Communication via a puff of air

Abstract

Control unit (101) for a vehicle (100), wherein the control unit (101) is configured, - To receive environmental data from one or more environmental sensors (103) of the vehicle (100); - to detect at least one road user (200) in the vicinity (407) of the vehicle (100) using the environmental data; - to determine the position of the road user (200) relative to the vehicle (100); - to determine a wind direction and / or wind speed in the vicinity of the vehicle (100); - to determine the direction and intensity of an air blast (203) depending on the wind direction and / or wind speed and depending on the position of the road user (200) relative to the vehicle (100); and - to cause an air emission device (202) of the vehicle (100) to generate a burst of air (203) in the specified emission direction and with the specified strength in order to draw the attention of the road user (200) to the vehicle (100).

Description

[0001] The invention relates to a method and a corresponding device which enable, in particular, a computer-controlled and / or autonomous vehicle to communicate with its environment, in particular with people in its environment.

[0002] Currently, within the framework of various initiatives on the topic of "Intelligent Transportation Systems" (ITS), communication protocols and cooperative safety applications are being standardized by the European standardization authorities ETSI and CEN, as well as by ISO, SAE, and IEEE in the USA. These applications are intended to enable cooperative, and, if possible, accident-free driving across vehicle manufacturers. These cooperative safety applications include, among other things, collision avoidance and collision mitigation applications for side and rear-end collisions. The addressed safety applications, as well as the associated transmission protocols and data formats, are documented in, among others, the ETSI standard TS 102 637 and the SAE standard SAEJ2735.For example, the TS 102 637-2 standard defines a so-called Cooperative Awareness Message (CAM), which is sent periodically by an ITS station (e.g., a vehicle) to inform other ITS stations (e.g., other vehicles) in the vicinity about selected information (e.g., speed, acceleration, and / or position) of the sending ITS station. The information exchanged between the ITS stations, e.g., via CAM messages, can be used in the respective ITS stations to detect collision hazards and, if necessary, initiate appropriate countermeasures (e.g., warnings).

[0003] The communication procedures defined within the framework of ITS aim at communication between different ITS stations (i.e., different machines or different electronic devices). Direct communication between machines and humans is not considered. In particular, communication between computer-controlled / autonomous vehicles and people in the vehicle's vicinity is not considered or enabled. However, such communication can serve to increase the safety and acceptance of computer-controlled / autonomous vehicles in road traffic.

[0004] US 2011 / 0 234 422 A1 describes a system for warning of an approaching vehicle. WO 2013 / 145 082 A1 describes a device for warning a person. US 2005 / 0 232 432 A1 describes a device for generating a sound. WO 2014 / 024 336 A1 describes a method for detecting an object. DE 10 2009 057 683 A1 describes a method for warning a road user. JP 2008-18896 A describes a device for warning pedestrians.

[0005] This document addresses the technical task of enabling direct communication between a vehicle (e.g., a passenger car, a truck, or a motorcycle) and its surroundings, in particular with a person in the vicinity of the vehicle. In particular, targeted communication between the vehicle and another road user should be enabled without disturbing uninvolved road users.

[0006] The object is achieved by the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims.

[0007] According to one aspect, a control unit for a vehicle is described. The vehicle may comprise a single-track or a dual-track vehicle, in particular a passenger car or a truck. The vehicle may be configured to move in traffic without driver intervention. In other words, it may be an at least partially computer-controlled and / or autonomous vehicle.

[0008] The control unit is configured to receive environmental data from one or more environmental sensors of the vehicle. The environmental data may include information regarding an environment or surroundings of the vehicle. The one or more environmental sensors may include a camera, a laser, an ultrasonic sensor, and / or a radar sensor.

[0009] Furthermore, the control unit can be configured to receive position data from a positioning unit (e.g., a navigation system) of the vehicle. The position data can be used to position the vehicle relative to a road layout and / or relative to other road users.

[0010] The control unit is further configured to detect at least one road user in the vicinity of the vehicle based on the surrounding data (and, if applicable, the position data). In particular, a human road user can be detected.

[0011] Furthermore, the control unit can be configured to determine, based on the surrounding data, whether communication is required between the detected road user and the vehicle. A need for communication may arise, for example, if the road user needs to be made aware of the vehicle or a specific situation, for example, because they are inattentive and are thereby disrupting traffic flow.

