Method, control unit and vehicle for assisting a driver upon a request for a U-turn
By using sensor detection and automatic reversing technology, the system identifies U-turn requests and calculates ideal maneuvers, solving the problem of drivers having difficulty making U-turns in narrow traffic and achieving efficient and safe U-turn operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- VOLKSWAGEN AG
- Filing Date
- 2025-12-01
- Publication Date
- 2026-06-05
AI Technical Summary
When making a U-turn in narrow or complex traffic conditions, drivers often struggle to accurately assess space and execute an effective maneuver, leading to safety risks and inefficiency.
The system detects the vehicle's surroundings using sensors, identifies U-turn requests and determines their feasibility, automatically reverses to repeat the forward route, adjusts to avoid obstacles, calculates and executes the ideal U-turn maneuver, uses sensor data to create a map of the surrounding environment to find a suitable location, and guides or automates the U-turn maneuver when necessary.
It improves user-friendliness and driving safety in narrow or complex traffic conditions, ensuring efficient and safe U-turn operations.
Smart Images
Figure CN122143893A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a method for assisting a driver in responding to a U-turn request in a vehicle. Furthermore, this invention relates to a control unit configured to perform the method and a vehicle having such a control unit. Background Technology
[0002] Given increasing urbanization and the associated challenges in road traffic, such as limited parking options and narrow road conditions, U-turns are problematic for many drivers. This is because, on the one hand, drivers often fear the associated steering effort, and on the other hand, they struggle to accurately assess the required space and available room. Furthermore, drivers often don't turn quickly enough and don't make optimal use of existing space. Slow U-turns performed by uncertain drivers can thus pose a safety risk to vehicle occupants and other road users.
[0003] Document DE 10 2009 017 283 A1 proposes a turning assist unit for motor vehicles, which has a control device for automatically or semi-automatically controlling the turning maneuver of the motor vehicle, wherein automatic turning maneuver for the motor vehicle can be introduced by means of an operating device.
[0004] Document DE 10 2015 008 446 A1 also describes a vehicle assistance unit for automatic U-turns, wherein traffic conditions in the surrounding environment of the vehicle are additionally detected. It can then be checked whether a U-turn can be safely performed using the vehicle, and only then is the U-turn automatically executed.
[0005] Document US 2021 / 0197865 A1 describes a method for performing three-point U-turn maneuvers by an autonomous vehicle, which allows switching between lane-restricted and open modes to safely navigate the vehicle away from a dead-end road. Summary of the Invention
[0006] The present invention aims to overcome or reduce the disadvantages of the prior art and to provide a method, control unit, and vehicle for assisting a driver's U-turn request in order to optimize U-turns in narrow or complex traffic situations.
[0007] The objective according to the invention is achieved through the method, control unit, and vehicle according to the invention. Preferred improvements are the subject of the invention.
[0008] The first aspect of this disclosure relates to a method for assisting a driver in response to a U-turn request. In the sense of this disclosure, the vehicle is preferably a passenger car or truck equipped with an internal combustion engine, an electric motor, or a hybrid powertrain. The vehicle is preferably configured for fully or partially autonomous driving operation. In the sense of this disclosure, the U-turn request is preferably due to a road closure or dead end, or because the driver wishes to make a U-turn, for example, in the event of a change in traffic conditions or a change in the driver's plans.
[0009] In one step of the method, at least one sensor value relating to the vehicle's surrounding environment is detected. The sensor value is detected by means of at least one sensor configured to detect sensor signals relating to the vehicle's surrounding environment. The at least one sensor is preferably a camera, light sensor, radar sensor, sonar, laser, and / or ultrasonic sensor. Preferably, multiple sensor values relating to the vehicle's surrounding environment are detected using an ultrasonic sensor and a camera.
[0010] As another step, the method includes identifying a U-turn request at the current vehicle location. Preferably, a U-turn is identified as necessary, for example, due to a road closure or a dead end. Preferably, the necessary U-turn is identified based on the value of at least one sensor. Also preferably, the driver's desire to make a U-turn is identified, for example, in the event of a change in traffic conditions or a change in the driver's plans. Preferably, user input from the driver is received first, preferably by means of the vehicle's input device, such as an infotainment system or a push-button switch, or by means of the vehicle's communication unit communicating with the driver's user terminal device. In other words, user input is preferably received while the driver is inside the vehicle. Alternatively, the driver and user terminal device are outside the vehicle during the user input period. Preferably, the driver's desire to make a U-turn or the necessity to make a U-turn is identified based on the user input.
