Procedures for controlling a vehicle

Abstract

Method for steering a vehicle (3) in which - a communication module (2) of a traffic entity (1) sends out a first signal (200); - a receiving unit (30) of a vehicle (3) receives the transmitted first signal (200) and an assistance system (31) of the vehicle (3) connected to the receiving unit (30) controls the vehicle (3) and causes it to react to the received first signal (200); and - the communication module (2) emits the first signal (200) as an acoustic signal exclusively with frequencies above a maximum frequency audible to living beings, wherein the acoustic signal exclusively has frequencies higher than 200 kHz.

Description

[0001] The invention relates to a method for controlling a vehicle, in which a communication module of a traffic entity transmits a first signal, a receiving unit of a vehicle receives the transmitted first signal, and an assistance system of the vehicle connected to the receiving unit controls the vehicle and causes it to react to the received first signal. The invention further relates to a communication module for a traffic entity, an assistance system for a vehicle, and a vehicle.

[0002] Methods of the type mentioned above, in various forms, represent the state of the art and serve to coordinate the behavior of a vehicle and the behavior of a traffic entity encountered in a traffic situation. This coordination reduces the risk of collision for both the vehicle and the traffic entity. The traffic entity can be a mobile traffic entity, i.e., a road user different from the vehicle, or a stationary traffic entity, i.e., a piece of traffic infrastructure.

[0003] Modern vehicles can communicate directly via radio (vehicle-to-vehicle, V2V) or indirectly via a mobile network by transmitting signals using electromagnetic waves to coordinate their behavior in a shared traffic situation.

[0004] However, various traffic entities are excluded from this communication by modern vehicles. Furthermore, any direct radio communication requires mutual visibility between the communicating entities. Traffic entities that are obscured from a vehicle in a traffic situation, i.e., positioned in a radio shadow—for example, a child playing in an area that is not visible or a pedestrian walking between parked cars—would therefore be difficult to integrate into direct radio communication with the vehicle. Consequently, there is a significant risk of collisions between vehicles, especially autonomous vehicles, and such traffic entities.

[0005] The invention is therefore based on the objective of proposing a method for controlling a vehicle that reduces the risk of a collision between the vehicle and a traffic entity other than the vehicle, or at least reduces collision damage in the event of an unavoidable collision with the traffic entity. Furthermore, it is an objective of the invention to provide a communication module for a traffic entity, an assistance system for a vehicle, and a vehicle control system.

[0006] From DE 10 2020 007 441 A1 it is known that vehicles communicate using ultrasound inaudible to humans, which has a frequency above 16 kHz.

[0007] DE 10 2005 006 528 A1 discloses a transmitting device and a receiving device for vehicles that modulates or demodulates ultrasound in order to transmit or receive information between drivers of the vehicles.

[0008] DE 10 2013 200 475 A1 discloses a method in which an ultrasound signal with frequencies between 16 kHz and 60 kHz is generated, which has several time periods with linearly increasing or decreasing frequencies.

[0009] An object of the invention is a method for controlling a vehicle, in which a communication module of a traffic entity transmits a first signal, a receiver unit of the vehicle receives the transmitted first signal, and an assistance system of the vehicle connected to the receiver unit controls the vehicle and causes it to react to the received first signal. The traffic entity can be a stationary infrastructure facility located in a traffic situation of the vehicle, i.e., in the vicinity of a road or an intersection, or a mobile road user located in the traffic situation. The communication module can be a separate device that is detachably attached to the traffic entity. The communication module can comprise software, for example, an app for a mobile device.

[0010] The traffic entity alerts the vehicle to its presence in the traffic situation and the resulting risk of collision by means of an emitted signal. This enables the vehicle's assistance system to react to the traffic entity.

[0011] In the method according to the invention, the communication module transmits the first signal as an acoustic signal exclusively with frequencies above a maximum frequency audible to living beings. In other words, the first sound signal is an ultrasonic signal, which is not directly audible to any living being. Since some bats can hear sound frequencies up to approximately 200 kHz, the acoustic signal contains only frequencies higher than 200 kHz. In this way, no living being is disturbed by the transmitted signal.

