Method for adjusting driving behavior of vehicle

Abstract

The invention relates to a method for adjusting the driving behavior of a vehicle (1) traveling in an autonomous driving mode when a special vehicle (2) in an on-duty state is detected in the surroundings of the vehicle (1), the special vehicle (2) being detected by a special sound signal (S) output by the special vehicle. According to the invention,-the vehicle (1) is braked to a stop when the special vehicle (2) is detected,-by means of an evaluation of the special sound signal (S) of the special vehicle (2), it is determined whether the special vehicle (2) is also in a stopped state, and-on the basis of whether the special vehicle (2) is in a stopped state, the special sound signal (S) of the special vehicle (2) is detected. The vehicle (1) is moved forward from the temporary stop position to another stop position.

Description

Technical Field

[0001] The present invention relates to a method for adjusting the driving behavior of a vehicle traveling in an automatic driving mode when a special vehicle in an on-duty state is identified in the vehicle's surrounding environment, wherein the special vehicle is identified by a special sound signal output by the special vehicle. Background Art

[0002] DE 10 2017 009 491 A1 discloses a method for controlling vehicle distance. Traffic-related information is detected from the vehicle's surroundings, and the vehicle's current speed is regulated and / or controlled based on the detected distance to the vehicle ahead. If at least one special vehicle is detected in the vehicle's surroundings, the vehicle's speed is set differently than if no special vehicle is detected.

[0003] Furthermore, DE 10 2018 218 973 A1 describes a method for adjusting an autonomous vehicle, an autonomous vehicle, a special vehicle, and a system. The method includes determining a specific trip characteristic of the special vehicle and / or wirelessly receiving, by the autonomous vehicle, trip-specific information transmitted by the special vehicle, and analyzing environmental conditions related to the autonomous vehicle and the special vehicle based on the determined specific characteristics and / or the sent trip-specific information received by the autonomous vehicle.

[0004] A method for supporting a vehicle driver when forming a rescue corridor is known from DE 10 2013 2020 307 A1. The method is designed to detect exceptional situations for special vehicles traveling in the opposite direction of travel during the formation of a rescue corridor and to adjust the vehicle control accordingly. Summary of the Invention

[0005] The object of the present invention is to provide a method for operating a vehicle when a special vehicle in a service state is detected in the vehicle's surroundings.

[0006] According to the invention, this object is achieved by a method having the features of claim 1 .

[0007] Advantageous embodiments of the invention are the subject matter of the dependent claims.

[0008] A method for adjusting the driving behavior of a vehicle traveling in an automatic driving mode when a special vehicle in an on-duty state is identified in the vehicle's surrounding environment, wherein the special vehicle is identified by a special sound signal output by the special vehicle. According to the present invention, the vehicle is braked to a stop when the special vehicle is identified, wherein the special sound signal of the special vehicle is evaluated to determine whether the special vehicle is also in a stopped state, and based on whether the special vehicle is in a stopped state, the vehicle is moved forward from a temporary stopping position to another stopping position.

[0009] Special vehicles are in particular special vehicles for police, firefighting or rescue services.

[0010] By applying this method, it is possible to minimize the possibility of an autonomous vehicle being stopped by a special vehicle, particularly to prevent the vehicle from remaining stopped as long as the special vehicle outputs a special sound signal. This prevents traffic jams caused by stopped vehicles because, by analyzing the special sound signal output by the special vehicle and received by the vehicle, it is possible to determine whether the special vehicle is also stopped, continuing to move, or resuming its driving mode.

[0011] Next, the vehicle determines again at another stopping position whether the special vehicle in the on-duty state is in a stopped state, so as to move to a safe stopping position, such as a parking lot or a harbor-type stop.

[0012] In one embodiment, when the special vehicle is stopped, a reliability indicator is determined regarding the reliability of recognizing the stopped state of the special vehicle. In other words, the recognition of the stopped state of the special vehicle is relatively good or poor, and the driving behavior of the vehicle is adjusted accordingly to ensure that the vehicle does not obstruct other traffic participants, particularly other vehicles.

[0013] Another embodiment of the method is to determine a distance between the vehicle and the special vehicle based on the determined reliability indicator, and then move the vehicle forward from its temporary stopping position by the determined distance to another stopping position. In other words, the vehicle approaches the special vehicle to again determine whether the special vehicle is stopped or in driving mode based on the detected special sound signal. Based on the state of the special vehicle, it is determined whether the vehicle can be safely stopped, i.e., moved to a suitable stopping position, or whether the autonomous driving mode can be resumed.