[0011] In another step of the method, the feasibility of a U-turn maneuver at the current vehicle position is determined based on the at least one sensor value. In other words, the feasibility of a U-turn maneuver at the current vehicle position is determined according to the at least one sensor value. Preferably, the size of the available U-turn space at the current vehicle position is determined based on the at least one sensor value. The U-turn space is preferably the area around the current vehicle position available for a feasible U-turn maneuver. Then, preferably, the available U-turn space is compared with the size of the vehicle to determine the feasibility of the U-turn maneuver.
[0012] As another step, the method includes automatic reverse driving of the vehicle. Preferably, during automatic reverse driving, the movements already performed by the vehicle during forward driving to reach its current position are repeated in reverse order. In other words, the most recently completed driving is reversed. For this purpose, the vehicle preferably continuously stores the movement trajectory (or movement pattern, i.e., Beewegungsmuster) of its most recently traveled segment (e.g., the last 200 meters). Also preferably, obstacles are further identified during reverse driving, for example, based on sensor values from the at least one sensor. Preferably, if an obstacle is identified, the vehicle's movement is adjusted to avoid a collision.
[0013] Automated reversing operation is preferably performed by guiding the driver to reverse. Also preferably, automated reversing operation is performed fully or partially autonomously. For this purpose, automated reversing operation is preferably performed by automatically controlling the vehicle's drive and / or steering. In other words, longitudinal and / or lateral guidance of the vehicle is preferably performed automatically. Preferably, lateral guidance or steering of the vehicle is performed automatically, and drive (i.e., acceleration, braking, and / or gear shifting) is undertaken by the driver. Preferably, during automated reversing operation, responsibility rests with the driver, and the vehicle should therefore preferably be classified as Level 2 or lower according to the level of autonomous driving defined by the Society of Automotive Engineers (SAE). Alternatively, during automated reversing operation, responsibility preferably rests with the vehicle, and the vehicle should therefore be classified as SAE Level 3 or higher.
[0014] If a U-turn is not possible at the current vehicle position, only automatic reversing is performed. Preferably, a prompt is given to the driver before automatic reversing, for example, via the vehicle's output device or via the vehicle's communication unit communicating with the driver's user terminal device. This prompt preferably informs the driver to proceed with automatic reversing. It is also preferable to receive another user input, preferably via the vehicle's input device (such as, for example, an infotainment system or a push-button switch) or via the vehicle's communication unit communicating with the driver's terminal device. Preferably, automatic reversing is performed based on this other user input; particularly preferably, automatic reversing is only performed after the driver has confirmed it using further user input.
[0015] The method according to the invention can advantageously assist the driver when a U-turn request is made, especially when a U-turn is not feasible from the current vehicle position. Thus, deadlock situations can be resolved uncomplicatedly by means of this method, particularly in cases where a U-turn is necessary but not feasible, which advantageously improves vehicle user-friendliness and driving safety.
[0016] In a preferred embodiment of the invention, the method is further configured to include a step of detecting multiple sensor values for the vehicle's surrounding environment by means of the at least one sensor.
[0017] The plurality of sensor values preferably contain information about a large number of objects in the vehicle's surrounding environment (e.g., other vehicles, pedestrians, road markings, traffic signs, buildings, trees, or other objects). Also preferably, the plurality of sensor values contain information about roadway characteristics (e.g., roadway width, roadway slope, roadway features, etc.). In this mode of execution, preferably, the detection of sensor values occurs during the vehicle's reversing motion. This means that once the vehicle is shifted into reverse, the vehicle's sensors are preferably activated and begin collecting data.
[0018] Furthermore, preferably, the method includes determining a suitable location for a vehicle to make a U-turn based on the values of the plurality of sensors. The determination of a suitable location for a U-turn is preferably based on the values of the plurality of sensors. Preferably, a location is determined to be suitable for a U-turn if there is sufficient space at the location for the U-turn maneuver, and / or if the U-turn maneuver can be performed at the location without endangering other road users. Suitable locations for U-turns are preferably sufficiently wide driveways, sufficiently large parking spaces, sufficiently large yielding areas, etc.
