Method for stopping a self-driving vehicle

Abstract

Method for holding a self-propelled vehicle (10), comprising: Determining the approach to a notified stopping point (83) of the vehicle (10); Detection of at least one moving object (70) in an environment of the vehicle; Determining, at a first time t1, a projected trajectory (84) of the vehicle (10) and a projected trajectory (85) of the object (70); Determining, based on the projected trajectory (84) of the vehicle (10), a second time t2 of arrival of the vehicle (10) at the notified stopping point (83) and, based on the projected trajectory (85) of the object (70), a position and speed of the object (70) at the second time t2; Determining a collision probability between the object (70) and a door (15) or a passenger of the vehicle (10) at the notified stopping point (83) based on the position and the speed of the object (70) at the second time t2, wherein a predefined pivoting range of the vehicle door (15) and a predefined exit range are considered for the vehicle door (15) and for the passenger; Determining a third time t3 for opening at least one door (15) of the vehicle (10) based on the determined collision probability if the collision probability exceeds a limit value and wherein the third time t3 and the second second point t2 are different and a distance between the vehicle (10) and the object (70) increases in a time period before the third time t3; and Braking the speed of the vehicle (10) to stop the vehicle (10) at the notified stopping point (83) at the third time t3 and stopping the vehicle (10) at the notified stopping point (83) at the third time t3.

Description

[0001] The invention relates to a method for stopping a self-driving vehicle, in particular a stopping method that enables improved boarding and disembarkation of passengers in the self-driving vehicle. A further aspect of the invention relates to a self-driving vehicle configured to carry out the method according to the invention.

[0002] Today's vehicles already feature a multitude of assistance systems that provide computer-based support to the driver in a wide variety of driving situations. Such assistance systems can utilize sensors to collect a wide range of measurement data that far exceeds human sensory capabilities. Furthermore, the speed of these assistance systems significantly exceeds human reaction times. Well-known driver assistance systems include lane departure warning systems, pedestrian detection brake assist systems, and adaptive cruise control, especially for traffic jams.

[0003] Through the application of such assistance systems, the driver's autonomy regarding driving decisions is increasingly transferred to the vehicle or to the control units operating within it. The ultimate goal of these developments is a self-driving vehicle that can maneuver completely without human intervention. Such a self-driving vehicle makes fully automated passenger transport possible.

[0004] Such fully automated passenger transport will lead to a multitude of new mobility concepts, particularly in urban areas. These will build on the already established ride-hailing concepts, in which a large number of users access the vehicles of a fleet independently and for a limited time. By assigning the vehicles to a specific user only for the period of actual use, the unused parking time of the vehicles can be minimized. This concept can also be supplemented by so-called ride-pooling, in which several passengers share a vehicle for at least sections of the route traveled.

[0005] These concepts have the potential to significantly minimize the total number of vehicles required and thus make a positive contribution to environmental protection.

[0006] When combining the aforementioned mobility concepts with self-driving vehicles, additional functions will have to be performed in addition to the actual driving task without the intervention of a human driver. In addition to stowing luggage and advising non-local passengers on potential intermediate and / or final destinations, these functions also include enabling safe boarding and disembarkation. Passengers can no longer be assisted in these processes by a driver, who, for example, exits first and holds the door open for them. This creates a greater risk for passengers during boarding and disembarking, which must be addressed.

[0007] State-of-the-art methods for non-self-driving vehicles are known that are intended to assist passengers when boarding or disembarking, particularly to avoid collisions between other road users and the passengers. These methods have in common that they are carried out by a stationary vehicle or are based on the detection of a vehicle stop or the vehicle's arrival at a destination. According to these methods, a predetermined destination is always initially approached, where further process steps are then carried out.

[0008] The known methods are sufficient for conventional vehicles, where the driver himself is responsible for deciding on the actual stopping maneuver. However, these methods are disadvantageous for self-driving vehicles, as they can lead to delays in boarding and disembarking passengers at the destination. In self-driving cars, such waiting times may be taken into account in the overall evaluation of the driving experience and thus have the potential to reduce customer satisfaction.

[0009] DE 10 2004 062 459 A1 describes a method for avoiding collisions when opening vehicle doors. If a collision risk is detected, an acoustic or visual warning signal is emitted or the mechanism of a door lock is activated in such a way that door opening is not possible for the duration of the collision risk. DE 10 2017 214 855 A1 discloses a method for determining a stopping point based on an input destination and acquired environmental data. A stopping point in the vicinity of the destination is determined where the lowest possible collision risk exists.

