Methods for adjusting longitudinal and lateral dynamics

Abstract

Method for adapting the longitudinal and lateral dynamics of a vehicle (1) operating autonomously as a function of prevailing weather conditions, characterized in that the adaptation takes place when, based on a query performed by the vehicle (1) at a central computer unit (4), it is determined that the vehicle (1) is in a convoy (F) whose length exceeds a predetermined threshold.

Description

[0001] The invention relates to a method for adjusting the longitudinal and lateral dynamics of a vehicle driving autonomously depending on prevailing weather conditions.

[0002] German patent application DE 10 2016 219 122 A1 discloses a processing device and a method for situation-specific adaptation of an automated driving mode in a vehicle. In a first step, internal and / or external factors influencing driving behavior are recorded. In a second step, the recorded factors are processed and prioritized for evaluation. In a third step, a dynamic limit for the vehicle's driving behavior is adjusted based on this evaluation. In a fourth step, the vehicle's driving behavior is adjusted to ensure that the dynamic limit is maintained.

[0003] German patent DE 10 2007 062 698 A1 discloses a device that includes both driver assistance systems and automated driving systems, which access a common sensor base. The central teaching is that, depending on the driving task (e.g., following another vehicle or driving freely), the environment (e.g., highway, city), and / or the quality of the sensor data, the system automatically switches between the different systems, e.g., from an automated system to a driver assistance system. Alternatively, the driver is informed of the possibility of switching.

[0004] German patent application DE 10 2017 221 105 A1 discloses a method for controlling an autonomous vehicle in a critical situation, particularly in the event of a failure of its own vehicle sensors. In such a case, the affected vehicle communicates with a neighboring, functioning vehicle. A vehicle convoy is formed, in which the functioning vehicle becomes the lead vehicle. The lead vehicle gains access to the driving functions of the affected vehicle and controls it, at least temporarily, using its own intact sensors, so that the affected vehicle can continue its journey.

[0005] German patent DE 10 2018 222 677 A1 describes a method for operating a vehicle capable of temporary autonomous driving. The vehicle operates in a first, autonomous driving mode (M1). It is monitored to determine whether certain switching conditions, such as critical traffic or weather conditions or technical problems, are met. If so, the vehicle switches to a second driving mode (M2), in which it is guided. This guidance can be provided by a preceding guide vehicle or remotely from a central control station.

[0006] German patent application DE 10 2017 106 032 A1 discloses a system for the automatic control of a vehicle based on a central unit. This central unit defines geographical sub-areas of the road network, assigns them envelopes, and assigns each a hazard attribute. A vehicle receives this data, determines its position and the distance to the envelope of the nearest sub-area, and performs automatic control interventions based on this distance and the associated hazard attribute.

[0007] The invention is based on the objective of providing a method for adapting an autonomous driving operation of a vehicle to prevailing weather conditions that is improved compared to the prior art.

[0008] The problem is solved according to the invention by the features specified in claim 1.

[0009] Advantageous embodiments of the invention are the subject of the dependent claims.

[0010] According to the invention, a method for adapting the longitudinal and lateral dynamics of a vehicle operating autonomously, depending on prevailing weather conditions, provides that the adaptation takes place when, based on a query performed by the vehicle at a central computer unit, it is determined that the vehicle is in a convoy of vehicles whose length exceeds a predetermined threshold.

[0011] By applying this method, the vehicle can maintain its autonomous driving operation even in comparatively poor weather conditions. This method thus relieves the vehicle user during long and strenuous journeys in adverse weather conditions, as the autonomous vehicle adapts its driving operation to the conditions, even if this is only possible at a relatively low vehicle speed.

[0012] Exemplary embodiments of the invention are explained in more detail below with reference to a drawing.

[0013] This shows: Fig. 1 schematically a vehicle driving autonomously within a vehicle convoy.

[0014] The single figure shows a vehicle 1 driving autonomously in a vehicle convoy F.

[0015] Vehicle 1 has an assistance system 2, which makes it possible to move vehicle 1 autonomously, whereby a vehicle user completely hands over his driving task to vehicle 1 and can thus pursue another activity in vehicle 1.

[0016] Furthermore, vehicle 1 has a navigation system 3, by means of which vehicle 1 is navigated to a desired and entered destination when route guidance is activated.

[0017] Vehicle 1, in particular its navigation system 3, is connected to a central computer unit 4, in particular a traffic service, via data transmission, and the vehicle 1 can retrieve traffic information from the central computer unit 4. For example, the central computer unit 4 can predict a prolonged period of convoy driving on, for example, snow-covered roads.