[0012] To determine whether there is a need for communication between the road user and the vehicle, the control unit can be configured to detect the eyes of a human road user based on the surrounding data (e.g., based on image data). Furthermore, the control unit can be configured to determine, based on the detected eyes, that there is a need for communication between the road user and the vehicle. In particular, based on the surrounding data (e.g., based on the image data), it can be determined that the road user has not noticed the vehicle (e.g., because the road user is looking in a different direction).

[0013] The control unit can further be configured to cause an air ejection device of the vehicle to generate a blast of air in order to draw the road user's attention to the vehicle or to communicate with the road user. In particular, a blast of air specifically directed at the road user can be generated. The air ejection device can in particular comprise one or more valves through which air can be ejected in order to generate a directed blast of air. By means of an air blast, the detected road user (in particular a person) can be specifically "addressed" without causing a nuisance to other road users. Furthermore, a blast of air can ensure clear communication between the vehicle and the road user. In particular, the blast of air can clearly prompt the road user to avoid the vehicle.The air blast can be generated and / or emitted, particularly with regard to the air quantity and / or the pressure blast, in such a way that it reaches the respective addressed road user and that the latter can perceive or detect it haptically.

[0014] In particular, the control unit can be configured to trigger the vehicle's air ejection device to generate the air blast (if necessary only) when the surrounding data has determined that there is a need for communication between the road user and the vehicle. This ensures that the detected road user is specifically "addressed" by the vehicle, only when necessary.

[0015] The control unit can be configured to determine one or more indicators of a road user's intention based on the environmental data and, if applicable, the position data. The one or more indicators of a road user's intention can include, for example, a direction of movement of the road user relative to the vehicle (from which it can be concluded, for example, that the road user wishes to cross the road in front of the vehicle), a direction of view of the road user relative to the vehicle (looking to the right / left indicates, for example, that the road user wishes to cross a road), a traffic sign and / or a traffic facility in the vicinity of the vehicle and the road user (a zebra crossing indicates, for example, that a road user wishes to cross the road).

[0016] Based on one or more indicators, it can then be determined that there is a need for communication between the road user and the vehicle. In particular, it can be determined that a traffic situation exists that requires communication between the vehicle and the road user. Such a traffic situation can exist, for example, if the vehicle detects that the road user has not noticed the vehicle and / or the road user is moving toward the vehicle's lane.

[0017] The control unit can further be configured to determine the intensity of the air blast as a function of a message to be transmitted to the road user, i.e., as a function of the form or content of the communication requirement. Alternatively or additionally, the intensity of the air blast can be determined as a function of an obstacle (e.g., clothing of the road user) between the vehicle and the road user. In particular, different traffic situations between the vehicle and the road user can require different degrees of intensity of communication between the vehicle and the road user. For example, the pressure or speed of the air blast can be adjusted to provide the road user with a message appropriate to the traffic situation.

[0018] The control unit can be configured to determine an ambient temperature of the vehicle and a temperature of the air blast based on the ambient temperature. This allows a blast of air to be generated that has a different temperature than the surroundings of the vehicle. This ensures that the blast of air is reliably perceived by a human road user, particularly haptically. The air of the blast of air can also be provided with water droplets and / or smoke particles for improved visual perception.

[0019] The control unit can further be configured to determine a position of the road user relative to the vehicle. An ejection direction and / or a strength (i.e., intensity) of the air blast can then be determined depending on the position of the road user. Furthermore, the air ejection device can be caused to generate an air blast in the determined ejection direction (e.g., by suitable means (such as air ducts) that allow orientation of the air blast). This ensures that the air blast reaches the detected road user without disturbing other road users.

[0020] The control unit can also be configured to determine a wind direction and / or wind strength in the area surrounding the vehicle. The direction and / or strength of the air blast can be determined depending on the wind direction and / or wind strength. This ensures that the air blast reaches the detected road user even under adverse environmental conditions.

[0021] According to a further aspect, a method for communication between a vehicle and a road user is described. The method includes features that correspond to the features of the control unit described in this document.

[0022] According to a further aspect, a vehicle (e.g. a passenger car, a truck or a motorcycle) is described which includes the control unit described in this document.

[0023] According to a further aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on one or more control units of a vehicle) and thereby to carry out the method described in this document.

[0024] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0025] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways.

[0026] The invention will be described in more detail below using exemplary embodiments. Fig. 1 is a block diagram of exemplary components of a vehicle; Fig. 2 an exemplary vehicle with an air ejection device; Fig. 3 an exemplary traffic situation; and Fig. 4 exemplary components of a vehicle for generating an air blast.

[0027] As stated at the beginning, this document deals with direct communication between a vehicle (especially an autonomous, self-driving vehicle) and its environment. This direct communication typically does not require the use of wireless or wired telecommunications equipment.