[0010] DE 10 2011 079 003 A1 discloses a method for detecting and signaling obstacles in the opening area of ​​a door of a vehicle, wherein a warning signal is generated in the event of a detected obstacle in the opening area of ​​the door.

[0011] DE 10 2011 010 242 A1 discloses a safety system for a vehicle, wherein in a first mode in which the vehicle is moving, a collision of the vehicle with an object is avoided by slowing down the vehicle and in a second mode in which the vehicle is stationary, a collision of a pivoting area of ​​a vehicle door with the object is avoided by issuing a warning or locking the door.

[0012] The invention is therefore based on the object of overcoming or at least reducing the disadvantages of the prior art and of providing an improved method for stopping a self-driving vehicle, which minimizes the waiting times for passengers to board or disembark and thus contributes to the acceptance of self-driving vehicles.

[0013] This problem is solved by the features of the independent patent claims. Preferred developments are the subject of the respective dependent claims.

[0014] A first aspect of the invention relates to a method for stopping a self-driving vehicle, in particular a self-driving motor vehicle for the semi- or fully automatic transport of at least one passenger. The method comprises at least the steps described below. In a first step of the method according to the invention, the approach to a notified stopping point of the vehicle is determined. The notified stopping point of the vehicle is preferably a stopping point determined by a passenger of the vehicle. This notified stopping point is preferably entered by the user via an input means, for example a user interface of the vehicle, or via a mobile device connected to the vehicle. Furthermore, an adjustment of the notified stopping point by the user is preferably possible, even during the stopping process.Likewise, the notified stopping point is preferably a stopping point specified by a user who is not yet in the vehicle. This user has specified the stopping point, for example, by entering it into a mobile device, with this input being transmitted to the vehicle via a network server. The at least one passenger is preferably in the vehicle and wishes to exit the vehicle at the notified stopping point. Likewise, the at least one passenger wishes to board the vehicle at the notified stopping point.

[0015] In a further step of the method according to the invention, at least one moving object is detected in the surroundings of the vehicle. Self-driving vehicles have a multitude of sensors for continuously detecting the surroundings, such as LIDAR, radar, ultrasonic sensors, optical sensors, and the like. These sensors are used to determine the distances between the vehicle and surrounding objects quasi-continuously. Also preferably, the surrounding objects are detected, for example, by vehicle-to-vehicle or vehicle-to-X communication, whereby other moving vehicles can be distinguished from stationary objects. Also preferably, object detection is carried out by algorithms, for example based on artificial intelligence (machine learning algorithms), in order to reliably detect cyclists, for example, based on their characteristic shape.Thus, using the sensors and control units present in a self-driving vehicle, it represents a simple programming task for a person skilled in the art to detect at least one moving object located in the vehicle's surroundings. The vehicle's surroundings are particularly preferably defined by a distance threshold. This distance threshold is preferably not isotropic in all spatial directions, but is, for example, greater in one direction of travel, i.e., along a roadway, than transverse to a direction of travel.

[0016] In the method according to the invention, a projected trajectory of the vehicle and a projected trajectory of the object are further determined at a first time t1. For this purpose, the vehicle uses information on the location and speed of the vehicle, acquired at multiple times, to extrapolate the vehicle's trajectory based on this information. Furthermore, the vehicle uses information on the location and speed of the object, acquired at multiple times, to extrapolate the vehicle's trajectory based on this information. Determining trajectories of vehicles / objects based on a plurality of measured values ​​regarding the position and speed of the vehicles / objects, as well as extrapolating these trajectories into the future, for example, using a line-train method, is within the skill of a person skilled in the art.

[0017] In the method according to the invention, a second time t2 at which the vehicle arrives at the notified stopping point is further determined based on the determined projected trajectory of the vehicle. In other words, a notified stopping time of the vehicle is determined. Based on this second time t2 and the determined projected trajectory of the object, a position and speed of the object at the second time t2 are further determined. In other words, the location and speed of the object for the notified stopping time of the vehicle are determined. Using the position and speed of the object at the second time t2, a collision probability between the object and a door and / or a passenger of the vehicle at the notified stopping point is then determined.For this purpose, a predefined pivoting range of the vehicle door and / or a predefined exit range around a location of the vehicle is assumed for a vehicle door and / or a predefined exit range for a passenger. This pivoting range and / or exit range is preferably defined as a sector of a circumference around the vehicle. For a passenger, a shortest connection between a location of the vehicle and a nearby footpath or the like is preferably determined, i.e., a passenger trajectory. A collision between an object and a passenger is then preferably defined as the intersection point of the object trajectory and the sector of the circumference, or as the intersection point of the object and pedestrian trajectories.

