Method for controlling the automated driving operation of a vehicle

Abstract

Method for controlling automated driving operation of a vehicle (1), wherein automated driving operation is permitted depending on a number of predetermined conditions, characterized in that - traffic information and event information are received by the vehicle (1), whereby - the traffic information contains location- and time-referenced information about a traffic jam (S) on a road section (A) ahead of the vehicle (1) and the event information contains location- and time-referenced information about an event on the ahead road section (A), - the traffic information and the event information from the vehicle (1) are considered to be related if they are available locally and in a timely manner, whereby - the automated driving operation of the vehicle (1) is not permitted if event information and traffic information are available for a given foresight horizon, but only if these are not considered to be related.

Description

[0001] The invention relates to a method for controlling an automated driving operation of a vehicle, wherein the automated driving operation is permitted depending on a number of predetermined conditions.

[0002] German patent DE 10 2014 014 120 A1 discloses a method for the autonomous operation of a vehicle on a preceding route. In this method, autonomous operation is only permitted if one or more conditions are met for a predetermined length of the preceding route.The conditions stipulate that there is a physical separation on at least one side of the vehicle's current lane, that one lane of the vehicle has a minimum lane width, that there are no crests and dips that significantly restrict the range of environmental sensors, that the number of lanes does not change, that there is no tunnel, that there is no building on the roadway, that the radius of curvature of the vehicle's lane is greater than a specified limit, that there is no traffic disruption, that there is no traffic report about hazardous situations, and that there is no traffic report about the presence of construction sites.

[0003] German patent DE 10 2013 210 395 A1 discloses a method for data communication between vehicles, each equipped with an automated driving mode. This method involves the vehicles transmitting information about the activation and deactivation of the automated driving mode, as well as the location and time of these activation and deactivation, to an information pool. Based on this information, a recommendation regarding the automated driving mode is then generated and transmitted to the driver of the respective vehicle.

[0004] From DE 10 2013 225 011 A1, a method for controlling a highly automated vehicle is known in which, based on external information, in particular information about the location of a traffic disruption, a hazard, a lane closure, etc., it is checked whether the highly automated driving operation should be terminated or allowed and, if necessary, an instruction is issued to a driver to take over control of the vehicle.

[0005] German patent DE 10 2014 013 672 A1 discloses a method for ensuring the safe operation of autonomous or semi-autonomous vehicles, in which a plurality of vehicles determine whether a route traveled by each vehicle is suitable for autonomous or semi-autonomous operation. The vehicles send corresponding information regarding the suitability of the respective route to an external server, which in turn uses this information to determine whether autonomous or semi-autonomous operation should be permitted on the respective route and transmits corresponding information to the vehicles.

[0006] German patent DE 10 2018 003 572 A1 discloses a method for controlling a vehicle assistance system designed for autonomous driving, in which the vehicle's current position is determined and the assistance system is enabled or disabled depending on this determined position. The enabling and disabling is based on a hazard index determined from information retrieved by a central computer unit.

[0007] The invention is based on the objective of providing a method for controlling the automated driving operation of a vehicle.

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

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

[0010] A method for controlling the automated driving operation of a vehicle, wherein the automated driving operation is permitted depending on a number of predefined conditions, provides, according to the invention, that traffic information and event information are received by the vehicle, wherein the traffic information contains location- and time-referenced information about a traffic jam on a road segment ahead of the vehicle, and the event information contains location- and time-referenced information about an event on the ahead road segment. The traffic information and the event information are evaluated by the vehicle as belonging together if they are spatially close and timely, i.e.,The automated driving operation of the vehicle is not permitted if, for a given forecast horizon, event information and traffic information are available, but only if they are not considered to be related.

[0011] Preferably, automated driving will not be permitted even if event information is available for the specified forecast horizon, but no traffic information is available.