[0019] The automatic reversing operation of the vehicle is preferably performed until a suitable location for the vehicle to turn around is reached. The automatic reversing operation is preferably performed for such a long time that it continues until a suitable location for turning around has been reached.
[0020] Preferably, in automatic reverse operation, the movements already performed by the vehicle during forward operation to reach the current vehicle position are repeated in reverse order. In other words, the most recently completed journey is reversed. For this purpose, the vehicle preferably continuously stores the trajectory of its predetermined most recently traveled segment (e.g., the last 200 meters). Also preferably, obstacles are further identified during reverse operation, for example, based on sensor values from the at least one sensor. Preferably, if an obstacle is identified, the vehicle's movement is adjusted to avoid a collision.
[0021] Automated reversing operation is preferably performed by guiding the driver to reverse. Also preferably, automated reversing operation is performed fully or partially autonomously. For this purpose, automated reversing operation is preferably performed by automatically controlling the vehicle's drive and / or steering. In other words, longitudinal and / or lateral guidance of the vehicle is preferably performed automatically. Preferably, lateral guidance or steering of the vehicle is performed automatically, and drive (i.e., acceleration, braking, and / or gear shifting) is undertaken by the driver. Preferably, during automated reversing operation, responsibility rests with the driver, and the vehicle should therefore preferably be classified as Level 2 or lower according to the level of autonomous driving defined by the Society of Automotive Engineers (SAE). Alternatively, during automated reversing operation, responsibility preferably rests with the vehicle, and the vehicle should therefore be classified as SAE Level 3 or higher.
[0022] A key advantage of this approach is that the vehicle can automatically navigate to a suitable U-turn location. This significantly improves user-friendliness and driving safety.
[0023] In a preferred embodiment, determining a suitable location for a vehicle to make a U-turn based on the plurality of sensor values includes the following steps: creating a surrounding environment map based on the plurality of sensor values, and determining a suitable location for a vehicle to make a U-turn based on the surrounding environment map.
[0024] In this execution method, the multiple sensor values are preferably determined continuously, particularly preferably during the forward movement of the vehicle. It is especially preferred that the sensor values be determined continuously while the vehicle is traveling at a speed below 40 km / h.
[0025] The surrounding environment map is preferably a representation of the vehicle's surroundings based on sensor values detected by sensors, such as a two-dimensional or three-dimensional representation of the vehicle's surroundings. The vehicle's surroundings preferably include the road segment most recently traversed by the vehicle, preferably the most recently traveled 200 meters. In other words, the surrounding environment map therefore preferably includes information about the site conditions within the last 200 meters the vehicle has traversed. This means that the surrounding environment map is preferably continuously updated to include the latest information about the site conditions in the vehicle's immediate surroundings. The surrounding environment map preferably includes the location and / or size of objects in the vehicle's surroundings, such as other vehicles, pedestrians, road markings, traffic signs, buildings, trees, or other objects.
[0026] Preferably, the surrounding environment map is a so-called parking space map. The parking space map is preferably a special type of surrounding environment map specifically designed to detect information about potential parking spaces and other site conditions in the immediate surrounding environment of the vehicle and for use with parking assistance systems also installed in the vehicle. The parking space map may, for example, contain information about the location and size of parking spaces, driveway width, other vehicles, pedestrians, driveway markings, traffic signs, buildings, trees, and the location and size of other objects.
[0027] Determining a suitable location for a vehicle to make a U-turn based on a surrounding environment map is preferably done by finding a location on the map that has sufficient space for a U-turn and / or where a U-turn can be performed without endangering other road users. A suitable U-turn location is also preferably determined by finding a location on the surrounding environment map where there are no objects or only a few objects present. A suitable U-turn location is also preferably determined by finding a location on the surrounding environment map where the roadway is wide enough for a U-turn.
[0028] This preferred execution method has the following advantages: the vehicle can create a map of its surroundings or even use a parking space map created for parking assistance to find a suitable location for a U-turn. This improves the efficiency and accuracy of the method.
