Method for automatically intervening in an ego vehicle in the event of wrong-way driving, in particular ghost driving

Abstract

Method for automatically intervening in an ego-vehicle (20) when it is traveling in the wrong direction, in particular when traveling on the wrong side of a road (10, 12), by means of a safety device or safety system of the ego-vehicle (20), wherein the wrong-way travel of the ego-vehicle (20) on the road (10, 12) is first detected, characterized in that an automated reverse travel (22) can be carried out by the ego-vehicle (20) after the wrong-way travel has been detected, wherein the automated reverse travel (22) is only carried out by the ego-vehicle (20) if a forward exit and / or an escape turn of the ego-vehicle (20) with a lower hazard potential than the automated reverse travel (22) is not possible.

Description

[0001] The invention relates to a method for automatically intervening in an ego vehicle when it is driving the wrong way, in particular when it is driving the wrong way, on a road by means of a safety device or a safety system of the ego vehicle. Furthermore, the invention relates to a computer program product designed to carry out an intervention method according to the invention; a computing unit or a processing device, preferably a control unit or a control device for a vehicle; and a safety device or a safety system for a vehicle, in particular a driver assistance system for a motor vehicle. State of the art

[0002] DE 199 34 774 B4 discloses a control device and a control method for a vehicle for avoiding wrong-way driving.

[0003] DE 10 2005 045 382 B4 discloses a system for preventing wrong-way driving, comprising at least one transmitter on and / or in the roadway which transmits a signal when a vehicle passes in the wrong direction, a receiver in the vehicle which receives the signals transmitted by the transmitter, a processing unit for processing and forwarding the signals, and at least one actuator which receives the signals transmitted by the processing unit, wherein the at least one actuator blocks the forward gears of the vehicle transmission and brakes the vehicle, and wherein the steering wheel angle is limited to prevent the vehicle from turning.

[0004] DE 102 19 904 A1 discloses an actuating device for a motor vehicle, which has a sensor that detects whether the motor vehicle is moving in an unauthorized direction on a roadway. If the sensor provides a positive detection signal, the braking system, ignition system, or fuel supply of the motor vehicle is activated or shut off.

[0005] Active safety is one of the key focuses in the development of current and future automotive systems. Well-known safety or driver assistance systems in the area of ​​active safety for vehicle occupants, i.e., to prevent accidents in the vehicle in question, include electromechanical power steering (EPS) with automatic steering intervention, an electronic stability control (ESC) for stabilizing the vehicle through braking interventions at the vehicle's dynamic limits, and VDM (Vehicle Dynamic Management), an extension of ESP with additional automated steering interventions.

[0006] Wrong-way driving by a motor vehicle, for example on a motorway with separate carriageways and multiple lanes or lanes per carriageway, known as wrong-way driving, is a phenomenon that is increasingly recognized in society and is becoming increasingly important. A not uncommon consequence of wrong-way driving is particularly serious accidents (head-on collisions) due to the high relative speeds of the vehicles involved, the probability of which increases with the total duration of the wrong-way driving by the vehicle in question. Furthermore, oncoming vehicles, i.e. correctly driving drivers of other vehicles, are unprepared. Recognizing or detecting wrong-way driving by one's own vehicle, hereinafter referred to as the "ego vehicle," is therefore of vital importance.

[0007] The wrong-way is detected based on map-based navigation of the ego vehicle (GPS (Global Positioning System) and map information), for which additional information regarding road category, direction identifier and traffic control signs is integrated into the map information. Furthermore, the vehicle has video-based or other information available for this purpose, e.g., environment detection (environmental sensors), detection of a road category (road class), traffic sign recognition, etc. - After incorrectly entering or entering a road with separate lanes (separate lane directions), such as motorways, federal highways or access roads to them (road category, possibly different roads in a foreign country), changing direction is difficult.

