Method and device for controlling an automated vehicle

Abstract

Method for controlling an automated vehicle (1) in the area of ​​a road intersection (SK) using data (D) acquired by means of an environment sensing sensor system (4), wherein - before reaching the road junction (SK), several future vehicle positions are determined as stop point candidates along a route preceding the vehicle (1) until reaching the road junction (SK), - for each of the stop point candidates a field of view (S) of the environmental detection sensors (4) is predicted taking into account a height profile of a road surface in the area of ​​the road intersection (SK), - the stop point candidate at which the environmental sensing sensors (4) have the largest field of view (S) is selected as the stop position (POS) of the vehicle (1), - at the stop position (POS) a vehicle environment is detected by means of the environment detection sensors (4) and - depending on a traffic situation determined from the data (D) of the environmental detection sensors (4), the vehicle (1) is automatically steered into the road intersection (SK), characterized in that - at the stop position (POS) the orientation of the vehicle (1) is changed by means of an active chassis (9) in such a way that the field of view (S) of the environment detection sensors (4) is maximized.

Description

[0001] The invention relates to a method for controlling an automated driving vehicle according to the preamble of claim 1.

[0002] The invention relates to a device for controlling an automated driving vehicle according to the preamble of claim 8.

[0003] From DE 10 2019 105 739 A1 a method for the semi-automated driving of a motor vehicle under visual obstruction of the vehicle's environmental sensors is known, comprising the following steps: - Generating and outputting input control signals to control the lateral and longitudinal guidance of the motor vehicle in order to guide the motor vehicle semi-automatically in such a way that the motor vehicle feels its way into a road junction; - Receiving environmental signals representing the vehicle's surroundings while cautiously approaching the intersection; - Determine, based on the surrounding signals, whether the vehicle may proceed further into the intersection, must stop, or must reverse; - Generating and outputting control signals to control the lateral and longitudinal guidance of the motor vehicle based on the determination, in order to guide the motor vehicle semi-automatically according to the determination, so that the motor vehicle continues into the road junction, stops or reverses.

[0004] Furthermore, DE 10 2020 111 486 A1 discloses a method for determining a vehicle's driving maneuver using a control unit, wherein measurement data about a traffic situation are received by means of a sensor and the sensor's current detection range is determined by evaluating the received measurement data. A sensor model is then created based on the received measurement data, and an estimated detection range of the sensor is modeled from the received measurement data by forward simulation based on the vehicle's position. The created sensor model is used to determine a change in the sensor's detection range due to a driving maneuver, whereby a driving maneuver is identified that, according to the sensor model, leads to an increase in the simulated detection range.

[0005] The invention is based on the objective of providing a novel method for controlling an automated driving vehicle and a novel device for controlling an automated driving vehicle.

[0006] The problem is solved according to the invention by a method which has the features specified in claim 1 and by a device which has the features specified in claim 8.

[0007] Advantageous embodiments of the invention are the subject of the dependent claims.

[0008] In a method for controlling an automated, particularly highly automated or autonomous, vehicle at a road intersection, data acquired by environmental sensors is used. Before reaching the intersection, several potential future vehicle positions are determined as stopping point candidates along a path leading up to the intersection. For each stopping point candidate, a field of view of the environmental sensors is predicted, taking into account the elevation profile of the road surface at the intersection. The stopping point candidate with the largest field of view is then selected as the vehicle's stopping position.At the stop position, the vehicle's surroundings are detected using environmental sensors, and depending on the traffic situation determined from the data of the environmental sensors, the vehicle is automatically steered into the intersection.

[0009] This method significantly improves environmental perception in the vicinity of road intersections, which are often difficult for the vehicle's sensors to detect due to, for example, the road surface's elevation profile. This increases safety when a vehicle automatically enters and passes through an intersection.

[0010] According to the invention, at the stop position, the vehicle's orientation is changed by means of an active chassis such that the field of view of the environmental sensors is maximized. This enables further improved environmental perception in the area of ​​road intersections.

[0011] In one possible embodiment of the process, the vehicle's position at the stop position is changed by an automated longitudinal and / or lateral movement in such a way as to maximize the field of view of the environmental sensors. This can further improve environmental perception in the area of ​​road intersections.

[0012] In another possible iteration of the procedure, the potential stopping points are determined using map data from a digital road map. This provides a simple and reliable method for identifying the potential stopping points.

[0013] In another possible embodiment of the procedure, the stop point candidates are determined using model data from an environmental model. This also represents a simple and reliable method for determining the stop point candidates.

[0014] In another possible embodiment of the method, the environmental model is generated using data from the environmental sensors. This advantageously results in the environmental model being up-to-date, so that any changes occurring in the vehicle's environment can be taken into account.

[0015] In another possible embodiment of the method, a further three-dimensional environmental model of the vehicle environment is created based on the data acquired at the stop position using the environmental sensors of the vehicle environment, which, due to the large field of view of the environmental sensors at the stop position, depicts the vehicle environment particularly reliably and accurately.

[0016] In another possible embodiment of the method, the vehicle's orientation is determined based on the three-dimensional model of the surrounding environment and map data from a digital road map to maximize the field of view of the environmental sensors. Thus, due to the particularly reliable and accurate representation of the vehicle's surroundings, the field of view can be maximized with exceptional reliability.

