Method for carrying out automatic overtaking operation of vehicle

Abstract

The invention relates to a method for carrying out an automatic overtaking operation of a vehicle (1), in which further vehicles (2 to 4) traveling in the environment of the vehicle (1) are detected. According to the invention, it is provided that during an overtaking operation planned by the vehicle (1), on the basis of signals detected by the surroundings sensor system, a check is made as to whether other vehicles (3, 4) following the lane (F1) of the vehicle (1) and on the overtaking lane (F2) are located within a rear sensor range (W) of the surroundings sensor system; if it is determined on the basis of the detected signal that there is only another following vehicle (3) on the lane (F1) within the sensor range (W) of the vehicle (1), reducing the instantaneous driving speed of the vehicle (1) by a predetermined speed value in order to cause the following another vehicle (3) to override the vehicle (1) and the vehicle (2) traveling in front of the vehicle (1), and after the following another vehicle (3) has override the vehicle (1), reducing the instantaneous driving speed of the vehicle (1) by a predetermined speed value. Whether there is a gap required to perform an overtaking operation on the overtaking lane (F2) is checked on the basis of a signal detected by the environmental sensor system.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for performing an automatic overtaking maneuver of a vehicle, wherein further vehicles driving in the environment of the vehicle are detected. BACKGROUND

[0002] DE 43 13 568 C1 discloses a method for assisting a motor vehicle in changing a lane from a current lane to an adjacent target lane in a turn. In this case, the front and rear spaces of the adjacent target lane are monitored for a desired lane change, the distances to objects detected there and their speeds are measured and a safety distance is calculated therefrom. If all measured distances are greater than the calculated safety distance, it is recognized as a lane change.

[0003] Furthermore, DE 10 2020 118 664 A1 discloses a method for supporting an autonomous vehicle. In this case, it is determined whether the autonomous vehicle can automatically change lanes to an overtaking lane in order to pass an obstacle on the road located in front of the autonomous vehicle. If this is not the case, the autonomous vehicle stops before reaching the obstacle and sends a support request to a vehicle-external control center. By means of the vehicle-external control center, another vehicle is determined in the environment of the autonomous vehicle and is instructed to move in the direction of the autonomous vehicle and to change to the overtaking lane before reaching the autonomous vehicle.

[0004] WO 2022 / 189 716 A1 discloses a method for supporting a vehicle driver during a manual lane change operation from a current lane to an overtaking lane. If a turn signal actuation is detected which indicates a start of a lane change operation by the driver, a collision risk is evaluated and a warning is issued to the driver if necessary. The evaluation of the collision risk is based on determining the relative acceleration of the vehicle with respect to other vehicles driving in front of the vehicle on the current lane or on the overtaking lane or following the vehicle on these lanes.

[0005] DE 10 2017 203 867 A1 discloses a driver assistance method for a vehicle, wherein another vehicle following the vehicle is recognized by means of a camera and a passing intention of the following vehicle is inferred by evaluating the camera images and a signal of the passing intention is issued to the driver. SUMMARY

[0006] It is an object of the invention to provide a new method for performing an overtaking maneuver of an autonomous vehicle.

[0007] According to the invention, this object is achieved by a method having the features of claim 1.

[0008] Advantageous design options of the invention are the subject matter of the dependent claims.

[0009] A method for performing an automatic overtake maneuver of a vehicle, wherein other vehicles driving in the environment of the vehicle are detected, according to the invention it is provided that

[0010] - during an overtake maneuver planned by the vehicle, it is checked, based on signals detected by the environmental sensor system, whether a following other vehicle on the lane of the vehicle and on the overtake lane is located within the rear sensor range of the environmental sensor system,

[0011] - if it is determined based on the detected signals that there is only a following other vehicle on the lane of the vehicle within the sensor range, the current driving speed of the vehicle is reduced by a predetermined speed value in order to enable the following other vehicle to overtake the vehicle and the vehicle driving in front of the vehicle, and

[0012] - after the following other vehicle has at least overtaken the vehicle, it is checked, based on signals detected by the environmental sensor system of the vehicle, whether a gap is present on the overtake lane which is required for performing an overtake maneuver.

[0013] By applying this method, the following other vehicle is guided to change to the overtake lane and to overtake the vehicle and the vehicle driving in front of it. As a result, the vehicle can perform its planned overtake maneuver without the risk that the following vehicle suddenly turns to the overtake lane and at the same time the vehicle also starts to perform the planned overtake maneuver.

[0014] Since the vehicle reduces its current driving speed by a predetermined speed value, in particular slightly, it is required that the following other vehicle performs an overtake maneuver in order to overtake the vehicle and the vehicle driving in front. This means that the following other vehicle is no longer behind the vehicle, so that a new situation exists which has to be checked according to the planned overtake maneuver.