[0029] In another preferred embodiment, the method further includes the step of calculating an ideal U-turn maneuver at the location based on the plurality of sensor values. In the sense of this disclosure, an ideal U-turn maneuver is preferably one that can be performed with the fewest possible steering actions and / or in the shortest possible time. Also preferably, an ideal U-turn maneuver is one that can be performed without endangering other road users. Preferably, an ideal U-turn maneuver involves a 180° rotation of the vehicle. This particular maneuver can be considered an ideal U-turn maneuver because it turns the vehicle in the opposite direction, which can be useful in certain situations (e.g., at a dead end or in the event of unforeseen road closures).
[0030] The calculation of the ideal U-turn maneuver is preferably based on a surrounding environment map, and more preferably on the positions and / or dimensions of objects in the vehicle's surrounding environment (e.g., other vehicles, pedestrians, lane markings, traffic signs, buildings, trees, or other objects) stored in the surrounding environment map. The calculation of the ideal U-turn maneuver is also preferably based on lane characteristics (e.g., lane width, lane gradient, lane features, etc.). Preferably, the U-turn maneuver is additionally calculated based on whether right-hand or left-hand traffic is present at the current vehicle position.
[0031] Furthermore, in this preferred embodiment, the method includes initiating a U-turn maneuver at the location.
[0032] Preferably, the U-turn is initiated by notifying the driver that the U-turn is now starting, for example, by means of the vehicle's output device or by means of the vehicle's communication unit communicating with the driver's user terminal equipment. The notification is preferably an audio signal, a visual display, or other suitable notification method.
[0033] Alternatively, preferably, the U-turn maneuver is initiated by taking control of the vehicle and automatically starting the U-turn maneuver, preferably by automatically controlling the vehicle's drive and / or steering.
[0034] Depending on the specific circumstances and requirements, these two methods for initiating a U-turn are preferably selected. For example, when the driver is actively controlling the vehicle, the method of notifying the driver is preferred. When the vehicle is driving autonomously, the method of automatically controlling the U-turn is preferred.
[0035] By utilizing this preferred method of execution, the vehicle can thus advantageously calculate and initiate the optimal U-turn maneuver, thereby better assisting the driver when a U-turn request is made.
[0036] In another preferred embodiment of the method, the current traffic conditions are determined based on the values of the plurality of sensors, wherein a U-turn maneuver is initiated when the traffic conditions allow for a safe U-turn.
[0037] In the sense of this disclosure, current traffic conditions preferably refer to traffic flow in the environment surrounding the vehicle, the number and location of other vehicles, the number and location of pedestrians, the number and location of cyclists, the number and location of traffic signs, the number and location of traffic lights, the number and location of road markings, and the number and location of buildings, trees or other objects.
[0038] The current traffic conditions are preferably determined by analyzing the values from the multiple sensors. This analysis of the sensor values is preferably performed by the vehicle's control unit.
[0039] Also preferably, the U-turn is aborted when traffic conditions change and a dangerous situation arises. In the sense of this disclosure, changing traffic conditions preferably refer to a sudden increase in traffic flow in the vehicle's surrounding environment, the appearance of other vehicles, pedestrians, or cyclists, a change in the position of traffic signs or traffic lights, the appearance of new road markings, or the appearance of buildings, trees, or other objects. In the sense of this disclosure, a dangerous situation preferably refers to a dangerous collision with other vehicles, pedestrians, cyclists, or other objects in the vehicle's surrounding environment, or a situation in which the vehicle will violate traffic rules, for example, by ignoring traffic signs or traffic lights.
[0040] Preferably, the vehicle's control unit automatically aborts the U-turn maneuver once a change in traffic conditions and the resulting danger are detected based on the multiple sensor values. Also preferably, the abort is performed manually by the driver using an operating element.
[0041] In other words, this method includes not only initiating a U-turn maneuver under safe traffic conditions, but also the ability to interrupt the operation if the conditions change and pose a danger. This has the advantage of further improving safety during a U-turn maneuver by avoiding collisions with other vehicles, pedestrians, cyclists, or other objects in the surrounding environment, or avoiding traffic violations such as ignoring traffic signs or traffic lights.
[0042] In another preferred embodiment, the turning maneuver is performed automatically in another step of the method.