[0014] In another embodiment, at another stopping position of the vehicle, it is again determined whether the special vehicle is stopped, and a reliability indicator is determined regarding the reliability of the recognition of the special vehicle's stopped state. This process is repeated until the vehicle reaches a safe stopping position. Thus, a multi-stage stop detection is performed for the special vehicle, wherein this multi-stage stop detection indicates whether the vehicle can continue to drive.

[0015] Another possible refinement of the method is to move the vehicle from a stopping position at a speed below a predetermined threshold before reaching the safe stopping position. The threshold could be, for example, 10 km / h. This allows the vehicle to approach the special vehicle relatively slowly, allowing for another stop detection to be performed. This allows a determination to be made as to whether the vehicle must be moved to a safe stopping position or whether automated driving mode can be resumed.

[0016] In another possible implementation, if it is determined that a special vehicle is located in front of the vehicle, then it is determined whether the special vehicle is stopped. For example, if it is determined that the special vehicle is located in the opposite lane, then in most cases the vehicle does not need to stop because the vehicle is usually not in the path of the special vehicle.

[0017] Furthermore, one embodiment of the method provides for resuming the vehicle's automated driving mode if the vehicle's sensor system no longer detects the special acoustic signal output by the special vehicle. The special vehicle then resumes driving mode and travels to a different destination than the vehicle, in particular a designated location, or the special vehicle's deployment has concluded.

[0018] In another embodiment, the vehicle is operated in an automated driving mode without a driver, so that there is no vehicle user in the vehicle who can take over the driving tasks of the vehicle or who can evaluate the current traffic situation including special vehicles in order to subsequently take appropriate action accordingly.

[0019] Furthermore, one embodiment of the method is designed to detect special sound signals emitted by special vehicles using a number of microphones arranged on the vehicle as sensor devices. In particular, the direction and distance of the special vehicle relative to the vehicle can be determined using the detected special sound signals. This makes it relatively easy to determine whether the special vehicle is moving or stationary. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Embodiments of the present invention are explained in more detail below with reference to the accompanying drawings.

[0021] in:

[0022] Figure 1 A lane section with a vehicle and a special vehicle located in front of it is shown schematically. DETAILED DESCRIPTION

[0023] The single figure shows a roadway section F with two lanes F1 and F2. A vehicle 1 is located in the right lane F1, with a special vehicle 2, for example a police, fire, or rescue service vehicle, on duty ahead. No vehicles are traveling in the left lane F2, which, for example, has the same direction of travel as the right lane F1.

[0024] The vehicle 1 is driven in an automated, in particular highly automated, driving mode at level 4 automation, so that there is no vehicle user in the vehicle 1 who is able to carry out control interventions in certain traffic situations.

[0025] Typically, when a special vehicle 2 is identified as being on duty, the automatically driven vehicle 1 stops, for example, so as not to block the special vehicle 2. In particular, the output of a special sound signal S (for example, by a siren) is used to identify that the special vehicle 2 is on duty.

[0026] If the special vehicle 2 arrives at its place of duty and the output of the special sound signal S may not stop due to special national regulations, the driverless automatic driving vehicle 1 will remain stopped, so that the stopped vehicle 1 may block other traffic participants.

[0027] A method for regulating the driving behavior of an automatically driven vehicle 1 is described below, wherein a multi-stage standstill detection is carried out for a special vehicle 2 .

[0028] according to Figure 1 In the illustrated embodiment, the special vehicle 2 is located in the right lane F1 of the lane section F, wherein the output of the special sound signal S continues.

[0029] A number of microphones 3 arranged on and / or in vehicle 1 are used as sensor devices to detect special acoustic signals S. Microphones 3 are arranged, for example, on vehicle roof 1.1. The direction and distance of special vehicle 2 relative to vehicle 1 can be determined by evaluating special acoustic signals S and / or signals detected by at least one visual detection unit of vehicle 1.

[0030] The vehicle 1 recognizes the special vehicle 2 on duty at least by the special sound signal S outputted by the special vehicle 2 , and accordingly stops the vehicle 1 .

[0031] When vehicle 1 is stationary, it determines whether special vehicle 2 is also stationary, in particular by means of a special sound signal S detected by microphone 3. Whether special vehicle 2 is also stationary is determined only when special vehicle 2 is detected in front of vehicle 1, i.e., in front of vehicle 1 in the direction of travel.

[0032] If it is determined that the special vehicle 2 is stopped, a reliability indicator is determined regarding the reliability of the recognition of the stopped state of the vehicle 1. A distance is then determined based on the reliability indicator, and the vehicle 1 is then moved forward in the direction of the special vehicle 2 by the determined distance to another stopping position.

[0033] In the first exemplary case, vehicle 1 stops due to a special vehicle 2 being detected in front of it. Wind noise generated during driving mode is not detected for this purpose. If microphone 3 of vehicle 1 detects a special sound signal S that is stable in amplitude and direction within a specified time period (e.g., 10 seconds), the reliability indicator for stop detection is, for example, 1, where a reliability indicator of 1 indicates that the stopped state of special vehicle 2 was reliably detected.

