Methods for supporting an automated driving vehicle

Abstract

Method for assisting an automated driving vehicle (1), wherein, if it is not possible for the automated driving vehicle (1) to pass an obstacle (3) located in front of it on a roadway (FB), an automatic lane change by the automated driving vehicle (1) to an overtaking lane (US) is not possible, - the automated vehicle (1) stops before reaching the obstacle (3), - by means of the automated driving vehicle (1) a support request and together with the support request a current own position and a current range (R) of a sensor system for environmental perception is sent to a central unit external to the vehicle, - another vehicle (4) is detected in the vicinity of the automated vehicle (1) by means of the vehicle-external control center and - by means of the vehicle-external control center, the detected further vehicle (4) is instructed to move towards the automated driving vehicle (1) and to switch to the overtaking lane (US) before reaching it, whereby the supporting vehicle (4) adapts its driving maneuvers and driving style to the range of the sensor system of the automated driving vehicle (1).

Description

[0001] The invention relates to a method for supporting an automated driving vehicle.

[0002] DE 10 2018 112 513 A1 discloses a method for assisting an autonomous vehicle with a teleoperator. The autonomous vehicle comprises a communication unit for establishing a communication connection with a vehicle-external control unit controlled by a teleoperator. A system boundary is determined by vehicle sensors of the autonomous vehicle, and a situation of the vehicle's surroundings and a previous trajectory of the autonomous vehicle are transmitted to the vehicle-external control unit via the communication connection. Furthermore, the teleoperator releases the previous trajectory or designates a drivable area and transmits this information to the autonomous vehicle. The previous trajectory is either continued by the autonomous vehicle or a new trajectory is calculated based on information from the teleoperator and driven by the autonomous vehicle.

[0003] Furthermore, DE 10 2018 116 982 A1 discloses a method for at least partially automated control of a motor vehicle with the following steps: - Receiving environmental signals that represent the environment of the motor vehicle detected by an environmental sensor system of the motor vehicle, - upon detection of an object located in front of the motor vehicle in relation to the direction of travel of the motor vehicle based on the received ambient signals, - Determine whether a road junction is located within an overtaking trajectory for overtaking the object and whether oncoming traffic of the motor vehicle is blocked for the duration of the overtaking, - if the determination has shown that there is no road junction within an overtaking trajectory for overtaking the object and that no oncoming traffic is blocked for the duration of the overtaking, then outputting control signals for at least partially automated control of a lateral and longitudinal guidance of the motor vehicle based on the overtaking trajectory.

[0004] DE 10 2018 205 263 A1 describes a method for transmitting information between vehicles of a vehicle train during a lane change to avoid an obstacle. Upon detection of the obstacle, a first vehicle of the vehicle train first checks whether it is possible for the first vehicle to evade into an evasive lane. Subsequently, an assistance request is issued to a communication interface for communication with a second vehicle of the vehicle train to request the second vehicle to evade into the evasive lane if the check shows that the first vehicle cannot evade. In addition, the speed of the first vehicle is reduced if the check shows that the first vehicle cannot evade.Furthermore, a device for carrying out the method is described, wherein the device is part of an external, non-vehicle computing unit.

[0005] DE 10 2017 210 252 A1 describes a method for predicting traffic conditions and controlling a host vehicle based on predicted conditions for movement along a path. This involves accessing current path data relevant to a position and speed of the host vehicle and detecting data from a vehicle communication network from a merging vehicle intending to merge into the path of the host vehicle. Furthermore, data from the vehicle communication network from preceding traffic in the path of the host vehicle is detected, and a speed and position of the merging vehicle are determined from data transmitted via the vehicle communication network.Additionally, determining a speed and a position of preceding traffic in the path of the host vehicle from the data transmitted via the vehicle communication network, predicting whether the speed of the preceding traffic or the speed of the merging vehicle will decrease during merging, and controlling a speed of the host vehicle based on the predicted speed of the preceding traffic and the predicted speed of the merging vehicle during merging.

[0006] Furthermore, DE 10 2015 001 971 A1 describes a method for monitoring driver assistance systems and DE 10 2018 101 114 A1 describes a method for operating a vehicle during a lane change.

[0007] The invention is based on the object of providing a method for supporting an automated vehicle that is improved compared to the prior art.

[0008] The object is achieved 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 subclaims.