[0018] A collision probability exists when an intersection point between the object trajectory and the perimeter sector (door) or an intersection point between the object and pedestrian trajectory is determined. Uncertainties in the predicted trajectory of the object with respect to the anticipated stopping time t2 and the behavior of the passenger are preferably taken into account when determining the collision probability. In other words, these variables are varied within predetermined ranges, and for each of the varied values, it is determined whether one of the intersection points defined above exists. Based on the number of varied variables for which an intersection point, i.e., a collision, is determined, a numerical value for the collision risk between the object and the door or passenger is determined.

[0019] Finally, in the vehicle according to the invention, a third time t3 is determined based on the determined collision probability, at which time at least one door of the vehicle is opened to allow a passenger to board or disembark. In other words, a time t3 is determined at which safe entry or exit into the vehicle, i.e. without the risk of collision with the object, is possible. In other words, a third time t3 is determined which minimizes the collision probability. The method according to the invention thus makes it possible to determine a time for safe entry or exit while a self-driving vehicle is still in motion. Determining the time while the vehicle is still in motion advantageously enables a particularly user-friendly design of the entry or exit process, as described in more detail below.In particular, boarding and disembarking can be designed in such a way that no noticeable delays occur for a passenger, while the passenger inside the vehicle cannot open a blocked door. This advantageously prevents the passenger from feeling trapped. Furthermore, the time the vehicle is parked, for example, in no-parking zones, can be minimized.

[0020] If, in the method according to the invention, the collision probability exceeds a predetermined limit, i.e., a collision between the object and a door or a passenger of the vehicle is likely, a third time t3 is determined that is different from the second second point t2. In other words, the doors are not opened at the notified stopping time t2, but at a different time t3. The opening of at least one door preferably occurs automatically by a correspondingly controlled mechanism of the self-driving vehicle. Alternatively, the door is opened by outputting the third time t3 to the passenger, so that the passenger can open the door at time t3.

[0021] In the method according to the invention, the speed of the vehicle is adjusted if the collision probability exceeds a threshold value and the third time t3 and the second second point t2 are different. Furthermore, the vehicle stops at the advised stopping point at the third time t3. In other words, according to the invention, the advised stopping point is not adjusted, but only the advised stopping time. Preferably, the vehicle travels with braking along the trajectory already traveled in order to allow a nearby object to pass the vehicle. When a user then leaves the vehicle at the advised stopping point, the moving object has already passed it and there is no risk of collision.According to the invention, the distance between the vehicle and the object is thus already increasing at the third time t3, so that the object has already passed the vehicle at the third time t3, whereby the aforementioned condition is already taken into account when determining the third time t3. It has been shown that such a stopping method is perceived by users as far more pleasant than stopping at the announced stopping time and locking the doors until the third time t3. In particular, the delay in boarding or disembarking due to the potential collision with the object is perceived less.

[0022] In the method according to the invention, a distance between the vehicle and the object at the third time t3 preferably exceeds a predetermined limit. This advantageously ensures that even unforeseeable acceleration and / or steering maneuvers of the moving object do not lead to a collision between the vehicle and the object. Likewise, the aforementioned condition is preferably already taken into account when determining the third time t3.

[0023] Likewise preferably, the method according to the invention also includes determining a fourth time t4 for closing the at least one door of the vehicle, wherein this fourth time t4 is also determined based on the projected trajectory of the moving object. In other words, a time window between the third time t3 and the fourth time t4 is determined at which entering or exiting the vehicle is possible without the risk of a collision with the object. Furthermore, the surroundings are preferably informed about the opening and closing of the door, for example, multimodally via visual and / or acoustic cues, as explained below.

[0024] Furthermore, the method according to the invention preferably further comprises detecting at least one further moving object in the vicinity of the stopped vehicle. The detection of the further object is also carried out by the plurality of sensors and control units installed in the vehicle, as already described above. According to this embodiment, a projected trajectory is also determined for the further object, and the fourth time t4 is determined alternatively or additionally based on the projected trajectory of the further object. Thus, in a situation in which the distance to an initially detected object is already increasing at time t3 because it has already passed the vehicle, a danger can arise from a newly approaching moving object. By closing the doors (automatically or manually after a request via a message) at the fourth time t4, any danger to the passenger from the further object is avoided.

