Method for determining and outputting a driving speed adapted to driving conditions

Abstract

The invention relates to a method for determining and outputting a driving speed of a vehicle (1) adapted to the driving situation, wherein, on the basis of signals detected by an environmental sensor system, an object (2) is detected which is located next to the lane (F) of the vehicle (1) and at least partially obstructs a curve (K) in front of the vehicle (1). According to the invention, - the speed behavior of further vehicles (3) detected in the region of the curve (K) is transmitted to a computer unit outside the vehicle, in which speed behavior the driving speed of the further vehicles (3) is in each case lower than a locally predetermined maximum speed permitted for passing through the curve (K), the computer unit being coupled to the vehicle (1) by data technology, - the position of the obstructing object (2) is transmitted to the computer unit, - by means of the computer unit, a causal relationship between the speed behavior of the further vehicles (3) detected and the obstructing object (2) is checked, and - in the case of a causal relationship between the speed behavior of the further vehicles (3) and the obstructing object (2), an average driving speed for passing through the curve (K) determined from the driving speed of the further vehicles (3) is stored as a speed recommendation in a digital map and is provided at least to the vehicle (1) coupled to the computer unit by data technology.

Description

Technical Field

[0001] The present invention relates to a method for determining and outputting a vehicle's speed for an adaptive driving condition, wherein an object located beside the vehicle's lane and at least partially obscuring a curve in front of the vehicle is detected based on signals detected by an environmental sensor system. Background Technology

[0002] DE 10 2020 003 073.4 describes a method and apparatus for automated driving operation of a vehicle. The method specifies that, when there is a curve ahead of the vehicle, the expected field of view limitation due to the curve is determined for at least one detection unit of an environmental sensor system pointing in the direction of vehicle travel. If the field of view of the at least one detection unit is determined to be below a predetermined threshold, the vehicle is automatically changed to the lane outside the curve, provided that the lane outside the curve is available, wherein preferably there is no right-hand drive instruction.

[0003] Furthermore, DE 10 2015 223 176 A1 discloses a driver assistance system for a vehicle, the vehicle having an environmental sensor that detects the vehicle's environment and a data processing unit that evaluates the sensor data from the environmental sensor to identify obstacles in the vehicle's environment. Additionally, a method for determining occlusion areas in the vehicle's environment is also disclosed. This method specifies that sensor data generated by the environmental sensor is evaluated to identify obstacles in the vehicle's environment. Furthermore, based on the identified obstacles, an occlusion area that is obstructed by the identified obstacle and limits the field of view of the vehicle's optical environmental sensor is calculated. Summary of the Invention

[0004] The purpose of this invention is to provide a method for determining and outputting a driving speed that is appropriate for driving conditions.

[0005] A method for determining and outputting a vehicle's adaptive driving speed specifies that, based on signals detected by an environmental sensor system, an object located beside the vehicle's lane and at least partially obscuring a curve ahead of the vehicle is detected. The speed behavior of other vehicles within the detected curve area is transmitted to a computer unit external to the vehicle, wherein in each case, the speed of the other vehicles is below a predetermined local maximum permissible speed for passing through the curve. This computer unit is connected to the vehicle via data technology. Furthermore, the location of the obscuring object is transmitted to the computer unit. Using the computer unit, a causal relationship between the detected speed behavior of other vehicles and the obscuring object is examined. If a causal relationship exists between the speed behavior of other vehicles and the obscuring object, the average speed for passing through the curve determined from the speeds of the other vehicles is stored as a speed recommendation in a digital map and provided at least to the vehicle connected to the computer unit via data technology.

[0006] By applying this method, the vehicle user (who is provided with a speed recommendation within the vehicle) is informed of the speed recommendation output according to the situation, and, where appropriate, of speed adjustments in driving situations where there is relatively abnormal obstruction on at least one curve segment. Here, the speed recommendation is derived from previously observed speed profiles of other vehicles and transmitted to the central computer unit.

[0007] Therefore, when adjusting the speed of a vehicle user's vehicle based on speed recommendations, the user can perceive that the vehicle's driving behavior has been adjusted even in the absence of visual obstruction, even in unknown environments. This reduces the potential for subsequent dangerous situations, such as an unseen pedestrian crossing an obstruction into the lane in a curve.