[0012] Acoustic signals, due to their significantly longer wavelength compared to electromagnetic signals, are considerably less attenuated by obstacles. Consequently, the vehicle's receiver will still detect the initial signal even if the traffic entity is obscured from the vehicle by an obstacle, such as a parked car or a building corner. Therefore, thanks to the communication module, the vehicle can detect the traffic entity even if it would otherwise be unable to detect it.

[0013] In preferred embodiments, the communication module transmits the first signal continuously or periodically. With continuous transmission, there are no signal pauses during which the communication module does not transmit a first signal. Consequently, the vehicle inevitably hears the traffic entity as long as it is within range of the traffic entity's communication module.

[0014] The range depends on the sound level provided by the communication module and is between 20 m and 100 m. The range of the communication module can be adjusted.

[0015] Furthermore, a transmitter unit connected to the vehicle's assistance system preferably sends a second signal as an acoustic signal exclusively with frequencies above the maximum frequency audible to living beings. The communication module receives this second signal and is then prompted by the received second signal to send the first signal. In short, receiving the second signal triggers the transmission of the first. The vehicle controls the communication module with the second signal. In this way, the communication module does not transmit the first signal independently of the vehicle, thus reducing its energy consumption.

[0016] Advantageously, each signal is transmitted as a predetermined signal and / or carries information encoded within the signal. The signal can be predetermined by a communication protocol. For example, the communication protocol can specify a frequency for the signal. The information can be encoded in the signal using amplitude modulation or frequency modulation. A format for the encoding can also be predetermined by the communication protocol.

[0017] Ideally, the signal transmits a position, speed, direction of movement, an identifier, and / or a type of traffic entity or vehicle, and / or a type of signal as the encoded information. The signal informs the receiver about the signal type or its sender. Types of signals include, for example, 'trigger' as a type of second signal or 'beacon' as a type of second signal. The position can be a GPS position. The direction of movement can be a course relative to magnetic north. Types of traffic entities for mobile road users include, for example, 'pedestrian', 'playing child', 'pet', in particular 'dog', motorcyclists, cyclists, in particular 'e-bike riders', and scooter riders, in particular 'e-scooter riders'. Naturally, the traffic entity can also be a vehicle as defined in the invention. Corresponding types are 'passenger cars', 'trucks', etc.Types of traffic entities for stationary infrastructure facilities include, for example, 'traffic light', 'barrier', 'exit', 'entrance', 'tunnel', etc.

[0018] Additionally, a separate environmental sensor on the vehicle can detect the traffic entity, and the vehicle can react accordingly. The assistance system combines the received initial signal with information provided by the environmental sensor, resulting in a safer and / or more precise vehicle response. Autonomous vehicles, in particular, typically have multiple environmental sensors connected to the assistance system, such as cameras or radar sensors, which continuously monitor the vehicle's surroundings and, if applicable, the traffic entity within them. When the assistance system detects the traffic entity, the vehicle can then advantageously transmit the second signal.

[0019] In one embodiment, the response includes aligning the environmental sensor with the traffic entity. Aligning the environmental sensor ensures that the traffic entity remains within the sensor's detection range while the vehicle is moving, i.e., does not leave the sensor's detection range as a result of the vehicle's movement.

[0020] Alternatively or additionally, responding includes emitting a warning signal immediately perceptible to the traffic entity by means of a warning device on the vehicle. The warning device can be a horn, a headlight, or an external loudspeaker. Accordingly, the warning signal can be a sound produced by the horn (i.e., a honk), a flash of light produced by the headlight (i.e., a flash of the headlights), or a voice announcement produced by the external loudspeaker (i.e., an address to the traffic entity). An audibly perceptible warning signal has frequencies within the range of human hearing, i.e., frequencies between 16 Hz and 20 kHz. A visually perceptible warning signal has frequencies within the visible light spectrum.

[0021] In this case, the traffic entity can receive the warning signal and react to it. This reaction could include, for example, stopping, changing direction, or adjusting speed. Thanks to this reaction, the risk of a collision or the extent of collision damage in the event of an unavoidable collision can be reduced.