[0025] In a particularly preferred embodiment of the method, a collision probability between the object and one of the plurality of doors of the vehicle is determined at the third time t3. In this case, different doors are defined, for example, by different circular sectors around a location of the vehicle. Likewise preferably, an extensive spatial model of the vehicle is used, of which the various doors are defined in different directions by circular sectors. According to this embodiment, based on the determined collision probabilities, one of the plurality of doors is preferably determined and opened at the third time t3. The opening of the selected door is preferably again carried out automatically by a correspondingly controlled mechanism of the self-driving vehicle or by the user after issuing a corresponding notification to the user.According to this embodiment, it is preferable to avoid the user getting in or out through a particularly vulnerable door of the vehicle, for example in the direction of the middle of the road.

[0026] Likewise preferably, the method according to the invention determines a number and / or a characteristic of passengers of the vehicle. According to this embodiment, the collision probability between the object and the at least one passenger of the vehicle at the notified stopping point is further determined based on the number and / or characteristic of the passengers. For example, for a larger number of passengers, a longer time is assumed for boarding and disembarking from the vehicle, and a collision probability is adjusted (increased) accordingly. Likewise preferably, a collision probability is increased for passengers who move more slowly than average due to an injury or other physical condition (wheelchair users or elderly persons with walking difficulties). The same applies to persons with children, dogs, or larger luggage, who require an adjusted boarding time.By taking into account the number and / or characteristics of the passengers, the safety of the passengers when boarding and / or disembarking is further increased.

[0027] In a particularly preferred embodiment of the method according to the invention, as an alternative or in addition to automatically opening or closing the vehicle doors, a message is output to a passenger of the vehicle. According to this embodiment, this message contains information about the third time t3 and / or about at least one moving object in the vicinity of the vehicle. Thus, the passenger can be informed about the maneuvers of the self-driving vehicle as well as about the dangers posed by other objects. It has been shown that warning messages without specific content are more often ignored by users.According to this preferred embodiment, situational messages are therefore issued to the passengers, which preferably inform them about the position and speed of the approaching objects and / or about a safe time window between times t3 and t4 for safely boarding or disembarking from the vehicle.

[0028] Particularly preferably, according to this embodiment, a number and / or a characteristic of at least one passenger or user of the vehicle is also determined. The characteristic can be, for example, an age, a state of health, a mobility, a nationality of the passenger or user. According to this embodiment, the message is also preferably adapted based on the determined number and / or characteristic of the at least one passenger or user. For example, based on a user's input, the user's preferred language is determined, and the message is output accordingly in this language. Likewise, a user's visual impairment can be determined, and the message is output acoustically.

[0029] Particularly preferably, the message is output via screens and / or loudspeakers located in the vehicle. This allows passengers of the vehicle to be informed about a suitable time or period for exiting, as well as about approaching objects. Likewise preferably, the message is output via screens arranged on the exterior of the vehicle, or other visual or acoustic interfaces. This allows users who are outside the vehicle to be informed about a suitable time or period for entering, as well as about approaching objects. Likewise preferably, the message is projected into the vicinity of the vehicle in order to inform users in the vicinity of the vehicle who, for example, have called the vehicle.

[0030] The method steps of the method according to the invention can be implemented by electrical or electronic components (hardware), by firmware (ASIC), or by executing a suitable program (software). Likewise, the method according to the invention is preferably realized or implemented by a combination of hardware, firmware, and / or software. For example, individual components for performing individual method steps are designed as a separate integrated circuit or arranged on a common integrated circuit. Furthermore, individual components configured to perform individual method steps are preferably arranged on a (flexible) printed circuit board (FPCB / PCB), a tape carrier package (TCP), or another substrate.

[0031] The individual method steps of the method according to the invention are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated when executing one or more computer programs. The computing devices are preferably designed to cooperate with other components, for example a communications module and one or more sensors, in order to implement the functionalities described herein. The instructions of the computer programs are preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in non-volatile storage media, such as a flash memory.

[0032] It will also be apparent to a person skilled in the art that the functionalities of several computers (data processing devices) may be combined or combined in a single device or that the functionality of a particular data processing device may be distributed across a plurality of devices in order to carry out the steps of the method according to the invention without deviating from the method according to the invention described above.