[0012] By applying this method, automated driving operation is only offered to the vehicle user on the vehicle side if comparatively few disruptive external influences, in particular events, are to be expected on the upcoming section of the route.

[0013] The procedure provides that traffic information and event information are made available to the vehicle via a traffic service as an information source, whereby a traffic event is combined with location- and time-referenced criteria in the vehicle to offer, prohibit, terminate or execute automated driving operation.

[0014] Automated driving is specifically permitted when the vehicle receives traffic information indicating a traffic jam on the upcoming section of road. However, if the vehicle receives traffic information indicating a traffic event but not a traffic jam, automated driving is not permitted, or the vehicle prompts the user to take over and perform a driving task. A traffic event, such as objects on the road, can cause problems for the vehicle in automated driving mode, even without a traffic jam. Without a traffic jam, such an event is comparatively dangerous for the vehicle, although it is less problematic if the vehicle is traveling relatively slowly in a moving traffic jam.

[0015] If it is determined that traffic information received by the vehicle, in particular traffic jam information, is not related to a reported traffic event, then the automated driving operation of the vehicle is terminated.

[0016] The procedure represents a so-called traffic jam pilot, so that comfort for the vehicle user during a traffic jam can be significantly increased, provided that automated driving operation is permitted.

[0017] In one implementation of the procedure, the vehicle's automated driving mode is either disabled or terminated if the vehicle's current speed exceeds a predefined speed limit. This speed limit is set in relation to traffic conditions during congestion to ensure vehicle safety. If the vehicle's speed exceeds this limit in all lanes traveling in the same direction, automated driving is disabled. Therefore, the vehicle user can only utilize automated driving in a congested traffic situation if the traffic flow speed in at least one lane is below the predefined speed limit, and the vehicle then positions itself in that lane. For example, the speed limit might be 60 km / h.

[0018] Another version stipulates that automated driving operation of the vehicle is not permitted if the vehicle's current speed falls below a predetermined maximum speed limit, which is reached within a predetermined time period.

[0019] If it is determined that the traffic situation (congestion) will resolve itself within the specified time period and thus the vehicle's speed will exceed the specified speed limit, resulting in a free-flowing traffic situation, automated driving operation will not be permitted, as the vehicle, in automated driving mode where it can maintain a speed up to the specified speed limit, would otherwise constitute an obstruction to following vehicles in its lane.

[0020] If traffic on a multi-lane section of road is flowing in one or more lanes at a speed below the posted speed limit, then, according to a further development of the procedure, the vehicle automatically moves into that lane or lanes where the speed limit is not being exceeded. The vehicle thus moves into a lane where the speed is below the posted speed limit, so that it is not considered an obstruction to faster vehicles.

[0021] Another possible implementation of the procedure involves the vehicle positioning itself in the lane where traffic is flowing at a speed that is closest to the speed limit. The vehicle does not automatically switch to the lane with the lowest speed, but rather to the lane with the highest speed, although still below the speed limit. This largely ensures that, even in automated driving mode within a large, moving traffic jam, the vehicle can still reach its destination relatively quickly.

[0022] In a potential advanced training scenario, if a decision is made during automated driving mode not to permit automated driving, a driving task is transferred to a vehicle operator after a takeover request is issued. As soon as the vehicle operator, for example, operates the steering wheel with both hands, the automated driving mode is terminated, so that the vehicle operator performs the driving task and the vehicle is driven in manual mode.

[0023] Exemplary embodiments of the invention are explained in more detail below with reference to a drawing.

[0024] This shows: Fig. 1 schematically a vehicle on a multi-lane section of road and a traffic service.

[0025] The single figure shows a road segment A, in particular a motorway, with two lanes F1 and F2 running in the same direction, where a vehicle 1 is traveling in the right-hand lane F1 and is approaching a traffic jam S. The vehicle 1 is connected to a traffic service 2 via a wireless data connection.