[0043] The automatic execution of a U-turn is preferably achieved by automatically controlling the vehicle's drive and / or steering, preferably by the vehicle's control unit. The automatic execution of the U-turn is also preferably supported by automatically controlling other components of the vehicle (e.g., brakes, lights, hazard lights, etc.). Automatic control is preferably achieved based on an ideal U-turn calculated from the values of the multiple sensors. Preferably, the vehicle is fully autonomous, and the U-turn is performed automatically by the vehicle.
[0044] Preferably, after the U-turn, the driving task is handed back to the driver. In other words, after the U-turn is completed, the vehicle no longer interferes with driving operations, and the driver can independently accelerate and steer the vehicle again. Preferably, a prompt is output to the driver before the handover of driving task, for example, by means of the vehicle's output device or by means of the vehicle's communication unit communicating with the driver's user terminal device. This prompt preferably informs the driver that they can now independently steer and accelerate again. Also preferably, another user input is received, preferably by means of the vehicle's input device, such as an infotainment system or a push-button switch, or by means of the vehicle's communication unit communicating with the driver's user terminal device. Preferably, the handover of driving task is performed based on said other user input, and particularly preferably, the handover of driving task is performed only when the driver has confirmed the handover of driving task using said other user input.
[0045] Alternatively, the method preferably includes guiding the driver to perform a U-turn maneuver, for example, by means of the vehicle's output device or by means of the vehicle's communication unit communicating with the driver's user terminal equipment. In this case, the U-turn maneuver is preferably performed at least partially manually by the driver. Guiding the driver to perform the U-turn maneuver is preferably achieved through a display on the vehicle or user terminal equipment's screen, by sound signals, by tactile signals, or by other suitable means (such as, for example, by voice output).
[0046] Also preferably, during a U-turn maneuver, lateral guidance or steering of the vehicle is performed automatically, and drive (i.e., acceleration, braking, and / or gear shifting) is undertaken by the driver. Preferably, during a U-turn maneuver, responsibility is with the driver (SAE Level 2 or lower). Alternatively preferably, during automatic reverse operation, responsibility is with the vehicle (SAE Level 3 or higher).
[0047] This preferred execution method offers the advantage of either automatically executing a pre-calculated ideal U-turn or guiding the driver to perform the U-turn. This means the method is applicable not only to vehicles designed for fully autonomous operation but also to vehicles controlled by human drivers. Automating and guiding the driver in performing U-turns can contribute to their safe and efficient execution.
[0048] The method preferably further includes a step of outputting a prompt by means of the vehicle's output device.
[0049] The prompt is preferably used to notify the driver that a U-turn should be performed. Also preferably, the prompt is used to notify the driver that the vehicle is ready to perform a U-turn. Also preferably, the prompt is used to notify the driver that the vehicle will perform a U-turn if the driver does not react within a certain time. Preferably, the prompt is output as a pop-up message when there is sufficient space for the turn. Also preferably, the prompt includes user input requirements to initiate or confirm the U-turn.
[0050] The prompts are preferably output via a vehicle output device or a user terminal device (such as a smartphone or tablet). The output device is preferably a display screen, speaker, light, vibration motor, or other suitable output device. The output device is preferably configured to output the prompts visually, audibly, tactilely, or otherwise suitablely.
[0051] Furthermore, this preferred execution method includes receiving user input via the vehicle's input device. The user input is preferably used to initiate a U-turn maneuver. Also preferably, the user input is used to confirm or cancel the U-turn maneuver. Also preferably, the user input is used to determine the direction of the U-turn.
[0052] User input is preferably received via an input device of the vehicle (such as a keypad, touchscreen, knob, switch, microphone, or other suitable input device), or via a communication unit of the vehicle communicating with the driver's user terminal device. The input device is preferably configured to receive user input in the form of button operation, touch, rotational movement, switch position, voice input, or other suitable means.
[0053] In this preferred execution method, the U-turn maneuver is initiated based on user input. Preferably, the U-turn maneuver is only initiated after the user confirms the U-turn maneuver with user input.
[0054] With the preferred execution method, U-turn maneuvers can be advantageously performed in a particularly user-friendly manner because the driver is notified by a prompt before the vehicle initiates the U-turn maneuver, and the driver can control the execution via user input.
[0055] In another preferred embodiment of the method according to this disclosure, the method can be terminated at any time by the driver.