[0015] A further embodiment of the method provides that, if a following other vehicle within the sensor range is detected on the overtake lane, the overtake maneuver of the vehicle is not initiated if the distance between the following other vehicle driving on the overtake lane and the vehicle is smaller than a minimum gap required for a reasonable braking operation of the following other vehicle. In other words: If the sensor range is too small to detect the required minimum gap, the overtake maneuver of the vehicle is not allowed.

[0016] In particular, in this case, the overtake maneuver of the vehicle will not be initiated, because the vehicle would pose a potential danger to a further following vehicle driving on the overtake lane when the vehicle overtakes the vehicle driving in front. In particular, if the vehicle is driving on a motorway without speed limit and the further following vehicle driving on the overtake lane is a so-called speeder driving with a momentary driving speed of at least 200 km / h, the vehicle poses a potential danger to the further following vehicle on the overtake lane. The further following vehicle driving so fast requires a relatively high sensor range, for example up to 260 m, in order to be detected by the environmental sensor system of the vehicle, wherein an environmental sensor system with such a high sensor range is relatively expensive.

[0017] In another refinement, the minimum gap required by the further vehicle driving on the overtake lane is determined by the safety distance, the reaction distance, the braking distance after the further vehicle following on the overtake lane performs a braking operation. If, in this case, it is assumed that the further following vehicle approaches with a possible driving speed of more than 200 km / h, the required minimum gap available to the vehicle for a reasonable braking operation must be correspondingly large.

[0018] In one embodiment, the vehicle initiates its planned overtake operation if, for a predetermined period of time, a further following vehicle driving on the overtake lane is detected within the rear sensor range of the vehicle, and a predetermined further safety distance is detected on the overtake lane between the vehicle and the further vehicle that has been overtaken, and there is a further minimum gap required for the further following vehicle on the overtake lane.

[0019] One possible refinement of the method provides that, if, for a predetermined period of time, a further following vehicle driving on the overtake lane is detected within the rear sensor range of the vehicle, the minimum gap required by the vehicle is determined from the braking distance and the safety distance. This means that the reaction distance of the further following vehicle no longer needs to be taken into account, because the further following vehicle has been following the vehicle being overtaken for at least the predetermined period of time, and the driver of the further following vehicle has at least the predetermined period of time available to react to the vehicle being overtaken by a braking operation. The further minimum gap required is then reduced by the reaction distance and is accordingly smaller. BRIEF DESCRIPTION OF DRAWINGS

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

[0021] wherein:

[0022] Figure 1 a diagram with a road section and traffic situation at a certain point in time is schematically shown, as well as another diagram with the traffic situation on the road section at a later point in time; and

[0023] Figure 2 A diagram is shown schematically with a road section and a first traffic situation, and another diagram with a road section and a second traffic situation.

[0024] Corresponding parts of all the figures are denoted by the same reference numerals. DETAILED DESCRIPTION

[0025] Figure 1 Two diagrams Al, A2 are shown, each with a road section F comprising a right lane Fl and an overtake lane F2.

[0026] A vehicle 1, a vehicle 2 driving in front of it and another vehicle 3 following the vehicle 1 are driving on the lane Fl.

[0027] The vehicle 1 is driving in an autonomous driving mode, in particular with an automation level of level 3 or higher.

[0028] Level 3 describes an automation level at which the driving task is performed completely by the vehicle 1, so that the driver of the vehicle 1 can turn to other activities. If necessary, a take-over request is issued in the vehicle 1, by which the driver is requested to take over the driving task.

[0029] In the case of an automation level of level 4, the vehicle 1 is operated in a highly automated manner, in which the driving task of the vehicle 1 is performed continuously by the vehicle. If the vehicle 1 cannot handle the driving situation, the driver is prompted to take over the driving task.

[0030] A method for performing an automatic overtaking operation of the vehicle 1 is described below.

[0031] The vehicle 1 comprises an environmental sensor system with a plurality of detection units (not shown in more detail) arranged in and / or on the vehicle 1, which continuously detect signals during the driving operation of the vehicle 1. On the basis of the detected signals, it is determined in the vehicle 1 Figure 2 The environment of the vehicle 1 and objects located therein are detected within a sensor range W of the environmental sensor system shown.

[0032] According to Figure 1 According to the diagram Al, the vehicle 1 plans an overtaking operation to overtake the vehicle 2 driving in front, i.e. a truck. In order to perform the overtaking operation, it is determined on the basis of the detection signals of the environmental sensor system of the vehicle 1 whether a following further vehicle 3 behind is located on the lane Fl of the vehicle 1, and Figure 2 whether the following further vehicle 4 is driving on the overtake lane F2 shown.