[0033] A further aspect of the invention relates to a self-driving motor vehicle, in particular a motor vehicle designed for semi- or fully-automatic passenger transport, which is designed to carry out the method according to the invention. The motor vehicle according to the invention has, in particular, a plurality of first sensors configured to detect at least one moving object in an environment of the vehicle. The first sensors are designed to detect sensor signals relating to the environment of the vehicle. The motor vehicle further has a plurality of second sensors configured to detect movement data of the vehicle. The second sensors are designed to detect sensor signals relating to the vehicle itself. The motor vehicle further has a communication module designed to communicate with another vehicle and / or a mobile terminal.The communication module is designed to receive information via a communication network. The communication module preferably has a radio, mobile radio, WLAN, and / or Bluetooth transceiver or alternative wireless communication devices. Furthermore, the communication module is preferably equipped to receive hazard signals from other vehicles in the vicinity, i.e., via a car-to-car communication network.

[0034] The motor vehicle according to the invention further comprises a first output means for reproducing messages to passengers inside the vehicle and / or a second output means for reproducing messages to passengers outside the vehicle. The reproduction means are preferably screens, projectors, and / or loudspeakers inside and outside the vehicle. The motor vehicle further comprises a driving system configured for autonomous driving of the motor vehicle. The driving system is preferably designed for automatic lateral and longitudinal guidance of the vehicle. Furthermore, the motor vehicle comprises a control unit configured and designed to carry out the method according to the invention, which control unit is designed in particular to control all of the aforementioned components for carrying out the method according to the invention.

[0035] A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit of a motor vehicle according to the invention, cause the computer to carry out the method according to the invention, in particular the method steps: determining the approach to a notified stopping point of the vehicle; detecting at least one moving object in an environment of the vehicle; determining, at a first time t1, a projected trajectory of the vehicle and a projected trajectory of the object; determining, based on the projected trajectory of the vehicle, a second time t2 of the arrival of the vehicle at the notified stopping point and, based on the projected trajectory of the object, a position and speed of the object at the second time t2;Determining a collision probability between the object and a door or a passenger of the vehicle at the notified stopping point based on the position and speed of the object at the second time t2, wherein a predefined pivoting range of the vehicle door and a predefined exit range for the passenger are considered; and determining a third time t3 for opening at least one door of the vehicle based on the determined collision probability, wherein the collision probability exceeds a limit value and the third time t3 and the second second point t2 are different; and adjusting the speed of the vehicle to stop the vehicle at the notified stopping point at the third time t3 and to stop the vehicle at the notified stopping point at the third time t3.

[0036] A further aspect of the invention relates to a computer-readable storage medium, comprising instructions which, when executed by a computer, such as a control unit of a motor vehicle according to the invention, cause the computer to carry out the method according to the invention, in particular the method steps: determining the approach to a notified stopping point of the vehicle; detecting at least one moving object in an environment of the vehicle; determining, at a first time t1, a projected trajectory of the vehicle and a projected trajectory of the object; determining, based on the projected trajectory of the vehicle, a second time t2 of the arrival of the vehicle at the notified stopping point and, based on the projected trajectory of the object, a position and speed of the object at the second time t2;Determining a collision probability between the object and a door or a passenger of the vehicle at the notified stopping point based on the position and speed of the object at the second time t2, wherein a predefined pivoting range of the vehicle door and a predefined exit range for the passenger are considered; and determining a third time t3 for opening at least one door of the vehicle based on the determined collision probability, wherein the collision probability exceeds a limit value and the third time t3 and the second second point t2 are different; and adjusting the speed of the vehicle to stop the vehicle at the notified stopping point at the third time t3 and to stop the vehicle at the notified stopping point at the third time t3.

[0037] Further preferred embodiments of the invention emerge from the remaining features recited in the subclaims. The various embodiments of the invention recited in this application can be advantageously combined with one another, unless otherwise stated in individual cases.

[0038] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Fig. 1 is a schematic representation of a self-propelled motor vehicle according to the invention according to an embodiment; Fig. 2 (a) to (c) show schematic representations of a self-propelled motor vehicle according to the invention and of another moving object at different times during the implementation of the method according to the invention; Fig. 3 a schematic representation of a self-propelled motor vehicle according to the invention and a further moving object at a third time during the implementation of the method according to the invention; and Fig. 4 (a) and (b) schematic representations of a self-propelled motor vehicle according to the invention and of a further moving object at a third and a fourth time point during the implementation of the method according to the invention.

[0039] Fig. 1 shows a schematic representation, in particular a block diagram, of an exemplary self-driving motor vehicle 10 designed for passenger transport, which has a plurality of first sensors, in particular a first sensor 11, a second sensor 12, and a third sensor 13. The first sensors 11, 12, 13 are configured to detect the surroundings of the vehicle and in particular the objects located in the surroundings of the vehicle or the distances between the vehicle and these objects. The first sensors include, in particular, a lidar sensor 11, a radar sensor 12, and an ultrasonic sensor 13. The first sensors 11, 12, 13 transmit the ambient signals they detect to a control unit 40 of the motor vehicle 10.