[0008] After the ego vehicle has entered the wrong way into a traffic lane, manually turning the ego vehicle is associated with a high risk of an accident due to oncoming vehicles. Reversing by the driver of the ego vehicle is only possible at a very high risk for the wrong-way driver, i.e., the ego vehicle, due to the driver's attention being drawn to the oncoming vehicles. Furthermore, the driver of the ego vehicle is under extreme stress. Once a wrong-way entry has been made, the driver of the ego vehicle has only minimal options for averting an accident, given the traffic density. Task

[0009] It is therefore an object of the invention to provide a method which enables a driver of an ego vehicle to reduce the risk of an accident after entering a roadway the wrong way. The method according to the invention should be able to cooperate with an existing wrong-way assistant or similar in order to increase its effectiveness. The method according to the invention should operate safely and reliably and be cost-effective to implement. The method should be implementable with sensors and / or actuators already installed in a motor vehicle. Furthermore, it is an object of the invention to provide a computer program, a computing unit or a processing device, and a safety device or a safety system for the ego vehicle accordingly. Disclosure of the invention

[0010] The object of the invention is achieved by a method for automatically intervening in an ego vehicle during wrong-way driving, in particular ghost driving, on a road by a safety device or a safety system of the ego vehicle, according to claim 1; by means of a computer program product according to claim 8; by means of a computing unit or a processing device, preferably a control unit or a control device for a vehicle according to claim 9; and by means of a safety device or a safety system for a vehicle, in particular a driver assistance system for a motor vehicle, according to claim 10. Advantageous developments, additional features and / or advantages of the invention emerge from the dependent claims and the following description.

[0011] In the method according to the invention for automatically intervening in a preferentially driving ego vehicle during a wrong-way trip, a wrong-way trip by the ego vehicle on the road is first determined, recognized or identified, wherein the ego vehicle is to be moved essentially automatically, i.e. essentially independently by the ego vehicle, into a comparatively safe position in a front / rear avoidance zone on / near the road during the wrong-way trip. The actual intervention (see below) in the ego vehicle can require or be determined as follows: positive recognition / identification of a road category of the road or a road relevant for a wrong-way trip, positive recognition / identification of the wrong-way trip by the ego vehicle on this road and, if applicable, positive recognition / identification of the front / rear avoidance zone for the ego vehicle.- Positive recognition / identification of the road category means: entering or driving on a structurally and / or marked lane, or entering or driving on a lane among a plurality of structurally and / or marked lanes in only one direction of travel.

[0012] The optional detection of the avoidance zone for the ego vehicle can be achieved by searching for a front / rear avoidance area and / or a front / rear vanishing point or area, whereby an intervention with a low risk potential for a third-party vehicle and / or the ego vehicle is preferably selected. For example, an environmental sensor system of the ego vehicle, in particular a video, radar and / or other sensor system, in cooperation with a navigation device, can analyze and select the avoidance zone and / or the vanishing point or area. - The detection of the road category and wrong-way driving or the detection of driving in the structurally and / or marked lane(s) in only one direction of travel can also be carried out using this sensor system, whereby traffic sign recognition can also be used.

[0013] According to the invention, the safety device or the safety system of the ego vehicle can determine a trajectory for the intervention - in particular travel within a lane - or an evasive trajectory - in particular travel over a marking of the lane being used. In this case, the navigation device, for example, can calculate a distance to the nearest front / rear evasive zone. The safety device or the safety system of the ego vehicle can then determine the trajectory and / or evasive trajectory. - The intervention in the ego vehicle can consist of at least one automated steering, braking and / or acceleration intervention, whereby the ego vehicle automatically carries out a forward exit or a reverse exit and, if necessary, carries out an evasive maneuver. I.e.During this actual vehicle intervention, the ego vehicle is moved linearly and / or rotationally to the front / rear avoidance area, which is done by automated steering, braking and / or positive or negative acceleration.

[0014] According to the invention, prior to the actual vehicle intervention—i.e., the automated forward exit or the automated reversing according to the invention, possibly including the automated evasive maneuver—the safety device or the safety system performs a situation assessment for the ego vehicle, selecting an intervention with a low risk potential. A low risk potential means that there is a low or, preferably, the lowest risk potential for a driver and / or another occupant of the ego vehicle or the ego vehicle itself, and / or an occupant of a third-party vehicle or the third-party vehicle itself, and / or a third road user. Any combination of these can be evaluated and selected in a risk potential analysis. The method can be implemented based on this analysis.