[0033] If no further following vehicle 4 is detected on the overtake lane F2 within the sensor range W of the environment sensor system of the vehicle 1, in particular in its rear space, and it is determined that a further following vehicle 3 is driving on the lane Fl behind the vehicle 1, the vehicle 1 reduces its current driving speed slightly by a predetermined speed value. As a result, the further following vehicle 3 is prompted to change to the overtake lane F2 and to overtake the vehicle 1 and the vehicle 2 driving in front, as shown in the second figure A2 in Figure 1

[0034] After the further following vehicle 3 has overtaken the vehicle 1, the latter checks the rear space on its lane Fl and on the overtake lane F2 within the sensor range W again to determine whether there is sufficient clearance on the overtake lane F2 for its planned overtaking maneuver. If it is determined on the basis of the detection signals of the environment sensor system that there is sufficient clearance, the vehicle 1 activates its turn signal / indicator 1.1 and starts to overtake the vehicle 2 driving in front. In particular, the overtaking maneuver is performed automatically.

[0035] Figure 2 The first traffic situation on the road section F with the right lane Fl and the overtake lane F2 is illustrated in figure Al in

[0036] In this case, the vehicle 1 also drives in the autonomous driving mode with a level of automation of 3 or higher.

[0037] The vehicle 1, the vehicle 2 driving in front and the further following vehicle 3 following the vehicle 1 are driving on the lane Fl. The further following vehicle 4 is driving on the overtake lane F2, which is outside the sensor range W of the environment sensor system of the vehicle 1 and is therefore not detected by the latter.

[0038] The vehicle 1 plans an overtaking maneuver to overtake the vehicle 2 driving in front, in particular the truck.

[0039] In order to perform the overtaking maneuver of the vehicle 1, it is necessary to detect all further following vehicles 4 on the overtake lane F2 that can be threatened by the overtaking maneuver of the vehicle 1.

[0040] In particular, the vehicle 1 performing the overtaking maneuver poses a danger to the further following vehicle 4 on the overtake lane F2 if the further following vehicle 4 driving on the overtake lane F2 is no longer able to reliably avoid a collision with the vehicle 1 by a reasonable braking operation.

[0041] This is in particular the case when the further following vehicle 4 on the overtake lane F2 is at a distance from the vehicle 1 that is less than the minimum clearance M1 required for a reasonable braking of the further following vehicle 4.

[0042] ​In particular, in the system design of the automated driving operation of the vehicle 1, it is necessary to define the required minimum distance M1. In this case, it must be assumed that, in the worst case, the following further vehicle 4 will travel at the maximum conceivable speed predetermined by the system design, for example 250 km / h, on a motorway section without speed limit, and will brake with a maximum predetermined reasonable deceleration, for example 6 m / s2. The required minimum distance M1 is composed of the reaction distance R, the braking distance B and the safety distance S. 2 .

[0043] The required minimum distance M1 is composed of the reaction distance R, the braking distance B and the safety distance S.

[0044] The reaction distance R is predetermined by the distance travelled by the following further vehicle 4 within a predetermined reaction time of, for example, 1 s. At a maximum speed of, for example, 250 km / h and a reaction time of 1 s, for example, a reaction distance of 70 m results.

[0045] The braking distance B describes the distance required for the following further vehicle 4 travelling on the overtake lane F2 to decelerate to the current driving speed of the vehicle 1.

[0046] In this case, the safety distance S is the distance maintained on the overtake lane F2 between the following further vehicle 4 after the braking operation and the vehicle 1 as a so-called safety reserve distance.

[0047] In order to allow the planned overtake operation of the vehicle 1 according to the first traffic situation shown in Figure Al, it can be identified, i.e. determined, whether the required minimum distance M1 is present. In other words, this means that the planned overtake operation of the vehicle 1 cannot be allowed if the sensor range W of the environmental sensor system is too small to identify the required minimum distance M1.

[0048] According to the first traffic situation shown in Figure Al in Figure 2 , this is the case and, due to its system design, the vehicle is not designed to carry out its planned overtake operation in this case.

[0049] According to the second traffic situation shown in Figure A2 in Figure 2 , the following further vehicle 3 has already overtaken the vehicle 1 and is level with the vehicle 2 travelling in front of the vehicle 1 on the lane F1.

[0050] The following further vehicle 4 travelling on the overtake lane F2 has followed the overtaking further vehicle 3 for some time, in particular for a few seconds, so that it is able to react to the overtaking further vehicle 3 at an early stage, in particular by reducing its driving speed.

[0051] In front, the vehicle 1 has sufficient distance available to carry out its planned overtake operation, i.e. the safety distance Sv is present.