[0040] The motor vehicle 10 further comprises a plurality of second sensors, in particular a fourth sensor 51, a fifth sensor 52, and a sixth sensor 53. The second sensors 51, 52, 53 are sensors for determining status data relating to the motor vehicle 10 itself, such as current position and movement information of the motor vehicle. The second sensors are therefore, for example, speed sensors, acceleration sensors, inclination sensors, or the like. The second sensors 51, 52, 53 transmit the status signals they detect to the control unit 40 and a driving system 30 of the motor vehicle 10.

[0041] The motor vehicle 10 further comprises a communications module 20 with a memory 21 and one or more transponders or transceivers 22. The transponders 22 are radio, WLAN, GPS or Bluetooth transceivers or the like. The transponder communicates with the internal memory 21 of the communications module 20, for example via a suitable data bus. Using the transponder 22, for example, the current position of the motor vehicle 10 can be determined by communicating with a GPS satellite 61 and stored in the internal memory 21. The communications module 20 communicates with the control unit 40. The communications module 20 is configured to communicate with network servers, a base station 62 of a mobile radio network, and other (self-driving) vehicles 63.For example, the communication module 20 is configured to communicate with the aforementioned devices via a UMTS or LTE (Long Term Evolution) mobile network.

[0042] The motor vehicle 10 further comprises the driving system 30, which is configured for fully autonomous driving, in particular for longitudinal and lateral guidance of the motor vehicle 10. The driving system 30 has a navigation module 32, which is configured to calculate routes between a starting point and a destination and to determine the maneuvers to be performed by the motor vehicle 10 along this route. Furthermore, the driving system 30 comprises an internal memory 31, for example for map material, which communicates with the navigation module 32, for example via a suitable data bus. At least some of the second sensors 51, 52, 53 of the motor vehicle transmit their measurement results directly to the driving system 30. This data, transmitted directly to the driving system, is, in particular, the current position and movement information of the motor vehicle.These are preferably detected by speed sensors, acceleration sensors, inclination sensors, etc.

[0043] The motor vehicle 10 further comprises a control unit 40 according to the invention, which is configured to carry out the method according to the invention, as explained in detail below. 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 is in communication with at least the first sensors 11, 12, 13, the second sensors 51, 52, 53, the communication module 20, and the driving system 30, for example, via one or more respective CAN connections, one or more respective SPI connections, or other suitable data connections.

[0044] The vehicle 10 further comprises an output system 65 for outputting messages to passengers. The output system 65 comprises first output means 66 for displaying messages to passengers inside the vehicle, in particular screens, loudspeakers, and other light signals (such as LED lamps). Furthermore, the output system 65 comprises second output means 67 for displaying messages to passengers outside the vehicle 10, in particular screens, loudspeakers, and projectors for projecting messages onto the floor, etc.

[0045] Fig. 2(a) to 2(c) show schematic representations of a self-driving motor vehicle 10 according to the invention and of a further moving object 70 at different times during the implementation of the method according to the invention.

[0046] This shows Fig. 2a shows the vehicle 10 according to the invention and the object 70 at a first time t1. At this time, the vehicle 10 and the object 70 are each located on a right-hand lane 81 of a four-lane road bordered by a sidewalk 82. A passenger is being transported in the vehicle 10. At the first time t1, the vehicle 10 has a location x_Fz(1), which is retrieved from a GPS satellite 61 by means of the communication module 20, and a speed v_FZ(1), which is determined by the second sensors 51, 52, 53 and / or by means of the communication module and the GPS satellite 61. At the first time t1, the object has a location x_Ob1(1) and a speed v_Ob1(1), which are determined by the first sensors 11, 12, 13 of the vehicle 10. In support, the vehicle 10 can use a CAM message received from the object 70, possibly via V2V communication, to determine x_Ob1(1) and v_Ob1(1).At the first time t1, the control unit 40 of the vehicle 10 determines a projected trajectory 84 of the vehicle 10 and a projected trajectory 85 of the object 70 based on available measurement data and / or communication data.