[0018] From the vehicle user's point of view, it is desirable to use automatic driving not only under ideal environmental conditions, but especially when environmental conditions become more difficult, for example due to poor visibility, cold, snow, rain, fog, etc.

[0019] For example, autonomous driving of vehicle 1 is possible in a traffic situation with, for example, a snow-covered road, high traffic density and free traffic up to a driving speed of 80 km / h due to the risk of slipping in winter, especially on longer stretches of motorway.

[0020] To relieve the vehicle user during long and strenuous journeys in comparatively bad weather conditions, a procedure described below is provided, whereby the autonomous driving operation of the vehicle 1, in particular longitudinal and lateral dynamics, is adapted to the prevailing weather conditions.

[0021] The vehicle user is offered the application of a restricted, i.e. adapted, autonomous driving mode if convoy driving under adverse weather conditions is predicted for a section of the route ahead of at least 10 km.

[0022] The vehicle user is shown and informed of the respective requirements for the adapted autonomous driving operation. For example, following a vehicle 5 ahead is possible depending on the distance, provided that a front-mounted distance sensor 6 of vehicle 1 is available and functioning. For example, the vehicle user can ensure the availability of the sensor by clearing it of snow, ice, and / or dirt.

[0023] In a further embodiment, a multi-level list is displayed to the vehicle user on a display unit in the vehicle 1, indicating which sensor is required for carrying out which adaptation of the autonomous driving operation and what the vehicle user can contribute to ensuring the availability and functionality of the sensor.

[0024] Depending on the adapted autonomous driving operation, the execution of certain driving maneuvers is excluded, so that, for example, it is not possible to perform an overtaking maneuver and / or a left turn.

[0025] Furthermore, with regard to autonomous driving adapted to the prevailing weather conditions, the maximum speed at which vehicle 1 can travel is specified. If it is determined that the road surface is snow-covered, vehicle 1 can travel at a maximum possible speed of 80 km / h in autonomous driving mode.

[0026] Furthermore, for adapted autonomous driving operation, it is a mandatory requirement that at least one vehicle 5 is driving in front of vehicle 1.

[0027] Steering movements and maneuvers performed during adapted autonomous driving mode, for example on a winding road, are executed according to a digital map of the vehicle 1 and / or based on instructions from the central computing unit 4. This adaptation of the autonomous driving mode is explained to the vehicle user, e.g., in the vehicle navigation system.

[0028] If the vehicle detects that the distance sensor 6 is covered in snow, but signals from the distance sensor 6 are required for adapted autonomous driving operation, a message will be issued to the vehicle user advising them to restore the distance sensor 6 to a functioning operating state. Specifically, the vehicle user will be advised to clear the distance sensor 6 of snow and / or dirt.

[0029] The following information can be given to the vehicle user as an example: “Automated driving is possible up to a speed of 80 km / h if distance sensors 6 are functional, but lane changes and overtaking are not possible.”

[0030] Parameters for convoy driving on a predefined route segment and a predefined maximum speed in adapted autonomous driving mode, as well as prohibited driving maneuvers in this mode, can be transmitted as a list from the central computer unit 4 to the vehicle 1. These parameters vary depending on the vehicle type, country, and / or vehicle equipment.

[0031] Furthermore, the procedure stipulates that autonomous driving operation is adapted not only in snow, but also in other weather conditions such as relatively strong winds, rain, hail, etc. In other words, autonomous driving operation is adjusted in weather conditions that lead to similar limitations.

[0032] The central computing unit 4 is used to store, manage and evaluate all types of adapted autonomous driving operations. Reference symbol list 1 vehicle 2 Assistance systems 3 Navigation system 4 central computing units 5. Vehicle ahead 6 Distance sensor F Vehicle convoy

Claims

[1] Method for adapting the longitudinal and lateral dynamics of a vehicle operating autonomously (1) depending on prevailing weather conditions, characterized by , that the adjustment then takes place when, based on a query carried out by the vehicle (1) at a central computer unit (4), it is determined that the vehicle (1) is in a convoy (F) whose length exceeds a predetermined threshold. [2] Method according to claim 1, characterized by , that in the vehicle (1) a warning is issued regarding a functional impairment of at least one distance sensor (6) resulting at least from the weather conditions. [3] Method according to claim 1 or 2, characterized by , that a reason for adjusting the autonomous driving operation in the vehicle (1) is issued.

Images