[0052] At the rear, there is a sufficiently large gap, which consists of the braking distance B and the safety distance S, as a further minimum gap M2. Thus, in this case, the reaction distance R is no longer taken into account, since the following further vehicle 4 has already followed the overtaking further vehicle 3 a few seconds. As a result, the driver of the following further vehicle 4 has sufficient time to react to the overtaking of the following further vehicle 3 by a braking operation. Thus, the reaction time has already elapsed, so that the reaction distance R is no longer taken into account.

[0053] As mentioned above, if the most unfavorable case is assumed, in which the following further vehicle 4 drives at the maximum conceivable speed of 250 km / h and the reaction time is 1 s, the reaction distance R is 70 m long. Since the reaction distance R related to the second traffic situation is not taken into account in the further illustration A2, the further minimum gap M2 is 70 m smaller than the minimum gap M1 according to the first traffic situation shown in the illustration Al.

[0054] In the second traffic situation described in the further illustration A2, the sensor range W is sufficiently large with respect to the rear space of the vehicle 1 to detect the shortened further minimum gap M2.

[0055] Thus, according to the second traffic situation, the vehicle 1 can recognize whether there is a sufficiently large gap behind it for its overtaking operation, which can then allow an automatic overtaking operation.

[0056] According to the first traffic situation shown in the illustration Al, due to the finiteness of the sensor range W, it is technically not possible for the vehicle 1 to check the prerequisites for allowing an overtaking operation.

[0057] However, in the second traffic situation shown in the further illustration A2, the vehicle 1 can technically check the prerequisites for allowing a planned overtaking operation.

[0058] Thus, it makes sense for the vehicle 1 and its driving strategy to transfer the first traffic situation to the second traffic situation. To this end, it can first be checked whether the current situation corresponds to the first traffic situation. If this is the case, measures are taken to transfer the current situation to the second traffic situation. To this end, the vehicle 1 reduces its current driving speed, in particular by a relatively slight braking, in order to allow the following further vehicle 3 to overtake the vehicle 1 and the vehicle 2 driving in front.

[0059] If the second traffic situation exists, the vehicle 1 can check whether there is a sufficient gap to perform its planned overtaking operation and, if necessary, perform the overtaking operation.

Claims

1. A method for performing an automatic overtaking operation of a vehicle (1), wherein, detecting other vehicles (2 to 4) driving in the surroundings of the vehicle (1), characterized in that - during a planned overtaking maneuver of the vehicle (1), it is checked on the basis of signals detected by an environmental sensor system whether a following other vehicle (3, 4) on the lane (Fl) of the vehicle (1) and on the overtaking lane (F2) is located within a rear sensor range (W) of the environmental sensor system, - if it is determined on the basis of the detected signals that only a following other vehicle (3) on the lane (Fl) of the vehicle (1) is within the sensor range (W), the current driving speed of the vehicle (1) is reduced by a predetermined speed value in order to enable the following other vehicle (3) to overtake the vehicle (1) and a vehicle (2) driving in front of the vehicle (1), and - after the following other vehicle (3) has overtaken the vehicle (1), it is checked on the basis of signals detected by the environmental sensor system whether a gap required for performing an overtaking maneuver is present on the overtaking lane (F2).

2. The method according to claim 1, characterized in that if a following other vehicle (4) within the sensor range (W) is detected on the overtaking lane (F2), an overtaking maneuver of the vehicle (1) is not initiated if the distance between the following other vehicle (4) driving on the overtaking lane (F2) and the vehicle (1) is less than a minimum gap (Ml) required for a reasonable braking maneuver of the following other vehicle (4).

3. The method according to claim 2, characterized in that the minimum gap (Ml) required for the other vehicle (4) driving on the overtaking lane (F2) is determined by a safety distance (S), a reaction distance (R) and a braking distance (B) after a braking maneuver of the other vehicle (4) following the vehicle (1) on the overtaking lane (F2).

4. The method according to claim 3, characterized in that - if a following other vehicle (4) driving on the overtaking lane (F2) is detected within the rear sensor range (W) of the vehicle (1) for a predetermined period of time, and - a predetermined further safety distance (Sv) between the vehicle (1) and the other vehicle (3) which has overtaken the vehicle (1) is detected on the overtaking lane (F2), and - a further minimum gap (M2) required for the following other vehicle (4) is present on the overtaking lane (F2), the vehicle (1) initiates its planned overtaking maneuver.

5. The method according to claim 4, characterized in that if a following other vehicle (4) driving on the overtaking lane (F2) is detected within the rear sensor range (W) of the vehicle (1) for a predetermined period of time, a further minimum gap (M2) required for the following other vehicle (4) on the overtaking lane (F2) is determined from the braking distance (B) and the safety distance (S).

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