[0010] In the method according to the invention for assisting an automated, in particular highly automated or autonomous, vehicle, it is determined whether an automatic lane change of the automated vehicle into an overtaking lane is possible in order to pass an obstacle located in front of the automated vehicle on a roadway, in particular due to traffic density. If this is not the case, the automated vehicle stops before reaching the obstacle and an assistance request is sent to a control center external to the vehicle. The control center external to the vehicle detects another vehicle in the vicinity of the automated vehicle and instructs the vehicle externally to move in the direction of the automated vehicle and to change into the overtaking lane before reaching it.

[0011] The process enables the automated vehicle to safely pass the obstacle and avoid or at least quickly resolve blockages, especially on multi-lane roads. This allows the automated vehicle to continue driving even in difficult situations. As a result, traffic flow is improved and a number of hazardous situations are reduced.

[0012] Furthermore, the automated vehicle sends its current position and the current range of a sensor system for environmental detection to the control center along with the assistance request. Thus, knowing the current position can accelerate the identification of a suitable vehicle in the vicinity of the automated vehicle. Knowing the range of the sensor system can increase safety when passing the obstacle, as the assisting vehicle can adapt its driving maneuvers and driving style to the range of the sensor system of the automated vehicle.

[0013] In one possible embodiment of the method, position information is exchanged in real time between the automated vehicle and the other vehicle after the latter has been selected by the control center. This ensures that both the supporting vehicle and the automated vehicle always know the position of the other vehicle. Furthermore, knowing the position enables the automated vehicle to reliably detect the supporting vehicle as it approaches and to perform a safe lane change.

[0014] In a further possible embodiment of the method, the other vehicle reduces its speed at the latest when changing into the overtaking lane and thus enables a braking of traffic following in the overtaking lane and, in connection with this, the creation of a sufficiently large traffic gap for the automated vehicle to carry out the lane change and to pass the obstacle.

[0015] In another possible embodiment of the method, the other vehicle is detected in the environmental data of the automated vehicle acquired by a sensor system for environmental detection, and the automated vehicle compares the position of the other vehicle thus determined with received position information from the other vehicle. This further increases the accuracy and reliability of determining the position of the supporting vehicle.

[0016] In another possible embodiment of the method, the automated vehicle detects the speed of the other vehicle, and based on this speed and the position of the other vehicle, a trajectory for safely passing the obstacle is determined. This enables a safe maneuver to pull out into the overtaking lane and safely pass the obstacle.

[0017] In order to achieve the greatest possible safety when executing the lane change and when passing the obstacle, in a further possible embodiment of the method the automated vehicle automatically carries out the lane change if a determined risk of a collision with the other vehicle or another vehicle falls below a predetermined limit when executing the lane change.

[0018] Embodiments of the invention are explained in more detail below with reference to drawings.

[0019] Showing: Fig. 1 schematically shows a plan view of a traffic situation and Fig. 2 schematically shows a plan view of another traffic situation.

[0020] Corresponding parts are provided with the same reference numerals in all figures.

[0021] In Fig. 1 shows a plan view of a traffic situation with a vehicle 1, another vehicle 2 and an obstacle 3 on a multi-lane roadway FB.

[0022] Vehicle 1 is designed for automated, particularly highly automated or autonomous, driving operation. Vehicle 1 can be a passenger car or a commercial vehicle.

[0023] If the automated vehicle 1 moves toward obstacle 3 in a lane FS of the multi-lane roadway FB, depending on the traffic situation, it may come to a stop before reaching obstacle 3. This may result in situations in which a lane change to avoid obstacle 3 is not possible. This can happen, in particular, if the current range R of a sensor system for environmental detection is insufficient to safely perform a lane change maneuver. The automated vehicle 1 is thus blocked and cannot continue driving.

[0024] In order to enable the automated vehicle 1 to continue driving and to safely pass the obstacle 3 in such situations, it is first determined whether it is possible for the automated vehicle 1 to pass the obstacle 3 located in front of the automated vehicle 1 on the roadway FB, for example due to traffic density, or whether an automatic lane change of the automated vehicle 1 to an overtaking lane US is possible.

[0025] If this is not the case, for example because the sensor system cannot reliably detect road users approaching at high speed, such as vehicle 2, due to its range R outside its detection range, the automated vehicle 1 stops before reaching the obstacle 3 in the lane FS and sends a support request to a control center external to the vehicle.

[0026] The vehicle-external control center is, for example, a backend server, but can also be person-controlled or person-operated.