[0022] Alternatively or additionally, responding includes establishing a radio link with the traffic entity, another traffic entity, or a stationary server using a radio unit in the vehicle, and communicating over this established radio link. If the traffic entity includes a communicative radio unit, the vehicle and the traffic entity or other traffic entity can coordinate by exchanging further information to reduce the risk of collision or collision damage in the event of an unavoidable collision. The radio link to the stationary server, such as a central, regional, or local traffic server, can be used by the vehicle to receive further information from the stationary server regarding a current traffic situation or to report a persistently hazardous traffic entity to the stationary server.The radio connection can be provided by a mobile network or communication can take place using a V2V protocol.

[0023] In preferred embodiments, the reaction alternatively or additionally includes accelerating the vehicle. Acceleration alters the vehicle's trajectory and comprises positive longitudinal acceleration (i.e., increasing speed), negative longitudinal acceleration (i.e., decreasing speed or braking), and / or lateral acceleration (i.e., steering). By accelerating, the vehicle avoids the traffic entity, thereby reducing the risk of collision or collision damage in the event of an unavoidable collision.

[0024] Alternatively or additionally, reacting includes activating a safety function of the road user. This safety function protects a vehicle occupant and includes, for example, tightening a seatbelt.

[0025] Another aspect of the invention is a communication module for a traffic entity. The communication module can be provided separately from the traffic entity or integrated into the traffic entity and may include software.

[0026] According to the invention, the communication module comprises an ultrasonic transmitter for emitting an acoustic signal that exclusively has frequencies above a maximum frequency audible to living beings, and the communication module is configured to perform a method according to the invention together with a vehicle. Any traffic entity that poses a danger in a traffic situation can be equipped with the communication module to reduce the risk of collision for a vehicle, particularly even if the traffic entity cannot be detected by the vehicle in any other way in that traffic situation. In this way, the communication module reduces the risk of collision for the vehicle.

[0027] Another aspect of the invention is an assistance system for a vehicle. The assistance system is designed to control the vehicle. For example, it can be designed as an assistance system for autonomous driving of the vehicle.

[0028] According to the invention, the assistance system is configured to carry out a method according to the invention together with a communication module according to the invention. When the assistance system is installed in a vehicle and is connected to a receiver unit for an acoustic signal, which exclusively has frequencies above a maximum frequency audible to living beings, it can react to a traffic entity present in a traffic situation of the vehicle in such a way that a collision risk for the vehicle is reduced, particularly even if the traffic entity cannot be detected by the vehicle in any other way in the traffic situation.

[0029] Furthermore, a vehicle is an object of the invention. Due to the large variety of vehicles, there are correspondingly many possible applications for the invention.

[0030] According to the invention, the vehicle comprises a receiver unit for receiving an acoustic signal, which exclusively has frequencies above a maximum frequency audible to living beings, and an assistance system according to the invention connected to the receiver unit. Thanks to the assistance system, the vehicle can react to a traffic entity equipped with a communication module according to the invention, thereby reducing the risk of collision for the vehicle or collision damage in the event of an unavoidable collision with the traffic entity.

[0031] A particular advantage of the method according to the invention is that it reduces the potential danger posed to a vehicle by traffic entities that cannot communicate directly with the vehicle or cannot be detected by the vehicle's sensors, for example, due to obstructing obstacles. A further advantage is that no living being is disturbed by the acoustic signals underlying the method.

[0032] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention.

[0033] The invention is schematically illustrated in the drawing using an exemplary embodiment and is described in detail below with reference to the drawing. It shows Fig. 1 a traffic situation with a vehicle according to an embodiment of the invention and a traffic entity with a communication module according to an embodiment of the invention.

[0034] In the drawing, corresponding features are labelled with identical reference symbols.

[0035] Fig. Figure 1 shows a traffic situation with a vehicle 3 according to an embodiment of the invention and a traffic entity 1 with a communication module 2 according to an embodiment of the invention.

[0036] The traffic entity 1 is merely an example and not a limitation; it could be a person riding a bicycle 10 or a pedestrian with a dog 6 and a mobile device 11. Likewise, the traffic entity could be a stationary infrastructure facility (not shown), for example, a traffic light.

[0037] The communication module 2 is connected to the traffic identity 1, i.e., attached to the bicycle 10 or installed as an app in the mobile device 11, and comprises an ultrasonic transmitter 20 for emitting an acoustic signal 200, which exclusively has frequencies above a maximum frequency audible to living beings, preferably frequencies above 200 kHz. The communication module 2 may also include an ultrasonic receiver (not shown) for receiving an acoustic signal 200, which exclusively has frequencies above the maximum frequency audible to living beings.