[0015] If a forward exit with a low risk potential is possible, this option is selected according to the invention. A forward evasive action zone or a forward open space or a forward vanishing point for the forward exit can be a hard shoulder, a verge, a passing bay, a median strip, a side dividing strip, a break in the guardrail, a shoulder, an embankment, a parking bay, a parking lot, a rest area, a gas station, an entrance (possibly for emergency vehicles), an exit and / or an area of ​​the road moving along with the wrong-way ego vehicle, etc. At least that section of this evasive action zone must be free of any other vehicle at the time when the ego vehicle performs a section of its forward exit and / or an evasive maneuver there. The forward exit and / or the evasive maneuver can be automated or semi-automated.

[0016] If forward exit with a low risk potential is not possible, for example if the ego vehicle drives directly into oncoming traffic, then according to the invention the ego vehicle can perform automated reversing. In this case, the automated reversing is preferably initiated and carried out by the safety device or the safety system of the ego vehicle. The safety device or the safety system of the ego vehicle determines a trajectory and / or an avoidance trajectory for the reversing, possibly to a rear avoidance zone, a rear open area and / or a rear vanishing point. According to the invention, reversing is essentially carried out at maximum speed, with the hazard warning lights and / or other visual and / or acoustic warning signals (e.g. flashing high beams) of the ego vehicle preferably being active.After reversing, the driver of the ego vehicle may be requested to take over the vehicle and / or to accelerate the ego vehicle.

[0017] The rear evasive zone or rear open space or rear vanishing point for the reversing of the ego vehicle can, as above, be a rear hard shoulder, a rear edge strip, a rear evasive bay, a rear central reservation, a rear side dividing strip, a rear guardrail break, a rear verge, a rear embankment, a rear parking bay, a rear parking lot, a rear rest area, a rear petrol station, a rear entrance (possibly for emergency vehicles), a rear exit and / or a rear area of ​​the road moving along with the wrong-way ego vehicle, etc. At least that section of this rear evasive zone must be free of any other vehicle at the time when the ego vehicle carries out a section of its reversing, a lane change and / or an evasive maneuver there.

[0018] The intervention can consist of at least one braking, acceleration, and / or steering intervention in the ego vehicle, with the ego vehicle preferably braking automatically, initiating and executing reversing automatically, and, if necessary, automatically changing lanes and / or automatically performing an evasive maneuver while braking and / or reversing. The automatic or automated reversing of the ego vehicle can be carried out, for example, based on a front-view camera, a rear-view camera, LIDAR (light detection and ranging, a method for optical distance and speed measurement), ToF sensors (time-of-flight sensors, a sensor for measuring the time of flight of light), and / or additional environmental sensors such as radar, etc. This can be supported by map-based navigation.- Reversing can also be based on a single front camera, with the trajectory or avoidance trajectory being estimated from the path of a lane marking on the road being traveled. Reversing (trajectory and / or avoidance trajectory) to the shoulder or similar can also be based on the lane marking. Such a lane marking is preferably a shoulder.

[0019] If there is no front camera or front sensors, the driver can indicate the possibility of changing lanes (no oncoming traffic in the lane to be changed) to the safety device or system, e.g., by pulling the steering wheel of their vehicle relatively briefly or similarly. With the method according to the invention, the driver's status can be evaluated and included, e.g., based on information from the driver regarding the automated intervention (see above; other options are of course applicable) and / or based on interior sensors. Furthermore, information about the actual intervention or the planned, actual intervention or the planned, actual intervention, i.e., reversing, can be sent to downstream devices and road users, in particular other vehicles nearby or their drivers.

[0020] The automated reversing preferably consists of at least one lane change to the rear avoidance zone, in particular towards a hard shoulder or a safe route or a safe area, wherein a further automated reversing can preferably take place at a later date up to a safe position. This means, for example, up to a parking position from which further reversing represents a greater potential danger than this comparatively safe parking position. In such a situation, the ego vehicle can be handed back to the driver. - Reversing can of course also be initiated if a rear avoidance zone has not (yet) been determined. This may only be detected during reversing. When carrying out the method, the initial aim is to reduce a relative speed as quickly as possible for a potential collision.