[0027] Along with the assistance request, the automated vehicle 1 transmits its current position and the current range R of the sensor system for environmental detection to the control center. The self-position includes, in particular, a lateral position, a longitudinal position, and the lane FS in which the vehicle 1 is located.

[0028] After transmitting the assistance request, the vehicle-external control center identifies another vehicle 4 suitable for assisting the automated vehicle 1 in the vicinity of the automated vehicle 1 and instructs it to move toward the automated vehicle 1. The other vehicle 4 is also, for example, an automated, in particular highly automated or autonomous, vehicle.

[0029] Fig. 2 shows a plan view of another traffic situation at a time after the additional vehicle 4 has moved towards the automated vehicle 1 to provide support.

[0030] In order to assist the automated vehicle 1 in passing the obstacle 3, the aim is for the other vehicle 4 in the overtaking lane US behind it to brake or block road users, represented here by another vehicle 5, in such a way that a safe lane change into the overtaking lane US and a safe passing of the obstacle 3 are possible for the automated vehicle 1.

[0031] For this purpose, the control center additionally instructs the other vehicle 4 to change into the overtaking lane before reaching the waiting automated vehicle 1 and to adjust its speed in such a way that following road users are braked and the automated vehicle 1 can safely carry out the lane change into the overtaking lane US.

[0032] After the control center has selected the additional vehicle, position information is exchanged in real time between the automated vehicle 1 and the additional vehicle 4.

[0033] Furthermore, the further vehicle 4 is detected in environmental data of the automated vehicle 1 recorded by the sensor system for environmental detection, wherein the automated vehicle 1 compares a position of the further vehicle 4 determined on the basis of the environmental data with position information of the further vehicle 4 received from the vehicle 4 and / or from the control center.

[0034] Furthermore, a speed of the further vehicle 4 is detected by means of the automated driving vehicle 1, for example also based on the environmental data recorded by the sensor system for environmental detection, wherein a trajectory T for carrying out the lane change to the overtaking lane US and for safely passing the obstacle 3 is determined based on this speed and the position of the further vehicle 4.

[0035] After determining the trajectory T, the automated vehicle 1 automatically performs the lane change if a determined risk of a collision with the other vehicle 4 or another vehicle 5 when executing the lane change falls below a predetermined limit and can therefore be carried out safely. List of reference symbols 1 vehicle 2 vehicles 3 Obstacle 4 vehicle 5 vehicle FB roadway FS lane R range T Trajectory US passing lane

Claims

[1] Method for assisting an automated vehicle (1), wherein, when an automatic lane change of the automated vehicle (1) to an overtaking lane (US) is not possible in order to pass an obstacle (3) located in front of the automated vehicle (1) on a roadway (FB), - the automated vehicle (1) stops before reaching the obstacle (3), - by means of the automated driving vehicle (1) a support request and, together with the support request, a current own position and a current range (R) of a sensor system for environmental detection are sent to a control center external to the vehicle, - another vehicle (4) is detected in the vicinity of the automated vehicle (1) by means of the vehicle-external control center and - the identified further vehicle (4) is instructed by means of the vehicle-external control center to move in the direction of the automated vehicle (1) and to change to the overtaking lane (US) before reaching the latter, wherein the supporting vehicle (4) adapts its driving maneuvers and driving style to the range of the sensor system of the automated vehicle (1). [2] Method according to claim 1, wherein position information is exchanged in real time between the automated driving vehicle (1) and the further vehicle (4) after its selection by the control center. [3] Method according to one of the preceding claims, wherein the further vehicle (4) reduces its speed at the latest when changing to the overtaking lane (US). [4] Method according to one of the preceding claims, wherein the further vehicle (4) is detected in environmental data of the automated vehicle (1) recorded by means of a sensor system for environmental detection, and the automated vehicle (1) compares a position of the further vehicle (4) thus determined with received position information of the further vehicle (4). [5] Method according to one of the preceding claims, wherein a speed of the further vehicle (4) is detected by means of the automated vehicle (1) and a trajectory for safely passing the obstacle (3) is determined on the basis of this speed and a position of the further vehicle (4). [6] Method according to claim 5, wherein the automated driving vehicle (1) carries out the lane change automatically if a determined risk of a collision with the further vehicle (4) or another vehicle (5) falls below a predetermined limit value when the lane change is carried out.

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