[0026] Vehicle 1 has an assistance system for automated driving operation, in which a driving task is fully performed by vehicle 1 itself, so that a vehicle user of vehicle 1 can, for example, pursue another activity.

[0027] In order to enable the automated driving operation of vehicle 1 to be offered to the vehicle user only when comparatively few disruptive influences are expected on the preceding section of track A, a procedure described below is provided.

[0028] In particular, the procedure provides that traffic events obtained via a traffic service 2 as an information source are combined with location- and time-referenced criteria in order to offer and permit, disallow, terminate or execute automated driving operation.

[0029] For this purpose, vehicle 1 has a control unit that is designed to receive traffic information and event information from the traffic service 2, whereby the automated driving operation of vehicle 1 can also be carried out in the event of a traffic jam S.

[0030] The procedure described below represents a so-called traffic jam pilot, i.e. a traffic jam assistance program, for vehicle 1, whereby vehicle 1 can be driven in automated driving mode at a speed up to a predetermined speed limit, e.g. 60 km / h.

[0031] The traffic information received by vehicle 1 contains location- and time-referenced information about traffic jams S on the road segment A ahead of vehicle 1, with the event information containing information about events on the road segment A.

[0032] The control unit receives information from traffic service 2, for example from the navigation system of vehicle 1, and then decides whether automated driving is possible.

[0033] This information from traffic service 2 can be present on a highway in any combination, even across different times. A distinction is made between traffic information without event information, event information without traffic information, event information close to traffic information (i.e., close to a traffic condition), event information behind traffic information (i.e., behind a traffic condition), etc.

[0034] In particular, the automated driving operation of vehicle 1 is not permitted if a specific traffic event, i.e., event information, such as the presence of objects on a roadway, occurs at a certain temporal and spatial distance from vehicle 1.

[0035] If vehicle 1 receives such event information, it may be a situation that vehicle 1 cannot handle in automated driving mode and which may therefore be dangerous for vehicle 1, so that automated driving mode is not offered or permitted from the outset when such event information is received.

[0036] In contrast, automated driving operation of vehicle 1 is permitted if such event information is available within a configurable spatial and temporal distance to vehicle 1 in conjunction with traffic information relating to a traffic jam S. The event information explains the cause of the traffic jam S, enabling vehicle 1 to move automatically within the traffic jam S. Within the traffic jam S, i.e., during automated driving at a comparatively low speed, the traffic event transmitted to vehicle 1 in the form of event information does not represent a problematic situation.

[0037] If vehicle 1 receives the event information "objects on the road" and no further traffic information is available for this event information, then automated driving operation is not permitted from the moment this event information is received, so that the vehicle user cannot activate automated driving operation.

[0038] If automated driving is activated upon receipt of this traffic information, a takeover request is issued to the vehicle user, so that he takes over and executes the driving task of vehicle 1.

[0039] If, however, the control unit receives the event information "objects on the road" and, in addition, associated traffic information, in particular regarding the prevailing traffic condition due to the traffic event, is transmitted to vehicle 1, then the automated driving operation of vehicle 1 is still permitted, because a traffic jam situation as traffic information can be handled by vehicle 1 driving in automated mode regardless of a cause of the traffic jam, i.e., regardless of the event information.

[0040] If vehicle 1, in automated driving mode, approaches an obstacle on the road in a traffic jam S, the traffic event that caused the traffic jam S may be that the obstacle is located in a left lane F2, or that vehicle 1, at an appropriate speed, changes lanes from the right lane F1 to the left lane F2 to avoid the obstacle.

[0041] The automated driving operation of vehicle 1 is always permitted when applying the procedure if the traffic information is the traffic condition "congestion S" regardless of the event information.

[0042] If no traffic jam S is available as traffic information and vehicle 1 receives a traffic event, a takeover request is issued to the vehicle user and the automated driving operation is deactivated.