[0021] According to the invention, the intervention method can be used in a driver assistance system of a vehicle to increase road safety. The computer program according to the invention has program code means configured to carry out an intervention method according to the invention when the program code means run on a processing device and / or are stored on a computer-readable data carrier. The computing unit or the processing device according to the invention, preferably the control unit or the control device, is configured such that an intervention method according to the invention can be carried out and / or a computer program according to the invention can be executed.

[0022] The safety device or safety system according to the invention for a vehicle, in particular a driver assistance system for a motor vehicle, is configured such that an intervention method according to the invention for reversing in the event of wrong-way driving can be executed. Furthermore, the safety device or safety system can comprise a computer program product according to the invention and / or a computing unit according to the invention or a processing device according to the invention. Such a safety device in a driver assistance system can be implemented, for example, in a wrong-way driving assistant.

[0023] An automated intervention in the ego vehicle, i.e. the execution of the intervention method according to the invention, can be automatically triggered when the safety device or the safety system itself detects that the ego vehicle is driving the wrong way. Initiation or complete execution of the intervention method can also be offered and / or displayed to the driver of the ego vehicle by the safety device or the safety system. Furthermore, the intervention method can be set up in such a way that the driver can or must confirm that the automatic intervention method has been completed. During the execution of the intervention method, the driver can be informed acoustically, visually and / or haptically about the automatically executed steps and / or a subsequent step to be carried out by the driver.

[0024] According to the invention, an existing method for detecting wrong-way travel by an ego vehicle can be supplemented by the inventive method for automatically intervening in an ego vehicle, thus making it more secure. The inventive intervention method can be integrated into an existing wrong-way travel assistant or work together with a corresponding method to increase its efficiency. The inventive intervention method can operate safely and reliably and is cost-effective to implement, since the intervention method can be implemented using sensors and actuators already installed in a motor vehicle.

[0025] The advantage of the inventive automatic or automated reversing into a safer position compared to pure emergency braking of the ego vehicle is that the ego vehicle is brought into a position where the driver can take action, or at the very least results in a comparatively significant reduction in relative speed compared to a potential other vehicle involved in the accident. - During emergency braking, the ego vehicle is only braked automatically (full braking), its driver is passive and shocked, and in the final state is positioned head-on in oncoming traffic. The driver is experiencing an existentially threatening feeling of helplessness. Due to the helplessness and the extreme stress situation, the driver may make incorrect actions and / or rash reactions, such as swerving into undetected oncoming traffic or exiting into oncoming traffic.All this can be safely prevented according to the invention. Short description of the figure

[0026] The invention is explained in more detail below using exemplary embodiments with reference to the accompanying drawing. The single figure (Fig.) of the drawing shows a schematic plan view of two separate carriageways of a road, each with three lanes. In a left lane of the right-hand carriageway, a vehicle belonging to a wrong-way driver (top) is executing a method according to the invention for automatically intervening in the wrong-way driver's case, in particular, in the wrong-way driver's case (intervention method). Embodiments of the invention

[0027] Map-based navigation, usually GPS in conjunction with electronic map information, forms the basis for determining the current location of a moving or stationary motor vehicle 20, 30, with additional information being integrated into the map information. Furthermore, sensor-based or otherwise based information, e.g., environmental detection (environmental sensor system), detection of a road category (road class), traffic sign recognition, etc., is available to the motor vehicle 20, 30. This information is available to a safety device or safety system of an ego vehicle 20 considered here, wherein the safety device or safety system may be a driver assistance system for the ego vehicle 20.

[0028] One aim of the invention is an automated, i.e. independently by the ego vehicle 20, transfer 22 of the ego vehicle 20 into a safer position for a driver of the ego vehicle 20, e.g. in a front avoidance area (not shown) or a rear avoidance area 14 with respect to the ego vehicle 20. - If a forward exit of the ego vehicle 20 into a safer position in the front avoidance area is not possible, according to the invention a reversing 22 of the ego vehicle 20 can be initiated by braking, in particular an emergency braking, and a subsequent negative acceleration and an accident can be prevented if necessary or a difference or relative speed Δv for an accident can be reduced and thus the severity of the accident can be reduced.