[0034] When the reliability index is 1, vehicle 1 is moved from the temporary stopping position toward special vehicle 2 by a predetermined distance, for example, 20 meters, at a maximum speed of 10 km / h as a threshold value to another stopping position. At this other stopping position, stop recognition is performed again using vehicle 1 relative to special vehicle 2, and the reliability index is determined again.

[0035] In the second exemplary case, vehicle 1 is stationary, and wind noise caused by driving is not detected by vehicle 1's microphone 3. If it is determined that the special sound signal S output by special vehicle 2 fluctuates in amplitude and direction within a specified time period (e.g., 30 seconds), and if aggregation (integration) indicates that the special sound signal S and, therefore, the special vehicle 2 has not moved, i.e., remains constant on average, then the reliability index for identifying the stationary state of special vehicle 2 is 2. Here, a reliability index of 2 indicates that the stationary state of special vehicle 2 has been identified with a moderate degree of certainty.

[0036] This occurs in particular when the specific sound signal S fluctuates, for example due to background noise generated by a construction site and / or trucks and / or reflections of the specific sound signal S from walls or buildings.

[0037] If the reliability index is determined to be 2, the vehicle 1 moves from the temporary stop position to another stop position 10 m away from the current position at a maximum speed of 10 km / h. At the other stop position, stop recognition is then performed again, and the reliability index is then determined.

[0038] In a third exemplary case, the reliability index determined for the standstill detection of the special vehicle 2 is 3, which means that standstill detection is not possible, in particular if the first and second cases can be excluded.

[0039] For the first and second exemplary cases, the stop detection is performed until the vehicle 1 reaches a suitable location, a so-called safe harbor, and can be moved to a safe stop position there. A suitable location is, for example, a parking lot or a bay.

[0040] If the vehicle 1 is moved to a safe stopping position at a suitable location, the vehicle 1 waits there until the microphone 3 of the vehicle 1 no longer detects the special sound signal S output by the special vehicle 2 on duty. For example, the special vehicle 2 stops outputting the special sound signal S or resumes the driving mode so that the special vehicle 2 is no longer in a stopped state and is away from the vehicle 1.

[0041] If the vehicle 1 no longer detects the special sound signal S, the vehicle 1 will resume its automatic driving mode in order to reach its destination.

Claims

1. A method for adjusting the driving behavior of a vehicle (1) traveling in an automatic driving mode when a special vehicle (2) in an on-duty state is identified in the vehicle (1)'s surrounding environment, wherein: identifying the special vehicle (2) by a special sound signal (S) output by the special vehicle, It is characterized by: - the vehicle (1) is braked to a stop when the special vehicle (2) is identified, - by means of an evaluation of the special sound signal (S) of the special vehicle (2), determining whether the special vehicle (2) is also at a standstill, and - According to whether the special vehicle (2) is in a stopped state, the vehicle (1) is moved forward from a temporary stop position to another stop position.

2. The method according to claim 1, It is characterized by: When the special vehicle (2) is in a stopped state, a reliability index is determined regarding the reliability of recognizing the stopped state of the special vehicle (2).

3. The method according to claim 2, It is characterized by: A distance between the vehicle (1) and the special vehicle (2) is determined based on the determined reliability index, and the vehicle (1) moves forward from its temporary stop position by the determined distance to another stop position.

4. The method according to claim 3, It is characterized by: At another stopping position of the vehicle (1), it is again determined whether the special vehicle (2) is in a stopped state, and a reliability indicator regarding the reliability of the recognition of the stopping state of the special vehicle (2) is determined, wherein this process is repeated until the vehicle (1) reaches a safe stopping position.

5. The method according to claim 4, It is characterized by: The vehicle (1) travels from a corresponding stopping position at a travel speed lower than a prescribed threshold before reaching a safe stopping position.

6. The method according to any one of the preceding claims, It is characterized by: If it is determined that the special vehicle (2) is located in front of the vehicle (1), it is determined whether the special vehicle (2) is in a stopped state.

7. The method according to any one of the preceding claims, It is characterized by: If the sensor device of the vehicle (1) no longer detects the special sound signal (S) output by the special vehicle (2), the automatic driving mode of the vehicle (1) is restored.

8. The method according to any one of the preceding claims, It is characterized by: The vehicle (1) operates in an autonomous driving mode without a driver.

9. The method according to claim 7 or 8, It is characterized by: The special sound signal (S) output by the special vehicle (2) is detected by means of a number of microphones (3) arranged on the vehicle (1) as a sensor device.

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