Avoiding collisions with wrong-way drivers

Abstract

Device for automatically driving a motor vehicle, comprising: Determining device for determining the future trajectory of the motor vehicle; Output device for issuing control instructions to the motor vehicle depending on the future driving trajectory; Means of receiving a message regarding a wrong-way driver; Whereby the means of determination are set up to determine the journey trajectory depending on the message received, Furthermore, comprehensive: recording equipment for recording the environment of the motor vehicle; The detection devices are further designed to identify surrounding road users; The determining means are further designed to determine the driving trajectory in such a way that the motor vehicle follows another road user, the recording equipment is further set up for: To classify road users as to whether they are trucks, i.e., road users whose size and / or weight exceeds a threshold and / or whose identification received via data exchange indicates that they are trucks; Where the other road user chosen is a road user that has been classified as a truck.

Description

[0001] The invention relates to a device for automatically driving a motor vehicle and a motor vehicle comprising such a device.

[0002] Semi-automatic driver assistance functions, such as Automatic Cruise Control (ACC) or traffic jam assist, are now common in motor vehicles such as cars and trucks. These support the driver within a limited range of applications with longitudinal or lateral control of the vehicle and, in some cases, require periodic or continuous monitoring.

[0003] The first prototypes of motor vehicles that enable highly automated driving currently exist. With highly automated driving, the driver can completely withdraw from the driving task (out-of-the-loop) and perform secondary tasks. The existing prototypes currently only provide this support for driving on highways. However, highly automated driving is, in principle, possible in all terrains or on all road types.

[0004] Highly automated driving is currently enabled by sensors such as radar, lidar, or stereo cameras carried by the vehicle. These sensors are used to record the vehicle's surroundings and to detect and classify obstacles. A processing unit then calculates a future driving trajectory based on the detected surroundings and obstacles and issues appropriate control commands for the vehicle's longitudinal and lateral guidance in order to follow the driving trajectory. A driving trajectory specifies at least one future position of the vehicle and typically also includes the vehicle's speed or acceleration and steering angle at one or more future positions. The tracked driving trajectory can be updated continuously (e.g., every 0.1 or 0.5 seconds).This system allows most obstacles to be taken into account when determining the driving trajectory; evasive maneuvers can usually be planned and executed.

[0005] However, such state-of-the-art systems cannot react to typical wrong-way drivers, i.e., vehicles traveling opposite to the intended direction of travel on the roadway or lane. This is because wrong-way drivers approach at such a high relative speed relative to the ego vehicle that the sensors and computing units do not have sufficient time to detect the wrong-way drivers and calculate an evasive trajectory. The sensors and computing units exhibit too high a latency for obstacles approaching at such a rapid pace. The result is a risk of accidents involving wrong-way drivers in highly automated driving according to state-of-the-art technology.

[0006] DE 10 2008 036 131 A1 discloses a method and device for detecting the traffic situation in a vehicle environment. In this method, the vehicle's dynamic driving data is determined using sensors in the vehicle's own vehicle, and vehicle-to-vehicle communication is established with other vehicles included in the determination. To obtain information about the other vehicles in a simple manner without complex environmental sensors, the vehicle dynamic driving data of the other vehicles is received via vehicle-to-vehicle communication.

[0007] From DE 10 2013 007 866 A1 a method is known for driver assistance in the case of wrong-way drivers, in which: a driving state of a vehicle driving the wrong way in a traffic route network is transmitted to a server of a traffic service provider, wherein the driving state comprises at least a current position of the wrong-way vehicle, a current traffic state for a route section of the traffic route network is transmitted to the server, wherein the route section comprises the current position of the wrong-way vehicle, the server determines traffic instructions specifically for the first vehicles that are coming towards the wrong-way vehicle on the route section on the basis of the driving state and the traffic state, the server transmits the traffic instructions specifically only to the first vehicles, and the transmitted traffic instructions are output in the first vehicles.

[0008] The object underlying the invention is therefore to enable highly automated driving even in the event of a possible collision with a wrong-way driver.

[0009] The object is achieved by the subject matter of the independent claims. Advantageous embodiments are defined in the dependent claims.