[0038] Of course, another vehicle 3 can also be designed as a traffic entity within the meaning of the invention.

[0039] The vehicle 3 comprises a receiver 30 for receiving an acoustic signal 200, which exclusively has frequencies above the maximum frequency audible to living beings, preferably frequencies above 200 kHz. Furthermore, the vehicle 3 comprises an assistance system 31 connected to the receiver 30 for controlling the vehicle 3.

[0040] The vehicle 3 can also include a transmitter unit 32 connected to the assistance system 31. The receiver unit 30 and the transmitter unit 32 can be configured as an integrated communication module of the vehicle 3, corresponding to the communication module 2.

[0041] Furthermore, the vehicle 3 can include an environmental sensor 34, such as a camera, which is separate from the receiving unit 30 and connected to the assistance system 31, for detecting the vehicle 3's surroundings. In addition, the vehicle 3 can include a warning signal transmitter 34 for emitting a warning signal 340 that is immediately perceptible to the traffic entity 1. The vehicle 3 can also include a radio unit 35 for establishing a wireless connection (over-the-air, OTA).

[0042] The assistance system 31 and the communication module 2 are designed so that the vehicle 3 and the traffic entity 1 jointly execute the following procedure for controlling the vehicle 3.

[0043] Communication module 2 of traffic entity 1 transmits an initial signal 200 as an acoustic signal, which exclusively contains frequencies above the maximum frequency audible to living beings. Communication module 2 can transmit the initial signal 200 continuously or periodically.

[0044] Alternatively or additionally, the communication module 2 can receive a second signal 320 and be prompted by the received second signal 320 to transmit the first signal 200, provided the communication module 2 includes an ultrasonic receiver for receiving the signal 320. The transmitting unit 32 preferably also transmits the second signal 320 as an acoustic signal exclusively with frequencies above the maximum frequency audible to living beings, preferably with frequencies above 200 kHz, if the vehicle 3 includes a transmitting unit 32 connected to the assistance system 31.

[0045] The receiver 30 of the vehicle 3 receives the transmitted first signal 200. The assistance system 31 of the vehicle 3, connected to the receiver 30, controls the vehicle 3 and causes the vehicle 3 to react to the received first signal 200.

[0046] If the vehicle 3 includes an environment sensor 34 that is different from the receiving unit 30, the environment sensor 33 of the vehicle 3 can detect the traffic entity 1 and the vehicle 3 can additionally react to the traffic entity 1 detected by the environment sensor 33.

[0047] Advantageously, each signal 200, 320 is transmitted as a predetermined signal and / or each signal 200, 320 transmits information 201, 321 encoded within the signal 200, 320. For example, the signal 200, 320 transmits a position, a speed, a direction of movement, an identifier, and / or a type of traffic entity 1 or vehicle 3, and / or a type of signal 200, 320 as the encoded information 201, 321. The signals 200, 320, i.e., both the frequencies of the signals 200, 320 and the encodings of the information 201, 321 within the signals 200, 320, can be predetermined by a communication protocol.

[0048] If the vehicle 3 includes an environment sensor 33, the response can involve aligning the environment sensor 33 with the traffic entity 1. If the vehicle 3 includes a warning signal transmitter 34, the response can involve emitting a warning signal 340, immediately perceptible to the traffic entity 1, by means of the warning signal transmitter 34 of the vehicle 3, for example, a visually perceptible flashing of the headlights by means of a headlight of the vehicle 3 as the warning signal transmitter 34. In this case, the traffic entity 1 can receive the warning signal 340 and respond to the received warning signal 340, for example, by swerving.

[0049] The response of vehicle 3 can alternatively or additionally include an audibly perceptible horn sound using a horn (not shown) of vehicle 3 as the warning signal generator or an audibly perceptible address to the traffic entity 1 using an external loudspeaker (not shown) of vehicle 3 as the warning signal generator.

[0050] If the vehicle 3 includes a radio unit 35, the response may further include establishing a radio connection 350 with the traffic entity 1 (not shown) or with another vehicle 3 (V2V) or via a mobile network 5 with a stationary server 4 using a radio unit 35 of the vehicle 3 and communicating via the established radio connection 350.