[0047] As in the Fig. 2b, the second time t2 is then determined based on the projected trajectory 84 of the vehicle 10, at which the vehicle 10 arrives at the location x_Fz(1) of a notified stopping point 83. The notified stopping point 83 corresponds to a destination of the passenger in the vehicle 10. The projection of the trajectory 84 of the vehicle 10 is carried out in such a way that the speed of the vehicle 10 v_FZ(2) is equal to zero at that point and the vehicle 10 therefore comes to a stop at the notified stopping point 83. Furthermore, based on the projected trajectory 85 of the object 70, a position x_Ob1(2) and a speed v_Ob1(2) of the object 70 at the second time t2 are determined. As shown in the Fig. As shown in Figure 2b, the moving object 70, in particular a bicycle, is located shortly behind the vehicle 10 at the second time t2 with a velocity vector that passes between the stopped vehicle 10 and the designated stopping point 83. Thus, there is a risk that the object 70 will collide with a door of the vehicle 10 or with a passenger exiting the vehicle 10. This can be determined based on the position and velocity of the object 70 at the second time t2.

[0048] Based on the existing collision probability between the object 70 and the vehicle 10 at the notified stopping point 83 at the second time t2, a third time t3 is determined according to the invention. The third time t3 is determined based on the determined collision probability in such a way that a door of the vehicle 10 can be opened safely and a passenger can leave the vehicle 10 safely. According to the Fig. In the situation illustrated in Figure 2c, the third time t3 occurs after the second time t2, and at the third time t3, the vehicle 10 comes to a stop at the notified stopping point 83 x_Fz(3) with v_FZ(3) equal to zero. Thus, after determining the collision probability, the self-driving vehicle 10 has slowed down its travel such that the object 70 has had sufficient time to pass the vehicle 10. In particular, at the third time t3, the object 70 is located at a position x_Ob1(3) with a velocity vector v_Ob1(3) pointing away from the vehicle 10. Thus, at the third time t3, the distance between object 70 and vehicle 10 is already increasing. The door 15 of the vehicle 10 can thus be opened without there being any risk of a collision with object 70.

[0049] Fig. 3 shows a schematic representation of an exemplary self-driving motor vehicle 10 and the further moving object 70 at the third time t3' according to a method not according to the invention. First, as with reference to the Fig. 2a and Fig. 2b, an existing collision probability between vehicle 10 and object 70 is determined. Subsequently, a third time t 3' which, however, according to this embodiment, is equal to the second time t2. Furthermore, according to this embodiment, an alternative stopping point 86 has been determined, which is located within a predetermined tolerance range around the notified stopping point 83. In particular, the alternative stopping point 86 is located along the projected trajectory 84 of the vehicle 10 in front of the notified stopping point 83. Thus, the vehicle 10 can, without significantly slowing down its travel, at the third time t 3'stop at the alternative stopping point 86 x_Fz(3'), wherein the object 70 has already passed the vehicle 10 at this time and is located at a position x_Ob1(3') corresponding to the position x_Ob1(2), and wherein the object 70 has a velocity vector v_Ob1(3') pointing away from the vehicle 10. Thus, there is no risk of a collision between the object 70 and the vehicle door 15 or the disembarking passenger of the vehicle 10.

[0050] The Fig. 4a and Fig. 4b show schematic representations of the self-propelled motor vehicle 10 according to the invention and the further moving object 70 at the third time t 3'' and at a fourth time t4 according to an alternative embodiment of the method according to the invention. First, as with reference to the Fig. 2a to 2c an existing collision probability between vehicle 10 and object 70, a third time t 3''determined at which the vehicle stops at the announced stopping point 83, which for reasons of clarity is shown in the Fig. 4 is not shown. Unlike the Fig. 2, however, there is another passenger at the notified stop who wants to board the vehicle 10. Such handovers of car-sharing vehicles are known to those skilled in the art. Furthermore, at time t 3'' another moving object 71 at the location x_Ob2(3") and with the speed v_Ob2(3") is detected in the vicinity of the vehicle 10. In addition, at the time t 3'''a projected trajectory of the further object 71 is determined. Based on the projected trajectory 86 of the further object 71, it is determined that there is a risk of collision between the boarding passenger and the further object 71. Based on this risk of collision, a fourth time t4 is further determined, before which a collision between the passenger and the further object 71 is very unlikely to occur. This fourth time t4 is therefore determined as the time at which the open vehicle door 15 is to be closed again.