[0010] In one aspect, a device for automatically guiding a motor vehicle comprises: determining means for determining the future travel trajectory of the motor vehicle; outputting means for outputting control instructions to the motor vehicle depending on the future travel trajectory; receiving means for receiving a message regarding a wrong-way driver from a remote transmitter; wherein the determining means are configured to determine the travel trajectory depending on the received message.

[0011] It is therefore proposed that, when determining the future driving trajectory, information about a wrong-way driver (contained in the message) received from a remote transmitter, in particular a stationary transmitter, be taken into account. Thus, the trajectory determination is not carried out solely based on sensor measurements from the vehicle itself, but also draws on information about wrong-way drivers detected by other means outside the vehicle.

[0012] This message, containing information about a wrong-way driver and, if applicable, the location or affected road section, is received by a remote transmitter, for example, by a radio station as a traffic report, or by another road user via car-to-car communication, or by an infrastructure facility via car-to-infrastructure communication. The determination means can be configured to consider only those of all received messages regarding wrong-way drivers that are relevant to the motor vehicle in question (here also referred to as the ego vehicle). These are, for example, those messages that indicate wrong-way drivers on the motorway section where the ego vehicle is located.

[0013] The functionality therefore does not rely on sensory detection of an approaching wrong-way driver, although this can of course be attempted in addition. Rather, it is intended to utilize existing information about wrong-way drivers, for example, on the relevant section of highway.

[0014] If information about a wrong-way driver is available, the following possible measures can be taken, among others: warning the driver (visually / acoustically) via a display / control device in the vehicle; making an emergency stop of the vehicle on the motorway (current lane or roadside / hard shoulder) or reducing the speed.

[0015] The device further comprises: detection means for detecting the surroundings of the motor vehicle; wherein the detection means are further configured to detect surrounding road users; wherein the determination means are further configured to determine the travel trajectory such that the motor vehicle follows another road user.

[0016] The detection devices can be used to enable highly automated driving, as is known from the state of the art. The detection devices can be known from the state of the art sensors for detecting the environment, such as radar, lidar, ultrasound, cameras, or stereo cameras, including the associated data processing to detect and classify objects, i.e., obstacles.

[0017] The detection means are also designed to classify road users as trucks, i.e., road users whose size and / or weight exceeds a threshold and / or whose identification received via a data exchange indicates a truck; A road user who has been classified as a truck is selected as the other road user. The detection means represent the vehicle's sensors, which the vehicle uses to detect its surroundings. A bus, tanker truck, or heavy-duty transporter is also considered a truck.

[0018] It is therefore recommended that, in the event of a risk of collision with a wrong-way driver, a driving strategy be adopted that provides the best possible protection for the driver while allowing the driver to continue driving: The ego vehicle follows another vehicle, particularly a truck. This should be followed in a following lane and not deviated from as long as the wrong-way driver warning is active. The legally required minimum distance from the vehicle in front is maintained. Trucks are particularly suitable as lead vehicles, as they shield the ego vehicle most effectively.

[0019] The following journey has advantages because the driver: 1. can continue driving, albeit at reduced speed; 2. when following another vehicle, especially a truck, the ego vehicle is shielded and relatively safe, since a possible collision of the wrong-way driver can no longer occur with the ego vehicle but only with the vehicle in front.

[0020] This strategy does not increase the risk of collision for either the wrong-way driver or the vehicle in front, so there is no additional danger to other road users.

[0021] Overall, the safety of both the driver and the ego vehicle is increased. Through various measures, which can also be combined, the driver is effectively protected when a wrong-way driver warning is present. It cannot be guaranteed that the driver will hear the warning on the radio in time and become aware of the danger while the message about the wrong-way driver is continuously being communicated.

[0022] Following means that the ego vehicle (motor vehicle) follows (in other words, follows) the other road user (i.e., the vehicle in front) at a specified distance. The determination means are therefore configured to determine the driving trajectory in such a way that the motor vehicle maintains a specified minimum distance from the other road user, in particular the truck. This minimum distance can correspond to a legal minimum distance or a larger preprogrammed distance, which may depend on the speed.

