How to operate an autonomous vehicle

Abstract

The present invention relates to an operating method of an automatic driving vehicle (1) in an intersection (K) area. The present invention provides that another vehicle (2) having the right of way at the intersection (K) is detected and its established driving path is found; if it is determined based on the established driving path that the other vehicle (2) should pass by the vehicle (1) after passing the intersection (K), then it is found whether the driving path of the other vehicle (2) is blocked by an obstacle; if it is determined that the driving path of the other vehicle (2) is blocked by an obstacle, a communication connection is established with the other vehicle (2), and the vehicle (1) notifies the other vehicle (2) that the driving path is blocked by means of the communication connection.

Description

Technical Field

[0001] The invention relates to an operation method of an automatic driving vehicle in a road intersection area. Background Art

[0002] DE 10 2016 203 086 A1 discloses a driver assistance method and a driver assistance system. The method provides that a host vehicle automatically performs a driving maneuver, wherein objects in the host vehicle's surroundings are identified when the driving maneuver is performed. Objects are classified, wherein stationary objects and oncoming vehicles forming a narrow point are classified. The host vehicle's movement and the oncoming vehicle's movement are then predicted. Free areas in the surroundings of the stationary objects forming the narrow point are detected, and a first blocking state is determined in which the host vehicle cannot continue to drive at the narrow point due to the oncoming vehicle, and / or a second blocking state is determined in which the host vehicle cannot identify the end of the narrow point, wherein a stop position is determined when determining the blocking state, and the host vehicle stops at the stop position until the blocking state is resolved. Summary of the invention

[0003] The purpose of the present invention is to realize an operating method of an autonomous driving vehicle.

[0004] According to the invention, this object is achieved by a method having the features of claim 1 .

[0005] Advantageous embodiments of the invention are the subject matter of the dependent claims.

[0006] According to the invention, a method for operating an automated vehicle, in particular a vehicle without a driver, in an intersection area provides for detecting another vehicle that has the right of way at the intersection and determining its intended driving path. If it is determined based on the intended driving path that the other vehicle should pass by the vehicle after passing the intersection, it is determined whether the driving path of the other vehicle is blocked by an obstacle. If it is determined that the driving path of the other vehicle is blocked, a communication connection is established with the other vehicle, and the vehicle notifies the other vehicle by means of the communication connection that the driving path is blocked.

[0007] By using this method, blocking situations of two vehicles can be largely eliminated, in particular for the following situation: two autonomous vehicles are stopped at a right-hand intersection, and one of the vehicles with the right of way wants to turn onto the road where the main vehicle is located and has to stop in front of the main vehicle because the other vehicle cannot pass the main vehicle, for example due to a parked vehicle, so that the two vehicles are stranded there for an indefinite period of time without other measures until the blocking situation can be eliminated, for example with the help of a remote operator.

[0008] Since at least this vehicle recognizes the impending traffic jam and communicates accordingly with another vehicle in order to be able to find a solution, the traffic flow can also be optimized since the occurrence of a traffic jam can be counteracted.

[0009] One embodiment of the method provides for coordinating the order in which two vehicles pass through the intersection. In particular, the order is coordinated to avoid a blocking situation so that the vehicle first takes its driving action to pass through the intersection, although the other vehicle has the right of way.

[0010] In an improved solution, the vehicle is also used to determine whether the view of the other vehicle to the obstacle blocking its driving path is blocked. In particular, when it is determined that the view of the other vehicle to the obstacle is blocked, a communication connection is immediately established between the two vehicles to prevent the other vehicle from taking its driving action and thus causing a blocking state for the two vehicles.

[0011] Another embodiment of the method provides that, in order to determine the occurrence of a blocking state, the remaining road width between the vehicle and the obstacle blocking the driving path of the other vehicle and the width of the other vehicle are determined. Here, the remaining road width and the width of the other vehicle are determined based on the detected signals of the vehicle to perform a comparison.

[0012] In one possible embodiment, the remaining road width is compared with the width of another vehicle to determine the occurrence of a blocking situation, thereby being able to determine whether the remaining road width is sufficient for the other vehicle to pass beside the vehicle and in particular between the vehicle and the obstacle when the other vehicle first passes the intersection.