[0056] Preferably, another user input from the driver is received, preferably via the vehicle's input device (such as an infotainment system or push-button switch) or via the vehicle's communication unit communicating with the driver's user terminal device. This can be done, for example, by the driver operating an operating element or by the driver's voice input. Based on this other user input, the method is preferably terminated.
[0057] The method of termination by the driver is preferably used to abort a U-turn maneuver when the driver deems it necessary. Also preferably, the method of termination by the driver is used to reset the vehicle to a normal driving mode, in which the driver has full control over the vehicle.
[0058] An important context in which this method can be terminated is when the driver wishes to abort the U-turn. This can occur for various reasons, such as when the driver identifies a dangerous situation or when the driver changes their decision regarding the U-turn. In this case, the driver can terminate the method via user input to abort the U-turn, which advantageously improves driving safety during the process.
[0059] In a preferred implementation, the method described above can be performed while the driver is outside the vehicle and can be controlled by user input received by a user terminal device and sent to the vehicle.
[0060] Another aspect of this disclosure relates to a control unit. The control unit is preferably a microprocessor, microcontroller, digital signal processor, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other suitable electronic device. The control unit is configured to perform the methods described above. For this purpose, the control unit is preferably configured to communicate with the vehicle's sensors, the vehicle's drive system, the vehicle's steering system, the vehicle's input devices, the vehicle's output devices, the vehicle's memory, the vehicle's communication unit, and / or other components of the vehicle.
[0061] The preferred embodiment of the claimed control unit corresponds in meaning to the preferred implementation of the method according to the invention described above, and obtains the same advantages. Therefore, a detailed description is omitted.
[0062] Another aspect of this disclosure relates to a vehicle, preferably a passenger car or a truck, equipped with an internal combustion engine, an electric motor, or a hybrid powertrain. Preferably, the vehicle is configured for fully or partially autonomous driving operation.
[0063] The vehicle has at least one sensor configured to detect sensor values related to the vehicle's surrounding environment. The at least one sensor is preferably a camera, light sensor, radar sensor, sonar, laser, and / or ultrasonic sensor. Furthermore, the vehicle has a control unit as described above, configured to perform the methods described above. For this purpose, the control unit preferably communicates with the at least one sensor.
[0064] Preferably, the vehicle further includes input devices, output devices, a memory, and / or a communication unit. The control unit preferably communicates with the input devices, output devices, memory, and / or communication unit to perform the methods described above.
[0065] The preferred embodiment of the claimed vehicle corresponds in meaning to the preferred implementation of the method according to the invention described above, and obtains the same advantages. Therefore, a further detailed description is omitted.
[0066] Another aspect of this disclosure relates to a computer program comprising instructions that, when executed by a computer (such as, for example, a control unit of a vehicle as described above), cause the computer to implement, as described above, a method for assisting a driver in responding to a U-turn request according to the invention.
[0067] Another aspect of this disclosure relates to a computer-readable storage medium comprising instructions that, when executed by a computer (such as, for example, a control unit of a vehicle as described above), cause the computer to implement, as described above, a method of assisting a driver in response to a U-turn request for a vehicle according to the invention.
[0068] Other preferred designs of the present invention are derived herein.
[0069] Unless otherwise stated in individual cases, the various embodiments of the invention mentioned in this application can be advantageously combined with each other. Attached Figure Description
[0070] The invention will now be explained in the embodiments with reference to the accompanying drawings. Wherein: Figure 1 A schematic flowchart of a method for assisting a driver in a U-turn request according to a vehicle according to the present invention is shown in one exemplary implementation mode; Figure 2 A schematic diagram of a vehicle according to an exemplary embodiment of the present invention is shown; Figure 3 A diagram illustrating the method according to the invention is shown in another exemplary implementation. Detailed Implementation
[0071] Figure 1 A schematic flowchart illustrating a method for assisting a driver in responding to a U-turn request in a vehicle according to the invention is shown as an exemplary implementation. The vehicle is, in particular, a passenger car or truck equipped with an internal combustion engine, an electric motor, or a hybrid powertrain, configured for fully or partially autonomous driving operation.
[0072] In step 101 of the method, at least one sensor value relating to the vehicle's surrounding environment is detected. This sensor value is detected by means of at least one sensor configured to detect sensor signals relating to the vehicle's surrounding environment. The at least one sensor is, for example, a camera, a light sensor, a radar sensor, a sonar, a laser, and / or an ultrasonic sensor.