[0051] Furthermore, the reaction may include accelerating the vehicle 3, in the form of positive or negative longitudinal acceleration or lateral acceleration, i.e. steering, or activating a safety function of the vehicle 3, for example tightening a seat belt (not shown).

[0052] Each of the possible reaction modes of the vehicle 3, which are not exhaustively listed, serves, individually or in combination with other reaction modes, to reduce the risk of collision with the traffic entity 1 or at least collision damage resulting from an unavoidable collision.

[0053] The dog 6 and a bat 7 randomly positioned in the traffic situation do not hear either the first signal 200 or the second signal 320 due to their respective frequencies; they are not disturbed by either the first signal 200 or the second signal 320. Reference symbol list 1 traffic entity 10 bicycles 11 mobile device 2 Communication module 20 ultrasound transmitters 200 first signal 201 coded pieces of information 3 vehicles 30 receiver units 31 Assistance systems 32 transmitting units 320 second signal 321 coded pieces of information 33 Environmental sensor 34 warning signal generators 340 Warning signal 35 radio unit 350 wireless connection 4 stationary servers 5 Mobile network 6 dogs 7 Bat

Claims

Method for controlling a vehicle (3) in which: - a communication module (2) of a traffic entity (1) transmits a first signal (200); - a receiving unit (30) of a vehicle (3) receives the transmitted first signal (200) and an assistance system (31) of the vehicle (3) connected to the receiving unit (30) controls the vehicle (3) and causes it to react to the received first signal (200); and - the communication module (2) transmits the first signal (200) as an acoustic signal exclusively with frequencies above a maximum frequency audible to living beings, wherein the acoustic signal exclusively has frequencies higher than 200 kHz. Method according to claim 1, wherein the communication module (2) continuously or periodically transmits the first signal (200). Method according to claim 1 or 2, wherein a transmitter unit (32) of the vehicle (3) connected to the assistance system (31) emits a second signal (320) as an acoustic signal exclusively with frequencies above the maximum frequency audible to living beings, and the communication module (2) receives the emitted second signal (320); and is caused by the received second signal (320) to emit the first signal (200). Method according to any one of claims 1 to 3, wherein each signal (200, 320) is emitted as a predetermined signal and / or transmits information (201, 321) encoded in the signal (200, 320). Method according to claim 4, wherein the signal (200, 320) transmits a position, a speed, a direction of movement, an identifier and / or a type of traffic entity (1) or vehicle (3) and / or a type of signal (200, 320) as the encoded information (201, 321). Method according to one of claims 1 to 5, wherein an environmental sensor (33) of the vehicle (3) which is different from the receiving unit (30) detects the traffic entity (1) and the vehicle (3) reacts to the detected traffic entity (1). Method according to claim 1 to 6, wherein the reacting comprises aligning the environment sensor (33) to the traffic entity (1). Method according to any one of claims 1 to 7, wherein the reaction comprises sending a warning signal (340) directly perceptible to the traffic entity (1) by means of a warning signal transmitter (34) of the vehicle (3). Method according to claim 8, wherein the traffic entity (1) receives the warning signal (340) and reacts to the received warning signal (340). Method according to any one of claims 1 to 9, wherein the responding comprises establishing a radio connection (350) with the traffic entity (1) or with a stationary server (4) by means of a radio unit (35) of the vehicle (3) and communicating via the established radio connection (350). Method according to any one of claims 1 to 10, wherein the reaction comprises accelerating the vehicle (3). Method according to any one of claims 1 to 11, wherein the reaction comprises activating a safety function of the vehicle (3). Communication module (2) for a traffic entity (1), comprising an ultrasonic transmitter (20) for emitting an acoustic signal (200) which has exclusively frequencies above a maximum frequency audible to living beings, and configured to carry out a method according to one of claims 1 to 12 together with a vehicle (3). Assistance system (31) for a vehicle which is designed to perform, together with a communication module (2) according to claim 13, a method according to one of claims 1 to 12. Vehicle (3), comprising a receiving unit (30) for receiving an acoustic signal (200) which has exclusively frequencies above a maximum frequency audible to living beings, and an assistance system (31) according to claim 14 connected to the receiving unit (30) for controlling the vehicle (3).

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