[0013] In one embodiment of the method, the intended driving path of the other vehicle is determined based on activated direction indicators and / or based on information transmitted via vehicle-to-vehicle communication. The vehicle is thus informed of the intended driving path of the other vehicle and can thus determine whether obstacles in the path of the vehicle affect the turning process of the other vehicle.

[0014] By means of another vehicle, in order to verify the width of the other vehicle, its width and the signal of the set driving direction indicator are sent to the vehicle via vehicle-to-vehicle communication. Thus, the driving path of the other vehicle and the remaining road width between the vehicle and the obstacle can be verified.

[0015] The other vehicle was also operating in autonomous mode without a driver, so the vehicle users of the two vehicles were unable to communicate to minimize or eliminate the blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The embodiments of the present invention will be explained in detail below with reference to the drawings, wherein:

[0017] Figure 1Schematically showing an intersection area without a traffic sign, light signal equipment or patrol officer, a vehicle and another vehicle turning left,

[0018] Figure 2 The junction area is schematically shown together with two vehicles and the corresponding detection ranges of the detection units of the vehicle surroundings sensor system.

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

[0020] Figure 1 The intersection K area without a traffic sign, light signal equipment or patrol officer is shown. Vehicle 1 stops on a road F1 of the intersection K due to noticing the traffic sign, light signal equipment or patrol officer. Another vehicle 2 turning left is located on another road F2 of the intersection. The other vehicle 2 has the right of way over vehicle 1.

[0021] Figure 2 The intersection K is shown together with two vehicles 1 , 2 and the respective detection ranges E of the detection units 3 - 6 of the surroundings sensor system of vehicle 1 .

[0022] Both vehicles 1 , 2 are driven in an automated driving manner, wherein the driving task is completely performed by the respective vehicle 1 , 2 and no vehicle user is in the respective vehicle 1 , 2 .

[0023] On the opposite lane of the road F1 from the vehicle 1 there are two longitudinally parked vehicles 7 , 8 , wherein the first parked vehicle 7 is partially located next to the vehicle 1 .

[0024] If another vehicle 2 coming from the right with respect to vehicle 1 turns in front of vehicle 1 on its path F1, the other vehicle 2 cannot pass vehicle 1 and remains parked in front of vehicle 1. Therefore, there is a blocking situation for the two vehicles 1, 2, so that the two vehicles 1, 2 remain in the blocking situation for an indefinite period of time without further measures, for example, until a remote operator takes over the remote control task of at least one of the two vehicles 1, 2 in order to eliminate the blocking situation, or the first parked vehicle 7 leaves its parking position.

[0025] In order to substantially avoid such blocking situations, the following method is provided.

[0026] Vehicle 1 comprises an environmental sensor system having at least detection units 3-6 which continuously detect signals during driving of vehicle 1. The surroundings of vehicle 1 and objects located therein and thus also another vehicle 2 are detected based on the detected signals.

[0027] Based on the signals detected by the detection unit 3, which is in particular designed as a side camera, and based on the signals detected by the detection unit 4, which is designed as a radar-based rear sensor, at least a first parked vehicle 7 is detected next to the vehicle 1. In particular, the first parked vehicle 7 is identified as an object and obstacle, which blocks the passage of another vehicle 2 on the opposite lane of its road F1, which is potentially approaching the vehicle 1. In other words, the road width for the passage of the other vehicle 2, that is, the distance between the vehicle 1 and the first parked vehicle 7, is too small.

[0028] For this purpose, the remaining road width between the vehicle 1 and the first parked vehicle 7 as an obstacle is determined based on the signals recorded by the detection unit 4, which is in particular designed as a side camera. The obstacle causing the blocking situation can also be a construction site fence or other objects on the opposite lane of the vehicle 1 that block the driving path of another vehicle 2.

[0029] The other vehicle 2 and its activated direction indicator 9 are detected based on the signals detected by the detection unit 5 designed as a radar-based front angle sensor and based on the signals detected by the detection unit 6 designed as a forward camera. In addition, the width of the other vehicle 2 is determined in particular based on the signals of the detection units 5, 6.