[0073] As another step 102, the method has the function of identifying a U-turn request at the current vehicle location. In particular, for example, based on user input, it identifies whether a U-turn is necessary (e.g., due to a closure or dead end) or whether the driver wishes to make a U-turn (e.g., in the event of a change in traffic conditions or a change in the driver's plans).
[0074] In another step 103 of the method, the feasibility of a U-turn maneuver at the current vehicle position is determined based on the at least one sensor value. In other words, it is determined whether a U-turn maneuver at the current vehicle position is feasible based on the at least one sensor value.
[0075] As another step 104, the method includes automatic reverse driving of the vehicle. Specifically, in automatic reverse driving, the movements already performed by the vehicle during forward driving to reach its current position are repeated in reverse order. Furthermore, obstacles are identified during reverse driving, and the vehicle's movement is adjusted as necessary to avoid collisions.
[0076] If it is determined in step 103 that a U-turn is not possible at the current vehicle position, then in step 104 only an automatic reversing operation is performed.
[0077] Figure 2 A schematic diagram, particularly a block diagram, of an exemplary vehicle 1 (particularly a dual-track motor vehicle with an internal combustion engine, an electric motor, or a hybrid powertrain) is shown, configured for fully or partially autonomous driving. Vehicle 1 is further configured for use as described above and Figure 1 The method for assisting the driver in a U-turn request according to the invention is performed as shown.
[0078] For this purpose, vehicle 1 firstly has multiple first sensors, specifically first sensor 11, second sensor 12, and third sensor 13. The first sensors 11, 12, and 13 are configured to detect environmental data surrounding vehicle 1 and include, for example, cameras for detecting images of the surrounding environment of vehicle 1 and / or distance sensors (e.g., ultrasonic sensors) for detecting distances to objects surrounding vehicle 1. The first sensors 11, 12, and 13 transmit the sensor values of the vehicle's surrounding environment detected by them to the control unit 40 of vehicle 1.
[0079] The control unit 40 also communicates with the input and output devices 20 of the vehicle 1. With the help of the input and output devices 20 of the vehicle 1, the control unit 40 can output prompts to the vehicle occupants and receive user input.
[0080] Vehicle 1 further includes a communication module 30, which has a memory 31 and one or more transponders or transceivers 32. The transponder 32 is a radio, WLAN, GPS, or Bluetooth transceiver, etc., and is particularly configured for communication in a communication network. The transponder communicates with the internal memory 31 of the communication module 30, for example, via a suitable data bus. For example, the current location of vehicle 1 can be determined by communicating with GPS satellites 51 using the transponder 32, and this current location can be stored in the internal memory 31. Furthermore, the communication module 30 is configured to communicate with a user terminal device 52, particularly via a communication network 53. Additionally, the communication module 30 may also be configured to communicate with a server of the communication network 53. The communication module 30 also communicates with a control unit 40. In particular, the communication module transmits received data to the control unit and / or receives data to be transmitted from the control unit.
[0081] The communication network 53 is preferably a network based on 3GPP standards, such as LTE, LTE-A (4G), or 5G communication networks. The communication network can also be designed for operation or according to the following standards: High-Speed Packet Access (HSPA), Universal Mobile Telecommunications System (UMTS), UMTS Terrestrial Radio Access Network (UTRAN), Evolved UTRAN (e-UTRAN), Global System for Mobile Communications (GSM), Enhanced Data Rate GSM Evolution (EDGE), and GSM / EDGE Radio Access Network (GERAN). Alternatively or additionally, the communication network 53 can also be constructed according to one of the following standards: Global Microwave Access Interoperability (WIMAX) network IEEE 802.16, and Wireless Local Area Network (WLAN) IEEE 802.11. The communication network 53 also preferably uses one of the following coding methods: Orthogonal Frequency Division Multiple Access (OFDMA), Time Division Multiple Access (TDMA), Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), Frequency Division Multiple Access (FDMA), or Space Division Multiple Access (SDMA), etc.
[0082] The control unit 40 is configured to execute the method according to the invention as described above. For this purpose, the control unit 40 has an internal memory 41 and a CPU 42, which communicate with each other, for example, via a suitable data bus. Furthermore, the control unit 40 is in communication connection with at least the first sensors 11, 12, 13, the input and output devices 20, and the communication module 30, for example via one or more corresponding CAN connections, one or more corresponding SPI connections, or other suitable data connections.