[0028] With the increasing automation of driving systems and vehicles, the problem arises that it is difficult for human road users to interpret the behavior of an autonomous vehicle and assess whether the vehicle has recognized them. On the other hand, the vehicle requires communication tools that enable it to communicate directly and specifically with a road user.

[0029] This document describes a device that enables a vehicle to communicate with human road users in order to communicate the existence of mutual perception (the vehicle perceives the human road user and is also perceived by the human road user) and / or to initiate an action by the road user.

[0030] In particular, the device described in this document may be arranged • to report back to a road user whether and as what the road user was recognized by the device. • to interpret the behavior and explicit communication of the road user and to reflect the resulting understanding of the intentions back to the road user. • To provide indications as to what action the device will take next with regard to the road user (e.g. letting the human road user cross the road or letting another vehicle merge). • to prompt the road user to take a specific action (e.g. to swerve the vehicle).

[0031] This makes it transparent to other road users how much the device knows and understands. In particular, it gives human road users the opportunity to communicate and thus interact safely with an automated vehicle.

[0032] Fig. 1 shows a block diagram of selected components of a vehicle 100. In particular, Fig. 1 shows a control unit 101 for a vehicle 100, wherein the control unit 101 is configured to enable direct communication between the vehicle 100 and one or more road users in the surroundings of the vehicle 100. Direct communication can be a form of communication that can be perceived directly by a human sensory organ, in particular without the need for a telecommunications device. For this purpose, the control unit 101 can be configured to cause the vehicle 100 to output a message to the one or more road users in optical and / or acoustic and / or haptic form. This message can then be perceived directly by the eyes and / or ears and / or the skin of the one or more road users.

[0033] The vehicle 100 comprises one or more environmental sensors 103 that are configured to capture information regarding the environment or surroundings of the vehicle 100. The one or more environmental sensors 103 can comprise, for example, a camera (infrared, visible light) with which visual information of the environment can be captured. Based on the visual information, for example, another road user in front of or to the side of the vehicle 100 can be detected, e.g., a pedestrian or another vehicle. Alternatively or additionally, the one or more environmental sensors 103 can comprise a radar sensor with which, for example, a distance between the vehicle 100 and another road user can be determined. The data provided by the one or more environmental sensors 103 can be referred to as environmental data.

[0034] The control unit 101 is configured to receive the environmental data from the one or more environmental sensors 103. Furthermore, the control unit 101 is configured to use the environmental data to detect one or more road users in the vicinity of the vehicle 100, in particular in the area in front of the vehicle 100.

[0035] Furthermore, the control unit 101 can be configured to use the environmental data to determine one or more indicators regarding the intention of one or more road users. For this purpose, the control unit 101 can also use position data from a positioning unit 104 (e.g., from a navigation system) of the vehicle 100. The position data can, in particular, include information regarding the current position of the vehicle 100, regarding the course of a road on which the vehicle 100 is located, and / or regarding traffic signs on the road. In particular, the position data of the control unit 101 can enable the vehicle 100 and the one or more detected road users to be positioned relative to one another and relative to a road layout.For example, it can be determined that a detected pedestrian is on a sidewalk and is standing at a crosswalk to cross a street on which the vehicle 100 is currently located. This can be an indication that the pedestrian intends to cross the street at the crosswalk in front of the vehicle 100.

[0036] Further examples of evidence regarding the intention of a road user are: • a movement pattern of the detected road user (e.g. a pedestrian) in the direction of the road on which the vehicle 100 is located; • a hand movement of the detected road user (e.g. a pedestrian) in the direction of the vehicle 100; • a line of sight of the detected road user (e.g. a pedestrian) towards the vehicle 100 or away from the vehicle 100;

[0037] Based on the surrounding data and, if applicable, on the position data, one or more indicators of the intention of the detected other road user can be determined. Furthermore, it can be determined (particularly based on the one or more indicators) whether there is a need for communication between vehicle 100 and the detected other road user. In particular, it can be determined whether a traffic situation exists between vehicle 100 and the other road user that requires communication between vehicle 100 and the detected road user.

[0038] The control unit 101 can further be configured to communicate with the detected road user via a communication means 102 of the vehicle 100 with regard to the detected traffic situation. Fig. 1, the communication means 102 comprise headlights of the vehicle 100. For example, by emitting light pulses using the headlights, the detected road user can be informed that he has been perceived by the vehicle 100 and / or that he is being requested by the vehicle 100 to cross the road and / or that he should avoid the vehicle 100.