[0023] In one implementation, the determination means are further configured to determine the driving trajectory such that the motor vehicle changes to a hard shoulder of the roadway on which the motor vehicle is located, if one exists, or to the outermost lane of the roadway (left or right in the direction of travel). This driving strategy can be selected, for example, if no truck has been detected in the vicinity of the vehicle, or if following is not possible because it would first require the ego vehicle to execute a driving maneuver that is not feasible. SHORT DESCRIPTION OF THE DRAWING Fig. 1 shows a schematic overview of a system for avoiding collisions with wrong-way drivers according to an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENT

[0024] Fig. 1 schematically shows an overview of a system for avoiding collisions with wrong-way drivers according to one exemplary embodiment. The system comprises a device 5 according to the invention for automatically guiding the motor vehicle 1, wherein the device 5 is encompassed by the motor vehicle 1. The device 5 comprises sensors for detecting and classifying the surroundings of the vehicle 1 and determination means for determining a future travel trajectory. In addition, the device 5 comprises receiving means designed to receive data transmissions from the permanently installed transmitting unit 3. The device 5 further comprises means for controlling the vehicle 5, which output instructions for the longitudinal and lateral guidance of the vehicle, so that the vehicle 5 can perform a highly automated journey.

[0025] Motor vehicle 1 is on a motorway 4 with two lanes, for which the same direction of travel, namely Fig. 1 vertically upwards. In the Fig. In the situation shown in figure 1, a truck 2 is also located in the right lane of motorway 4.

[0026] During operation of the device 5, it receives a notification from the transmitting unit 3 about a wrong-way driver on the motorway section on which the vehicle 1 is located. Motorway sections can, for example, include the part of the motorway between two exits. The information that a wrong-way driver is present on this motorway section was generated by other road users, received by a central processing unit, and forwarded to the transmitting unit 3.

[0027] In the context of highly automated driving, the environment detection means of device 5 detect truck 2 in the section of highway 4 ahead of vehicle 1 and classify it as truck 2. The classification can be based on the size of truck 2. The classification of obstacles or the targeted search for detected obstacles that can be classified as truck 2 can also be performed only in response to the receipt of the notification.

[0028] In response to receiving the notification, device 5 initiates a following journey following truck 2. For this purpose, determination means 5 calculate a travel trajectory as indicated by the arrow beginning at vehicle 1. The following journey requires vehicle 1 to follow truck 2 at a predetermined distance. In this way, vehicle 1, including its occupants, is protected from a collision with the wrong-way driver without increasing the risk of collision with other road users. As is common with trajectory planning in highly automated driving, surrounding traffic and obstacles are also taken into account when adopting the following strategy.

[0029] The device 5 can also be configured to execute a further driving strategy. This can be executed if no truck is detected or known in the vicinity of the vehicle 1. In this case, the device 5 can guide the vehicle in such a way that it is parked on a hard shoulder (in Fig. 1 not shown) of the motorway is brought to a standstill.

Claims

[1] Device for automatically driving a motor vehicle, comprising: Determination means for determining the future travel trajectory of the motor vehicle; Output means for outputting control instructions to the motor vehicle depending on the future travel trajectory; Receiving means for receiving a message regarding a wrong-way driver; Wherein the determination means are arranged to determine the travel trajectory depending on the received message, further comprising: detection means for detecting the surroundings of the motor vehicle; The detection means are further designed to detect surrounding road users; The determination means are further configured to determine the travel trajectory in such a way that the motor vehicle follows another road user, the recording means are further designed to: to classify road users as to whether they are heavy goods vehicles, i.e. a road user whose size and / or weight exceeds a threshold and / or whose identification received via a data exchange indicates a heavy goods vehicle; The other road user chosen is a road user classified as a truck. [2] Device according to claim 1, wherein the determining means are further configured to determine the travel trajectory such that the motor vehicle maintains a predetermined minimum distance from the other road user. [3] Device according to one of the preceding claims, wherein the determining means are further configured to determine the travel trajectory such that the motor vehicle changes to an emergency lane of the roadway on which the motor vehicle is located, if such a lane exists, or to the outermost lane of the roadway. [4] Motor vehicle comprising a device according to any one of the preceding claims.

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