[0083] Figure 3 A diagram illustrating the method according to the invention is shown in another exemplary implementation.
[0084] exist Figure 3 In step a, vehicle 1 detects sensor values related to the vehicle's surrounding environment and identifies a U-turn request at its current vehicle position 61. Specifically, based on the sensor values, the necessity of the U-turn due to a no-entry sign is identified.
[0085] Furthermore, vehicle 1 determines the feasibility of a U-turn maneuver at its current vehicle position 61 based on the values of at least one sensor. Since the vehicle determines that a U-turn maneuver is not possible at its current vehicle position 61, it then performs an automatic reversing maneuver, which is illustrated by an arrow diagram.
[0086] During reversing operation or while already at the current vehicle position 61, vehicle 1 detects multiple sensor values. Based on these sensor values, a suitable location 62 for the vehicle to turn around is determined. Figure 3 Presented in b. Automatic reverse operation continues until location 62.
[0087] Then, based on these multiple sensor values, the ideal U-turn maneuver at location 62 was calculated, and the current traffic conditions were determined. Since the traffic conditions allowed for a safe U-turn, the calculated U-turn maneuver was then initiated, which was achieved through… Figure 3 The arrow diagram in b illustrates this. Then, it automatically performs a U-turn maneuver, or instructs the driver to perform a U-turn maneuver.
[0088] After completing the U-turn maneuver, the vehicle can continue driving with the wheel rotated 180°, such as... Figure 3 As presented in c.
[0089] Reference number list 1 vehicle 11 First Sensor 12 Second Sensor 13 Third Sensor 20 Input and Output Devices 30 Communication Units 31 Internal Memory 32 transceivers 40 Control Unit 41 Internal Memory 42 CPU 51 satellites 52 User terminal equipment 53 Network 61 Vehicle Location 62 Locations 101 First Method Steps 102 Second Method Steps 103 Third Method Steps 104 Fourth Method Steps
Claims
1. A method for assisting a driver in response to a U-turn request in a vehicle (1), the method comprising the steps of: Detect (101) at least one sensor value for the vehicle’s surrounding environment using at least one sensor (11, 12, 13); Identify (102) a U-turn request at the current vehicle location (61); Based on the at least one sensor value, determine (103) the feasibility of a U-turn maneuver at the current vehicle position (61); as well as If a U-turn is not possible at the current vehicle position (61), the vehicle (1) automatically reverses (104).
2. The method according to claim 1, further comprising the following steps: Multiple sensor values for the vehicle’s surrounding environment are detected by means of at least one sensor (11, 12, 13). Based on the multiple sensor values, a suitable location (62) for the vehicle (1) to turn around is determined. The vehicle (1) is automatically reversed until it reaches the location (62).
3. The method according to claim 2, wherein, Determining a suitable U-turn location (62) for the vehicle (1) based on the multiple sensor values also includes the following steps: Create a map of the surrounding environment based on the multiple sensor values; and Based on the surrounding environment map, a suitable location (62) for the vehicle (1) to turn around is determined.
4. The method according to any one of claims 2 or 3, further comprising the following step: Calculate the ideal U-turn maneuver at location (62) based on the values from the multiple sensors; as well as The turning maneuver is initiated at the location (62).
5. The method of claim 4, further comprising the following steps: The current traffic situation is determined based on the values from the multiple sensors. When the traffic conditions allow for a safe U-turn, the U-turn maneuver is initiated.
6. The method according to any one of claims 4 or 5, further comprising the following steps: The U-turn maneuver is executed automatically, or Instruct the driver to perform the aforementioned U-turn maneuver.
7. The method according to any one of claims 4 to 6, further comprising the following steps: Output prompts using output device (20); User input is received using an input device (20); as well as The U-turn maneuver is initiated based on the user input.
8. The method according to any one of the preceding claims, wherein the method can be terminated by the driver at any time.
9. A control unit (40) for performing the method according to any one of claims 1 to 8.
10. A vehicle (1), comprising At least one sensor (11, 12, 13) configured to detect sensor values for the environment surrounding the vehicle, and The control unit (40) according to claim 9.