[0008] Average driving speed is determined based on established speed profiles of other vehicles. This forms an average speed. The average driving speed therefore lies between the local maximum permitted speed for navigating curves and the speeds of other vehicles navigating curves due to visual obstruction. Specifically, using speed recommendations (i.e., average driving speed) allows for an appropriate and safe approach to navigating curves. However, there is still a possibility of needing to react to emergency situations, such as a garbage truck stopped in the curve and / or a person standing in the lane in the curve.

[0009] In one implementation of this method, taking into account the local maximum permissible speed for navigating curves and the safe speed for navigating curves, a causal relationship is examined between the speed profiles of other vehicles and the position of the obstructing object. Specifically, other vehicles are traveling at speeds significantly lower than those required to navigate the curve due to the obstruction of vision caused by the object.

[0010] In another implementation, the average driving speed through the curve is fed to an assistance system for automated driving operations, at least for vehicles connected to a computer unit via data technology. This means that the assistance system automatically uses the average driving speed for automated driving operations, thereby allowing for a gradual reduction in instantaneous speed as one approaches a curve, and thus largely avoiding sudden braking due to visual obstruction.

[0011] In another feasible implementation, when a vehicle connected to a computer unit via data technology approaches a curve during automated driving, a warning is output to the vehicle indicating that its instantaneous speed will soon decrease. This informs the vehicle's user that the speed is about to drop. This largely prevents the user from drawing incorrect conclusions based on the decrease in speed, such as believing there is a defect.

[0012] To ensure that other vehicles also receive speed recommendations when navigating curves where visibility is at least partially obstructed, a possible improvement to the method involves using vehicle-to-vehicle communication to send speed recommendations to other vehicles near the vehicle in the curve area that are connected to the computer unit via data technology. Since these vehicles navigate the curve at their average speed, traffic flow in the curve area can be optimized because they will not navigate the curve at relatively lower speeds than their average speed due to visual obstruction (as if there were no current speed recommendation). Attached Figure Description

[0013] Embodiments of the present invention will now be explained in more detail with reference to the accompanying drawings.

[0014] in:

[0015] Figure 1 The illustration shows a section of the lane with vehicles approaching a curve, which is partially obscured. Detailed Implementation

[0016] The only accompanying diagram shows a section of lane F with curve K, the route of which is obstructed for vehicle 1 approaching curve K. Here, the obstruction of view for the user of vehicle 1 is due to an object 2 on the inside of the curve, such as a house, located relatively close to the edge of lane F. For example, the house might be an indestructible truss-style heritage building. Alternatively, lane F may be widened in the direction of object 2, thus placing object 2 so close to lane F.

[0017] As shown by the vehicle user's line of sight S, due to object 2, the area B that is not visible to the vehicle user is relatively large.

[0018] Generally speaking, it is known that there are many factors at play, which is why certain sections of road should be traversed at a speed lower than the permitted speed and / or maximum permitted speed for curve K.

[0019] When vehicle 1 enters curve K at a relatively high speed, such an object 2 could cause a relatively dangerous situation because there may be garbage trucks and / or pedestrians crossing lane F in area B, which is not visible to the vehicle user. According to this embodiment, another vehicle 3 traveling in front of vehicle 1 is obstructed by object 2.

[0020] For this reason, vehicle users are more or less forced to reduce their instantaneous speed to pass through curve K, especially to avoid such a dangerous situation. Here, the instantaneous speed is usually reduced so that the instantaneous speed when passing through the curve is lower than the maximum permissible speed of that section of lane F and the safe speed to pass through curve K.

[0021] In order to provide support to vehicle users in vehicle 1 approaching curve K, which has an unseen area B1, in terms of selecting the appropriate driving speed through curve K, the following method is provided.

[0022] Vehicle 1, approaching curve K, is a so-called system vehicle and is connected to a computer unit (not shown in detail) via data technology. Here, vehicle 1 belongs to a fleet, such as a fleet belonging to an automobile manufacturer.

[0023] Vehicle 1 includes an environmental sensor system having a plurality of detection units arranged in and / or on the vehicle 1, which continuously detect signals during the driving operation of vehicle 1. Based on the detected signals, the environment of vehicle 1 and objects 2 located in the environment are detected.

[0024] Thus, based on the signals detected by the environmental sensor system, in addition to the object 2 that obstructs the vehicle user's view, other vehicles 3, not shown in detail, are also detected, especially vehicles traveling ahead.