[0039] The vehicle 100 may include a variety of different communication means 102, which may also be used in combination to generate a message for the detected road user. Examples of such communication means 102 include: • One or more visual outputs in or near the headlights that give road users the feeling of being looked at. This can be achieved by simulating the phenomenon of human eye contact using eye-like, movable elements. The position of the visual outputs (e.g., the two "eyes" or their "pupils") can convey the message of being seen. • A unit for laser projection of information onto surfaces outside the vehicle. This is useful, for example, when eye contact cannot be established to inform the road user that they have been noticed by the vehicle. Laser projection can also be used to convey additional information. • Similarly, a visual output unit on the body and / or windows of the vehicle 100 may also be used. • An output unit for directional sound. Direct communication between vehicle 100 and road users can also be established using acoustic signals. • A device for integrating personal electronic devices, such as augmented reality glasses and / or so-called “wearable” devices that the human road user carries with them, including a transmitting unit to transmit information to the electronic devices. • A system for moving the vehicle 100 to communicate the intentions of the vehicle 100 through a movement indication and behavior of the vehicle 100.

[0040] In summary, control unit 101 can thus be configured to process information about and from other road users. Furthermore, control unit 101 can be configured to recognize and interpret the intentions of other road users. Furthermore, control unit 100 can be configured to generate a communication strategy (including modality, type, and intensity of the output) and the associated communication content.

[0041] The control unit 100 can be configured to detect a plurality of road users and communicate with them simultaneously. Different communication means 102 can be used for this purpose, if necessary, to ensure clear communication with the individual road users.

[0042] The control unit 101 described in this document and the corresponding method can be used in particular in autonomous, i.e., self-driving, vehicles 100. Alternatively or additionally, the control unit 101 can also be used to provide a driver assistance function (DAS) in a largely driver-controlled vehicle 100.

[0043] The communication means 102 can, in particular, be configured to enable clear communication with another road user in the immediate vicinity of the vehicle 100. For this purpose, as explained above, acoustic and / or visual warning systems (e.g., horns) can be used. However, visual and / or acoustic warning systems are not limited to a specific location and are typically perceived as disruptive by bystanders in the immediate vicinity. Furthermore, physically impaired persons (e.g., deaf or blind road users) cannot perceive these signals.

[0044] Fig. 2 shows a vehicle 100 comprising, as a communication means 102, a device 202 for emitting an air blast 203. An air blast 203 emitted by the vehicle 100 in a specific direction can alert one or more other road users 200 in the immediate vicinity to the vehicle 100. This is particularly advantageous when the vehicle 100 is in a highly automated driving mode.

[0045] As in Fig. 2, a directed air blast 203 is emitted by an air ejection device 202 (which, for example, comprises one or more valves). For example, when the vehicle 100 drives through a crowd (as in Fig. 3), a gust of air can prompt (inattentive) pedestrians 200 to move out of the way. This type of communication has a prompting character, in which the addressed person 200 automatically reacts by moving out of the way (similar to a touch from someone who, for example, wants to move through a crowd, which typically leads to automatic evasive behavior by the touched person). Through the indirect "contact" via air, the vehicle 100 simultaneously maintains a certain distance from the other road users 200, thereby ensuring the safety of the road users 200.

[0046] Furthermore, it is possible to regulate the air temperature of the air blast 203. In particular, this ensures that the temperature of the air blast 203 differs from the ambient temperature. This results in the emitted signal being perceived even more strongly and reliably by a pedestrian 200.

[0047] The air blast 203 emitted by the vehicle 100 can be calibrated using data. This is exemplified in Fig. 4. Data regarding external influences can be acquired by one or more sensors 103, 404, 405 on the vehicle 100. In particular, the outside / ambient temperature can be measured using a temperature sensor 404 in order to calibrate an air blast 203 that differs from the outside / ambient temperature. Furthermore, sensors 405 can be used that can detect the wind direction and wind strength. The sensor(s) 405 can be arranged near or at the position of the air ejection device 202. Using the information regarding the wind direction and wind strength, the air blast 203 can be corrected so that the intended signal arrives at the correct receiver 200 and is not distorted in direction and / or strength by the ambient conditions.

