging, wherein the cooperative merging can ensure increased safety compared to manual driving behavior.

[0040] If more than two other autonomously driven vehicles 2, 5 are traveling on the driving lane F2 and / or the overtaking lane F3, the other vehicles 3, 5 closest to the vehicle 2 are classified by means of the central computing unit 1 as being suitable for forming a merging gap E for the vehicle 2. For this purpose, the respective current position of the other vehicles 3, 5 relative to the acceleration zone F1 and in particular relative to the vehicle 2 is determined. In particular, information about a merging maneuver intention is transmitted to the other vehicles 3, 5 classified as being suitable for forming a merging gap E. As an alternative thereto, the other vehicles 3, 5 closest to the vehicle 2 send a confirmation to cooperate with the vehicle 2 with regard to its merging maneuver intention.

[0041] In particular, the other vehicle 3 which is driving automatically is driving on the lane F2 and adjusts its driving speed in such a way that the other vehicle 3 drives relatively close to the acceleration zone F1 and the vehicle 2 .

[0042] When the other vehicle 3 determines by adjusting its driving behavior, in particular by reducing its driving speed, that the distance between the vehicle 3 and the preceding manually driven vehicle 4 is large enough so that the vehicle 2 can merge from the acceleration strip F1 into the lane F2, and furthermore, for example, no manually driven vehicle 4 is traveling on the overtaking lane F3 that could possibly insert into the merging gap E, the other vehicle 3 notifies the central computing unit 1 that the vehicle 2 can drive from the acceleration strip F1 into the merging gap E on the lane F2.

[0043] Vehicle 2 then confirms the merging process via central processing unit 1 and executes a corresponding lane change.

[0044] The other autonomously driven vehicles 3, 5 on the road section F have the possibility to reject the request of the vehicle 2 for the desired cooperation to be able to change from the acceleration zone F1 to the driving lane F2. The rejection is hereby made by a person in the other vehicle 3, 5 or by rejecting a corresponding precondition for the cooperation with the autonomously driven vehicle 2.

[0045] In one embodiment, it is provided that two or more autonomously driven other vehicles 3, 5 cooperate with the vehicle 2 traveling on the acceleration strip F1 via the central computing unit 1, wherein two of the other vehicles 3, 5 adjust their driving speed in such a way that a merging gap E is formed on the lane F2 between the two other vehicles 3, 5, into which the vehicle 2 merges.

[0046] Reference Figure 4 , the two other vehicles 3, 5 are driven side by side in the automated driving mode so that it is substantially impossible for a manually driven vehicle 4 to pass by the two other vehicles 3, 5. Therefore, the vehicle 2 on the acceleration strip F1 can assume that there are no manually driven vehicles 4 approaching it, whose driving behavior is unpredictable and could therefore represent a danger to the vehicle 2 during the merging process.

[0047] Cooperation via the central processing unit 1 is possible not only between the autonomous vehicle 2 and other autonomously driven vehicles 3, 5, so that manually driven vehicles 4 can also be used as partners for the intended merge action. This presupposes that the manually driven vehicle 4 has a radio connection B to the central processing unit 1 in order to carry out the communication between the vehicle 2 and the respective manually driven vehicle 4.

[0048] In one possible embodiment of the method, a merging gap E for vehicle 2 can also be formed behind another vehicle 3 on lane F2, wherein there is a risk that, for example, a self-driving vehicle 4 itself uses the merging gap E in order to drive from overtaking lane F3 to lane F2, or that a following self-driving vehicle 4 shortens the distance to the other vehicle 3.

[0049] Furthermore, the method can also be used to increase safety when merging into the lane F2 when only manually driven vehicles 4 are present on the lane F2 without cooperation with the vehicle 2 via the central computer unit 1 .

[0050] In an alternative or additional embodiment for increasing safety on the highway section F, detection units, in particular induction coils and / or infrastructure sensors, can be arranged on the lane F2 in the area before and after the acceleration strip F1. If no other road users are detected by means of the detection units, the central processing unit 1 can inform the vehicle 2 that an intended merging maneuver into the lane F2 can be performed.

[0051] The method is also suitable for carrying out overtaking maneuvers, wherein a merging gap E can be provided to the vehicle 2 by means of other vehicles 3 , 5 and / or by means of the manually driven vehicle 4 in order to carry out and terminate the overtaking maneuver.

Claims

1. A method for assisting a vehicle (2) travelling in automated driving mode during a merging manoeuvre from an acceleration strip (F1) to a lane (F2) of a multi-lane highway section (F), wherein: The vehicle (2) is connected to a central processing unit (1) via a radio connection (B) and is characterized in that: - the vehicle's (2) intended merging action is transmitted to the central processing unit (1) via the radio connection (B), - the central processing unit (1) transmits information about the vehicle's (2) intended merging maneuver to at least two other vehicles (3, 5) located on the road section (F) in the surroundings of the vehicle (2), - subsequently, providing the vehicle (2) with a merging gap (E) on the lane (F2) with the aid of one of the two other vehicles (3), and - preventing a traffic participant from merging from the overtaking lane (F3) into the merging gap (E) on the driving lane (F2) by means of another of the two other vehicles (5), When one of the two other vehicles (3) is traveling in the overtaking lane (F3), the other vehicle (3) performs a lane change from the overtaking lane (F3) to the driving lane (F2) in order to form a merging gap (E).

2. The method according to claim 1, characterized in that: The two other vehicles (3, 5) are driven in autonomous driving mode.

3. The method according to claim 1 or 2, characterized in that: With the aid of the two other vehicles (3, 5), a confirmation of the acquisition of the intended merging maneuver is sent to the vehicle (2) via the central processing unit (1).

4. The method according to claim 1 or 2, characterized in that: The other vehicle (3) reduces its current driving speed in order to form the merging gap (E).

5. The method according to claim 1 or 2, characterized in that: Taking into account other road users in the surroundings of the other vehicles ( 3 , 5 ), a merging gap (E) is formed.

6. The method according to claim 1 or 2, characterized in that: Information about the vehicle's (2) intended merging maneuver is transmitted by means of a central processing unit (1) to other vehicles (3, 5) which, based on their current positions, are classified by the central processing unit (1) as suitable for forming a merging gap (E).

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