[0025] Based on the detected signals related to the vehicle 3 traveling ahead, the corresponding speed behavior, i.e., changes in instantaneous speed, particularly a decrease in speed, can be determined. Here, other vehicles 3 (which may also belong to the convoy) change their instantaneous speed as they approach curve K, particularly in another shaded area B2 of lane F.

[0026] Based on the speed behavior of other vehicles 3 detected, the degree of danger caused by visual obstruction can be deduced. To this end, the speed behavior of multiple other vehicles 3 in this other area of ​​object 2 is determined.

[0027] The speed behavior of other vehicles 3, observed via sensors, in relation to another area B2 before entering curve K is transmitted to a central computer unit connected to vehicle 1. To obtain statistically significant samples for speed behavior evaluation, these samples are collected by multiple vehicles 1 belonging to the platoon and transmitted to the computer unit connected via data technology. Furthermore, the position of objects 2 obstructing the view is transmitted to the computer unit.

[0028] Based on the transmission speed behavior and the position of object 2, examine the causal relationship between the speed behavior of other vehicles 3 and object 2. Specifically, take into account the maximum speed allowed to pass through curve K locally, and the safe speed to pass through curve K, and perform a statistical evaluation of the speed behavior of other vehicles 3. Based on this, determine whether there is a causal relationship between the observed decrease in the speed of other vehicles 3 and the object 2 that obstructs the view.

[0029] If it is determined that there is a causal relationship between the observed speed behavior of other vehicles 3 and the object 2 that is obstructing the view, then the average driving speed determined based on the speed behavior will be used as the speed recommendation for passing through curve K.

[0030] The speed recommendation is then stored in a digital map, which is displayed in vehicles 1 of the convoy connected to a computer unit via data technology. Specifically, the speed recommendation can be output in symbolic form, such as suggested speed signs, on the display devices of each vehicle 1 displaying the map. It is also conceivable that the speed recommendation can be output in vehicle 1 as a voice prompt and / or in other suitable forms.

[0031] In one embodiment of the method, these speed recommendations are provided as speed profiles to the vehicle's assistance systems, which access these speed profiles. This allows the vehicle user to be informed of these observations and / or the speed recommendations to be used for speed adjustment in vehicle 1, particularly in automated driving operations. For example, when approaching a curve in automated driving operations, a warning can be output to vehicle 1 indicating that its instantaneous speed will soon decrease.

[0032] Furthermore, it can be configured to send speed suggestions available to these vehicles in the convoy to other vehicles 3, such as those traveling ahead, near one of these vehicles 1, via vehicle-to-vehicle communication.

Claims

1. A method for determining and outputting the driving speed of a vehicle (1) in an adaptive driving condition, wherein an object (2) located beside the lane (F) of the vehicle (1) and at least partially obscuring a curve (K) in front of the vehicle (1) is detected based on signals detected by the environmental sensor system of the vehicle (1). Its features are, The speed behavior of other vehicles (3) within the detected curve (K) area is transmitted to a computer unit outside the vehicle, wherein the speed of the other vehicles (3) is lower than the predetermined local maximum speed allowed through the curve (K) in each case, and the computer unit is connected to the vehicle (1) via data technology. The position of the object (2) is transmitted to the computer unit. Using the computer unit, the causal relationship between the speed behavior of the detected other vehicle (3) and the object (2) is examined, wherein the examination is based on the judgment that when the other vehicle (3)'s view of the curve is obstructed, its speed is significantly lower than the speed required to pass through the curve (K), and In cases where there is a causal relationship between the speed behavior of the other vehicle (3) and the object (2), the average speed of the other vehicle (3) through the curve (K) is determined as a speed recommendation and stored in a digital map, and provided at least to the vehicle (1) connected to the computer unit via data technology.

2. The method according to claim 1, Its features are, The average driving speed through the curve (K) is transmitted to the assistance system, which is used to perform automated driving operations on at least the vehicle (1) connected to the computer unit via data technology.

3. The method according to claim 2, Its features are, When a vehicle (1) connected to the computer unit via data technology approaches the curve (K) during automated driving operation, a warning is output in the vehicle (1) that its instantaneous driving speed will decrease.

4. The method according to any one of the preceding claims, Its features are, Using vehicle-to-vehicle communication, the speed suggestion is sent to other vehicles (3) near the vehicle (1) connected to the computer unit via data technology in the curve (K) area.

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