[0029] For this purpose, the safety device or safety system of the ego vehicle 20 can preferably positively detect or identify the following steps: a) a category (definition) of a road 10, 12 relevant for wrong-way driving, b) a driving movement of the ego vehicle 20 in the wrong direction on a lane 12 of the road 10 or road 10, and c) the front avoidance zone and / or the rear avoidance zone 14. Step c) is optional; the front avoidance zone should only be detected for a forward exit of the ego vehicle 20. Steps a) and b) are the basis for automated intervention in the vehicle guidance of the ego vehicle 20, preferably while ignoring interventions by the driver of the ego vehicle 20.

[0030] This means that if steps a) and b) are positive, the driver of the ego vehicle 20 is preferably completely deprived of control over his vehicle 20 for the duration of the intervention method according to the invention. Steps a) and b) can be carried out, for example, based on the environmental sensors, an extended sensor system (video data, radar data, and / or data fusion) with navigation (GPS), car-to-X communication, possibly with cloud data, and / or occupant observation sensors. Furthermore, steps a) and b) can be carried out by recognizing traffic signs and other features for detecting the road category.

[0031] According to the invention, in a step d), a situation assessment can be performed to initiate the automated intervention in the ego vehicle 20. If a choice is possible, the intervention with the lowest risk potential is preferably selected. For example, a navigation device analyzes a distance to the nearest forward avoidance zone and / or the nearest rear avoidance zone 14, and / or the video sensors, the radar sensors, and / or the navigation (in SDF) analyze the forward avoidance zone and / or the rear avoidance zone 14 for a forward exit and / or a reverse drive 22 of the ego vehicle 20. The intervention with the lowest risk potential is selected.

[0032] If a forward exit with a lower risk than a reverse drive 22 of the ego vehicle 20 is possible, a forward exit to the forward avoidance area occurs automatically or semi-automatically. If a risk reduction by a forward exit is not possible, the automated reverse drive 22 is initiated, if necessary, by the driver of the ego vehicle 20 according to the invention. First, a simple automated braking, in particular an emergency braking, occurs while simultaneously minimizing the consequences of a frontal impact, e.g., the ego vehicle 20 exiting a driving path, e.g., at a guardrail.

[0033] If oncoming traffic is involved, the driving trajectory of a potential other vehicle with a high and / or highest probability of an accident is detected, whereby the ego vehicle 20 performs an automated evasive maneuver using its safety device or system. An evasive maneuver of the ego vehicle 20 is understood here to mean, in particular, a lane change, two essentially consecutive lane changes in the same or opposite directions, any type of evasive maneuver with respect to an obstacle, in particular a foreign vehicle, an escape turn, etc. An automated evasive maneuver can be performed during or before reversing 22 or during or before exiting forward.

[0034] Subsequently, the automated reverse travel 22 of the ego vehicle 20 takes place, e.g., with lane change(s) toward a hard shoulder 14 or to a safe route 14 (rear avoidance area). Preferably, a further reverse travel 14 takes place subsequently, up to a safe or the safest parking position; e.g., up to a position from which a further reverse travel 22 of the ego vehicle 20 represents a greater potential danger to the ego vehicle 20 and / or other road users than this parking position.

[0035] According to the invention, a state of the driver of the ego vehicle 20 can be evaluated during the method and incorporated into the intervention method according to the invention. This can be done, for example, based on information from the driver for automated intervention. Furthermore, information about the intervention, or the planned or imminent intervention, can be sent to downstream devices and road users, in particular to nearby other vehicles 30. Furthermore, upon detection or identification by the safety device or the safety system, steps a) and b) can be replaced by step b) or implemented in step b).