[0043] Other possible traffic events that might prevent automated driving from being permitted or might deactivate include: accidents, construction sites, lane narrowing, impassable roads, slippery road surfaces, aquaplaning, fire on the road, animals on the road, etc.

[0044] When traffic information and event information are received, the vehicle assesses whether they belong together. This is particularly likely if the traffic event and the traffic condition are relatively close to each other in terms of location and time.

[0045] If a connection can be assumed due to a relatively short distance and a short time latency between the traffic information and the event information, the event information can be disregarded when deciding whether automated driving is permissible. This makes it possible to use automated driving more frequently than if the decision were event-dependent and a takeover request were issued to the driver of vehicle 1 for every traffic event.

[0046] If it is determined that the traffic information, particularly regarding the traffic situation, and the event information do not belong together, both the traffic information and the event information are taken into account.

[0047] Vehicle 1 can handle the traffic jam S in automated driving mode, but not the traffic event, so the automated driving mode is terminated.

[0048] In other words, if it is determined that the available traffic information and the available event information cannot be considered related, particularly due to the temporal and spatial distance, the automated driving operation of vehicle 1 will be terminated.

[0049] The relationship between traffic information and event information can be parameterized, e.g., depending on the quality of the information.

[0050] For example, received traffic information and received event information are considered to belong together if there is a distance of 2 km between the traffic information, in particular the traffic condition, and the traffic event, for example an accident.

[0051] As mentioned above, a speed limit of, for example, 60 km / h is specified for the automated driving operation of vehicle 1.

[0052] If the traffic information indicates that, for example, the traffic situation in the traffic jam S allows for driving at speeds from 0 km / h to 85 km / h, then vehicle 1, if it is driving in automated mode at a maximum speed of 60 km / h, may constitute an obstruction to traffic, especially for following traffic.

[0053] In order to largely rule out the possibility that vehicle 1 constitutes a traffic obstruction in automated driving mode in such a situation, vehicle 1, when it reaches the specified speed limit or is expected to reach it within a specified time period, positions itself on one of the lanes F1, F2, on which traffic is flowing at a speed that is below the specified speed limit.

[0054] If vehicle 1 is traveling on a three-lane section of road A and traffic is flowing at an instantaneous speed of 10 km / h on the right lane F1, 30 km / h on a middle lane (not shown), and 60 km / h on a left lane F2, one implementation of the procedure provides that vehicle 1 can also position itself in the left lane F2, since the speed of 60 km / h corresponds to the specified maximum speed limit.

[0055] Vehicle 1 therefore positions itself in lane F1, F2, where the speed does not exceed the prescribed speed limit. Specifically, vehicle 1 positions itself in lane F1, F2 with the highest speed that is still below the speed limit, thus reducing any delay for vehicle 1 caused by the traffic jam S.

[0056] If vehicle 1 is traveling on a lane F1, F2 where traffic is flowing at a speed exceeding the specified speed limit, then vehicle 1 will change lanes to a lane F1, F2 with a speed below the specified speed limit, or if no such speed is being driven, a takeover request will be issued to the vehicle user and the automated driving operation will be terminated.

[0057] Furthermore, the procedure stipulates that the automated driving operation of vehicle 1 is not permitted in the case of a dissolving traffic jam S, i.e., a so-called downward trend, and is permitted in the case of an increasing traffic jam S, i.e., an upward trend.

[0058] Automated driving operation of vehicle 1 is not permitted, as the driving speed of vehicle 1 is limited by the specified speed limit.

[0059] Since it is to be largely ruled out that vehicle 1, due to the speed limited by the speed limit in automated driving mode, constitutes an obstacle to following traffic, the automated driving mode of vehicle 1 will only continue to be permitted or is possible after the traffic jam S has cleared, if vehicle 1 continues driving at a speed below the specified speed limit, for example due to a speed limit or because vehicle 1 is following a comparatively slow-moving commercial vehicle, such as a truck.