[0051] Furthermore, a message is transmitted to the passenger outside the vehicle 10 by a second output means 67, in particular a screen or projector arranged on the exterior of the vehicle, which message informs the passenger of the fourth time t4, the need to enter before the fourth time t4 and the further object 71. The passenger is thus warned of the approaching object 71 and enters the vehicle 10 before the fourth time t4, so that the vehicle door opens at the time specified in the Fig. 4b, the door is already closed before the additional object 71 has approached the vehicle to within a few meters. Thus, the boarding process is safely completed, and the additional object does not endanger the passenger. List of reference symbols 10 motor vehicle 11 first sensor 12 second sensor 13 third sensor 15 Vehicle door 20 Communication module 21 storage 22 transponders 30 Driving system 31 storage 32 Navigation module 40 Control unit 41 storage 42 CPU 51 fourth sensor 52 fifth sensor 53 sixth sensor 61 satellite 62 transceivers of an access control device 63 other vehicle 65 Output system 66 first means of output 67 second means of output 70 movable object 71 additional movable object 81 roadway 82 Footpath 83 announced stop 84 projected trajectory of the vehicle 85 projected trajectory of the object 86 alternative stop 87 Tolerance range

Claims

[1] Method for holding a self-propelled vehicle (10), comprising: Determining the approach to a notified stopping point (83) of the vehicle (10); Detection of at least one moving object (70) in an environment of the vehicle; Determining, at a first time t1, a projected trajectory (84) of the vehicle (10) and a projected trajectory (85) of the object (70); Determining, based on the projected trajectory (84) of the vehicle (10), a second time t2 of arrival of the vehicle (10) at the notified stopping point (83) and, based on the projected trajectory (85) of the object (70), a position and speed of the object (70) at the second time t2; Determining a collision probability between the object (70) and a door (15) or a passenger of the vehicle (10) at the notified stopping point (83) based on the position and the speed of the object (70) at the second time t2, wherein a predefined pivoting range of the vehicle door (15) and a predefined exit range are considered for the vehicle door (15) and for the passenger; Determining a third time t3 for opening at least one door (15) of the vehicle (10) based on the determined collision probability if the collision probability exceeds a limit value and wherein the third time t3 and the second second point t2 are different and a distance between the vehicle (10) and the object (70) increases in a time period before the third time t3; and Braking the speed of the vehicle (10) to stop the vehicle (10) at the notified stopping point (83) at the third time t3 and stopping the vehicle (10) at the notified stopping point (83) at the third time t3. [2] The method of claim 1, wherein a distance between the vehicle (10) and the object (70) at the third time t3 exceeds a predetermined limit value. [3] The method of claim 1 or 2, further comprising: Determining a fourth time t4 for closing the at least one door (15) of the vehicle (10) based on the projected trajectory of the moving object (70). [4] Method according to one of the preceding claims, further comprising: Determining at least one further moving object (71) in an environment of the stopped vehicle (10); and Determining a fourth time t4 for closing the at least one door (15) of the vehicle (10) based on the projected trajectory of the further object (71). [5] Method according to one of the preceding claims, further comprising: Determining a collision probability between the object (70) and each of a plurality of doors (15) of the vehicle (10) at the third time t3; Selecting one of the plurality of doors (15) based on the determined collision probabilities and opening the selected door (15) at the third time t3. [6] Method according to one of the preceding claims, further comprising: Determining a number and / or characteristic of passengers of the vehicle (10); Determining the probability of collision between the object (70) and at least one passenger of the vehicle (10) at the notified stopping point (10) further based on the number and / or characteristics of the passengers. [7] Method according to one of the preceding claims, further comprising: issuing a message to a passenger of the vehicle (10), wherein the message comprises information about the third time t3, and / or about a moving object (70) in the surroundings of the vehicle (10). [8] The method of claim 7, further comprising: Determining a number and / or characteristic of at least one passenger or user of the vehicle (10); Adapting the message based on the determined number and / or characteristics of at least one passenger or user. [9] Method according to claim 7 or 8, wherein the message is displayed on screens located in or on the vehicle (10) and / or projected into an environment of the vehicle (10). [10] Method according to one of the preceding claims, wherein at least one passenger is in the vehicle (10) and wishes to get out of the vehicle (10) at the notified stopping point and / or wherein at least one passenger wishes to get into the vehicle (10) at the notified stopping point. [11] Self-propelled motor vehicle (10), comprising: - a plurality of first sensors (11, 12, 13) arranged to detect at least one moving object in the surroundings of the vehicle, - a plurality of second sensors (51, 52, 53) arranged to detect movement data of the vehicle; - a communication module (20) designed to communicate with another vehicle and / or a mobile terminal; - a first output means (66) for reproducing messages to passengers inside the vehicle and / or a second output means (67) for reproducing messages to passengers outside the vehicle (10); - a driving system (30) designed for autonomous driving of the motor vehicle; and - a control unit (40) configured to carry out a method according to one of claims 1 to 10.

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