[0036] The inventive reversing 22 reduces the relative speed Δv for a collision and thus quadratically reduces the intrusion energy. Automated reversing 22 generally enables this because a wrong-way driver is under extreme stress in a situation of oncoming vehicles 30. A natural human flight reflex blocks averting of gaze to the rear and generates a "flight forward" reflex. Furthermore, an autonomous reversing driver can only reach a hard shoulder 14 if, once in the overtaking lane 12, they change lanes 12. However, this is only possible if they simultaneously look forward again in the direction of their ego vehicle 20 – i.e., a further change of gaze occurs, which represents an extreme overload. The inventive reversing 22 enables movement to the hard shoulder 14 without a manual turn, which creates an extremely risky situation (side-on collision).

Claims

[1] Method for automatically intervening in an ego vehicle (20) during its wrong-way driving, in particular its ghost driving, on a road (10, 12) by a safety device or a safety system of the ego vehicle (20), wherein firstly the wrong-way driving of the ego vehicle (20) on the road (10, 12) is detected, characterized by that an automated reversing movement (22) can be carried out by the ego vehicle (20) after the detection of the wrong-way movement, wherein the automated reversing movement (22) is only carried out by the ego vehicle (20) if a forward exit and / or an escape turn of the ego vehicle (20) with a lower risk potential than the automated reversing movement (22) is not possible. [2] Intervention procedure according to the preceding claim, characterized bythat before carrying out the automated reversing (22), a situation assessment for the ego vehicle (20) is carried out by the safety device or the safety system, wherein an intervention with a low risk potential is selected. [3] Intervention method according to one of the preceding claims, characterized by that an actual intervention in the ego vehicle (20) requires the following: recognition of a road category of the road being traveled (10, 12) with relevance for a wrong-way trip and recognition of the wrong-way trip of the ego vehicle (20) on this road (10, 12). [4] Intervention method according to one of the preceding claims, characterized by that the safety device or the safety system of the ego vehicle (20) determines a trajectory (22) or an avoidance trajectory (22) to an avoidance area (14), an open space (14) and / or a vanishing point (14) for the reversing travel (22). [5] Intervention method according to one of the preceding claims, characterized by that the intervention consists in a braking, acceleration and / or steering intervention in the ego vehicle (20), wherein the ego vehicle (20) preferably brakes automatically, initiates and carries out the reversing (22) automatically, and optionally carries out a lane change and / or an evasive maneuver automatically during braking and / or during the reversing (22). [6] Intervention method according to one of the preceding claims, characterized by that the automated reversing (22) consists of at least one lane change to the avoidance area (14), in particular to a hard shoulder (14) or a safe route (14), wherein a further automated reversing preferably takes place at a later time up to a safe position. [7] Intervention method according to one of the preceding claims, characterized by, that: • the intervention procedure is only carried out if a corresponding road category is determined and / or detected; • the road category of the road (10, 12) and the wrong-way travel of the ego vehicle (20) on the road (10, 12) are determined by the safety device or the safety system of the ego vehicle (20); • a method for detecting the wrong-way travel of the ego vehicle (20) is based on information from a map-based navigation, in particular based on GPS and map information, on an environmental sensor system, an extended sensor system and / or a traffic sign recognition system; • the method is triggered automatically when the wrong-way travel of the ego vehicle (20) is detected, and / or triggering of the reverse travel (22) is offered to the vehicle driver and must be confirmed by the vehicle driver; • the reversing (22) is carried out essentially at a maximum speed, wherein the hazard warning lights of the ego vehicle (20) are preferably active; and / or • after the reversing (22) the driver of the ego vehicle (20) is given a request to take over the vehicle and / or accelerate the ego vehicle (20). [8] Computer program product with program code means which are designed to carry out an intervention method according to one of claims 1 to 7, when the program code means run on a processing device or are stored on a computer-readable data carrier. [9] Computing unit or processing device, preferably control unit or control device for a vehicle (20), in particular a motor vehicle (20), which is designed such that an intervention method according to one of claims 1 to 7 can be carried out by the computing unit or the processing device and / or a computer program product according to claim 8 can be executed. [10] Safety device or safety system for a vehicle (20), in particular driver assistance system for a motor vehicle (20), characterized by that the security device or the security system is set up in such a way that an intervention method according to one of claims 1 to 7 can be carried out, the security device or the security system has a computer program product according to claim 8, and / or a computing unit or a processing device according to claim 9.

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