[0030] Since the driving direction indicator 9 of the other vehicle 2 is activated, the driving path of the other vehicle 2 can be determined, wherein the other vehicle 2 wants to turn left.

[0031] In order to determine whether the other vehicle 2 can still pass the vehicle 1 laterally with the first parked vehicle 7 , the determined remaining road width between the vehicle 1 and the first parked vehicle 7 is compared with the determined width of the other vehicle 2 .

[0032] In order to verify the width of the other vehicle 2 , the other vehicle 2 sends a signal of its width and the set direction indicator 9 to the vehicle 1 via a communication connection.

[0033] In one specific embodiment of the method, it is provided that, based on signals detected by an ambient sensor system of vehicle 1 , it is determined whether the view of another vehicle 2 to an obstacle in the form of first parked vehicle 1 blocking its driving path is blocked.

[0034] Since intersection K is an intersection K of the same level, the other vehicle 2 has the right to pass through intersection K in priority compared to vehicle 1 .

[0035] When the other vehicle 1 exercises its right of way and the view of the other vehicle 2 to the first parked vehicle 7 is still blocked, if the vehicle 1 detects a blocking situation between the vehicle 1 and the other vehicle 2 , a communication connection is reestablished between the two vehicles 1 , 2 .

[0036] Through the communication connection, in particular the vehicle-to-vehicle communication, the other vehicle 2 is informed that its driving path is blocked, and the other vehicle 2 replies that it has received the information. Then, although the other vehicle 2 has the right of way, the two vehicles 1 and 2 still need to coordinate with each other which of the two vehicles 1 and 2 should pass the intersection K first.

[0037] If, due to the resulting blocking situation, another vehicle 1 passes the intersection K first, the vehicles 1 and 2 agree in that the other vehicle 2 informs the vehicle 1 via the existing communication connection that the vehicle 1 passes the intersection K before the other vehicle 2 .

[0038] In particular, another vehicle 2 sends a pre-credential message to vehicle 1, and vehicle 1 responds that it has received the message and takes its autonomous driving action.

Claims

1. A method for operating an autonomous driving vehicle (1) in an intersection (K), characterized in that: - when the vehicle (1) stops at the intersection (K) because it has noticed the right of way rule, it detects another vehicle (2) that has the right of way at the intersection (K) based on the signal of the environmental sensor and finds out its intended driving path, - if the vehicle (1) determines based on the predetermined driving path of the other vehicle (2) that the other vehicle (2) should pass by the vehicle (1) after passing the intersection (K), the vehicle (1) determines whether the driving path of the other vehicle (2) is blocked by an obstacle, If the vehicle (1) determines that the driving path of the other vehicle (2) is blocked by an obstacle, the vehicle (1) establishes a communication connection with the other vehicle (2), and the vehicle (1) informs the other vehicle (2) that the driving path is blocked by means of the communication connection.

2. The method according to claim 1, characterized in that: Coordinate the order in which the two vehicles (1, 2) pass through the intersection (K).

3. The method according to claim 1 or 2, characterized in that: The vehicle (1) is used to determine whether the view of the other vehicle (2) to an obstacle blocking its driving path is blocked.

4. The method according to any one of the preceding claims, characterized in that In order to determine the occurrence of a blocking situation, the remaining road width between the vehicle (1) and an obstacle blocking the driving path of the other vehicle (2) and the width of the other vehicle (2) are determined.

5. The method according to claim 4, characterized in that: In order to determine the occurrence of a blocking situation, the remaining road width is compared with the width of the other vehicle (2).

6. A method according to any one of the preceding claims, characterised in that The intended driving path of the other vehicle (2) is determined based on an activated driving direction indicator (8) and / or based on information transmitted via vehicle-to-vehicle communication.

7. The method according to claim 6, characterized in that: With the aid of the other vehicle (2), the width of the other vehicle and the signal of the set driving direction indicator (9) are transmitted to the vehicle (1) through vehicle-to-vehicle communication to verify the width of the other vehicle (2).

8. The method according to any one of the preceding claims, characterized in that The other vehicle (2) is operated in an automatic driving mode without a driver.

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