[0048] Furthermore, based on the environmental data from environmental sensors 103, it can be determined whether the vehicle 100 is moving near pedestrians 200. If a pedestrian 200 is located in a critical area in front of the vehicle 100 (indicated by area 407) and it is further determined that this pedestrian 200 has probably not noticed the vehicle 100 (based on one or more indicators such as: the head of the pedestrian 200 is turned away, the pedestrian 200 does not change their route as the vehicle 100 approaches, etc.), the air ejection device 202 is triggered to send a signal to the pedestrian 200. The orientation of valves of the air ejection device 202 can be adjusted via the control unit 101 in order to generate a directed air blast 203 in the direction of the detected pedestrian 200. The valves can be centrally located in the front area of ​​the vehicle 100 (as in Fig.4) and / or at the position of the front headlights.

[0049] Furthermore, a pneumatic system of the air ejection device 202 can be triggered to adjust the required air pressure for the air blast 203. By adjusting the pressure, the vehicle 100 can decide, depending on the situation, whether the request via the air blast 203 should have a more restrained or more assertive effect on the other road user 200.

[0050] By generating a blast of air, a warning system with local limitations is provided. The vehicle 100 only draws the attention of those persons 200 for whom the traffic situation requires it. This type of communication also makes it possible to reach road users 200 whose (visual) attention is not currently directed towards the vehicle 100 (e.g., because they are currently using their smartphone). Furthermore, the described blast of air 203 can also be perceived by physically impaired people (people with impaired hearing or vision). Furthermore, this low-noise warning process reduces noise pollution, for example, in inner cities or pedestrian zones.

[0051] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems.

Claims

[1] Control unit (101) for a vehicle (100), wherein the control unit (101) is configured, - To receive environmental data from one or more environmental sensors (103) of the vehicle (100); - to detect at least one road user (200) in the vicinity (407) of the vehicle (100) using the environmental data; - to determine the position of the road user (200) relative to the vehicle (100); - to determine a wind direction and / or wind speed in the vicinity of the vehicle (100); - to determine the direction and intensity of an air blast (203) depending on the wind direction and / or wind speed and depending on the position of the road user (200) relative to the vehicle (100); and - to cause an air emission device (202) of the vehicle (100) to generate a burst of air (203) in the specified emission direction and with the specified strength in order to draw the attention of the road user (200) to the vehicle (100). [2] Control unit (101) according to claim 1, wherein the control unit (101) is configured, - to determine, based on the environmental data, whether there is a need for communication between road user (200) and vehicle (100); and - if it has been determined that there is a need for communication between the road user and the vehicle (100), to cause the air ejection device (202) of the vehicle (100) to generate the air blast (203). [3] Control unit (101) according to claim 2, wherein - the road user (202) is a human being; - the control unit (101) is set up to detect human eyes based on the environmental data; - the control unit (101) is set up to determine, based on the detected eyes, that there is a need for communication between road user (200) and vehicle (100). [4] Control unit (101) according to one of claims 2 to 3, wherein the control unit (101) is configured, - to identify, based on the surrounding data, one or more indications of an intention of the road user (200); and - to determine, based on one or more indicators, that there is a need for communication between vehicle (100) and road user (200). [5] Control unit (101) according to claim 4, comprising one or more indicators of an intention of the road user (200), - a direction of movement of the road user (200) relative to the vehicle (100); - a direction of view of the road user (200) relative to the vehicle (100); and / or - a traffic sign and / or traffic control device in the vicinity of the vehicle (100) and the road user (200). [6] Control unit (101) according to one of claims 4 to 5, wherein the control unit (101) is configured to determine an intensity of the air blast (203) depending on the communication requirements and / or depending on an obstacle located between the vehicle (100) and the road user (200). [7] Control unit (101) according to any of the preceding claims, wherein the control unit (101) is configured, - to determine the ambient temperature of the vehicle (100); and - to determine the temperature of the air blast (203) as a function of the ambient temperature. [8] Control unit (101) according to a preceding claim, wherein the one or more environmental sensors (103) comprise a camera, a laser, an ultrasonic sensor and / or a radar sensor. [9] Method for communication between a vehicle (100) and a road user (200), wherein the method comprises, - Receiving environmental data from one or more environmental sensors (103) of the vehicle (100); - Detect, based on the environment data, at least one road user (200) in an environment (407) of the vehicle (100); - Determining the position of the road user (200) relative to the vehicle (100); - Determining the wind direction and / or wind speed in the vicinity of the vehicle (100); - Determine, depending on the wind direction and / or wind speed and depending on the position of the road user (200) relative to the vehicle (100), a direction of emission and a strength of an air gust (203); and - To cause an air emission device (202) of the vehicle (100) to generate a burst of air (203) in the specified emission direction and with the specified strength in order to draw the attention of the road user (200) to the vehicle (100).

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