[0060] Vehicle 1, operating in automated mode, therefore participates in the flow of traffic as long as its speed remains below the predefined speed limit. If the current speed exceeds the predefined speed limit, a takeover request is issued to the vehicle operator.

[0061] If the traffic jam S clears up within a relatively short period of time, for example in 5 minutes, the automated driving operation of vehicle 1 is not permitted, as this can only be used for a relatively short time including a handover and takeover time.

[0062] The fact that the traffic situation "traffic jam S" resolves itself within a corresponding time period can essentially be derived from traffic information received by the vehicle.

[0063] The procedure therefore implies rules of conduct for vehicle 1, such that the automated driving operation of vehicle 1 is, in principle, permissible when a traffic jam is reported as traffic information, without taking event information into account. The respective rule of conduct for the location- and time-referenced combination of traffic information and event information for the control unit is managed, stored, and adapted by means of a central computer unit (not shown in detail) to which vehicle 1, in particular the control unit, is continuously connected.

[0064] However, automated driving is not permitted if only event information without traffic jam information is available as traffic information.

[0065] The speed limit up to which automated driving operation is permitted in traffic condition S can be specified and transmitted to vehicle 1 in a vehicle-specific manner and with reference to location and time by means of a central computing unit (not shown in detail) with which vehicle 1, in particular the control unit, is continuously connected.

[0066] Depending on the event information available to vehicle 1, the vehicle's behavior rules are adjusted. For example, the minimum distance to be maintained between vehicle 1 and the traffic ahead increases if the event information indicates that there are objects on the road.

[0067] The minimum distance also increases and the speed of vehicle 1 is reduced in the event of aquaplaning, heavy rain, etc., as event information.

[0068] A mapping rule defines the respective traffic event, a location- and time-referenced distance to a traffic jam information, i.e., to a traffic jam report, in particular to traffic information relating to a traffic condition, and a respective consequence for the automated driving operation of vehicle 1. Reference symbol list 1 vehicle 2 Traffic Service A section of the route F1 right lane F2 left lane S traffic jam

Claims

[1] Method for controlling automated driving of a vehicle (1), wherein the automated driving is permitted depending on a number of predetermined conditions, characterized by , that - traffic information and event information are received from the vehicle (1), wherein - the traffic information contains location- and time-referenced information about a traffic jam (S) on a road section (A) ahead of the vehicle (1) and the event information contains location- and time-referenced information about an event on the road section (A) ahead, - the traffic information and the event information are assessed by the vehicle (1) as belonging together if they are available locally and promptly, whereby - the automated driving operation of the vehicle (1) is not permitted if event information and traffic information are available for a given forecast horizon, but only if these are not assessed as belonging together. [2] Method according to claim 1, characterized by that the automated driving operation of the vehicle (1) is not permitted if event information is available for the specified forecast horizon, but no traffic information is available. [3] Method according to claim 1 or 2, characterized by that the automated driving operation of the vehicle (1) is not permitted if a current driving speed of the vehicle (1) exceeds a predetermined upper speed limit. [4] Method according to one of the preceding claims, characterized bythat the automated driving operation of the vehicle (1) is not permitted if a current driving speed of the vehicle (1) falls below a predetermined upper speed limit, but this is reached within a predetermined period of time. [5] Method according to claim 3 or 4, characterized by that in the event that traffic on a multi-lane section of road (A) flows on one lane (F1, F2) or on several lanes (F1, F2) at a current speed which is below the specified speed limit, the vehicle (1) positions itself on this lane (F1, F2) or on one of these lanes (F1, F2). [6] Method according to claim 5, characterized by that the vehicle (1) positions itself on one of the lanes (F1, F2) on which the traffic flows at a current driving speed whose difference to the speed limit is the smallest. [7] Method according to one of the preceding claims, characterized by that if a decision is made during automated driving operation not to permit automated driving, a driving task is transferred to a vehicle user after a takeover request has been issued.

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