[0017] In another possible iteration of the procedure, the vehicle is steered into the intersection by slowly feeling its way in. This can reduce the risk of a collision with other road users. The term "feeling its way in" is to be interpreted, for example, according to the understanding of a specialist, in light of Section 8 of the German Road Traffic Regulations. Paragraph 2, sentence 3 states as follows: "If the intersection or junction cannot be seen because the road is obscured, one may cautiously feel one's way into the intersection or junction until a clear view is obtained."

[0018] A device for controlling an automated vehicle at a road intersection includes environmental sensors. The device has a processing unit configured to determine several potential future vehicle positions as stopping point candidates along a path leading up to the intersection. The processing unit is further configured to predict the field of view of the environmental sensors for each of these stopping point candidates, taking into account the elevation profile of the road surface at the intersection, and to select the stopping point candidate with the largest field of view as the vehicle's stopping position.Furthermore, the device includes a control unit which is designed to automatically steer the vehicle into the intersection depending on the traffic situation determined from data of the vehicle's surroundings acquired at the stop position by means of the environmental sensors.

[0019] The device significantly improves environmental perception in the vicinity of road intersections, which are often difficult for the vehicle's sensors to detect due to uneven road surface profiles. This enhances safety when a vehicle is automatically entering and passing through an intersection.

[0020] According to the invention, the device comprises an active chassis designed to change the vehicle's orientation at the stop position in such a way as to maximize the field of view of the environmental sensors. This enables further improved environmental perception in the area of ​​road intersections.

[0021] Exemplary embodiments of the invention are explained in more detail below with reference to drawings.

[0022] This shows: Fig. 1. Schematic top view of a road intersection, Fig. 2. Schematically, a perspective view of several lanes, Fig. 3 schematic front views of a vehicle in different states and Fig. 4 schematically a block diagram of a device for controlling an automated driving vehicle.

[0023] Corresponding parts are marked with the same reference symbols in all figures.

[0024] In Fig. Figure 1 shows a top view of a road intersection SK with one vehicle 1 and two other vehicles 2, 3.

[0025] Vehicle 1 is equipped for automated, in particular highly automated or autonomous, driving operation. To perform automated driving operation, it is necessary to perceive the vehicle's surroundings. For this purpose, Vehicle 1 includes environmental sensing sensors (4).

[0026] Before vehicle 1 enters the SK intersection, it is necessary to detect all other road users, in this case the other vehicles 2 and 3, in order to ensure safe passage through the SK intersection, avoiding collisions and complying with legal requirements, such as right-of-way rules.

[0027] Fig. Figure 2 shows a perspective view of several carriageways FB1 to FB4, which are characterized, at least in part, by a hilly elevation profile of their road surfaces. Fig. Figure 3 shows front views of vehicle 1 in different states on a roadway FB1 with an uneven road surface.

[0028] Due to the elevation profile of the roadways FB1 to FB4 and / or an uneven road surface, for example with potholes L and / or bumps E, the field of view S of the environmental sensing sensors 4 with a limited vertical opening angle may be restricted. These restrictions can result in insufficient detection of the road surface and the corresponding sensor not being sufficiently tilted to detect the vehicle's surroundings along a roadway FB1 to FB4 and to recognize moving road users.

[0029] To avoid such a restriction of the field of vision S, a device 5 and a method for controlling an automated vehicle 1 are provided.

[0030] A block diagram of a possible embodiment of such a device 5 shows Fig. 4.

[0031] The device 5 comprises the environmental sensing sensors 4, which include, for example, camera, radar and / or lidar sensors and / or other sensors for sensing the vehicle's surroundings. Furthermore, the device 5 comprises a processing unit 6 with several processing modules 6.1 to 6.4, a control unit 7, a digital road map 8, an active chassis 9 of the vehicle 1, a fusion module 10, and a control module 11.

[0032] Using the fusion module 10, data D acquired by several sensors of the environmental sensing sensor system 4 are fused to fused data FD, whereby static and dynamic objects in the vehicle environment are detected on the basis of the fused data FD.

[0033] From data D acquired by means of the environmental sensing sensors 4 and map data KD of the digital road map 8, a three-dimensional environmental model UM1 is generated by means of a first processing module 6.1 of the processing unit 6 based on an estimate of a profile of the road surface and a road surface detection, for example of potholes L and / or elevations E.

[0034] Subsequently, in a second processing module 6.2 of processing unit 6, a stop position POS of vehicle 1 is determined from a plurality of stop point candidates based on the environment model UM1 and the map data KD. These candidates represent future vehicle positions located on a preceding path of vehicle 1. For each of the stop point candidates, a field of view S of the environment detection sensor 4 is predicted, taking into account the elevation profile of the road surface in the area of ​​the road intersection SK. The stop point candidate at which the environment detection sensor 4 has the largest field of view S is selected as the stop position POS of vehicle 1.

[0035] This stop position POS is transmitted to the control unit 7 for controlling an automated longitudinal and / or lateral movement of the vehicle 1, so that the vehicle 1 is guided to the stop position POS and stops there.

[0036] At the stop position POS, a possible field of view S of the environmental sensing sensors 4 is determined based on the map data KD, in particular on the road geometry of the intersection SK contained therein, and on the fused data FD using a further processing module 6.3. Here, a further three-dimensional environmental model UM2 is determined from the data D and / or the fused data FD. Based on this model, processing module 6.4 determines whether the field of view S of the environmental sensing sensors 4 can be increased at the stop position POS by changing the orientation of the vehicle 1 using its active chassis 9. If this is the case, the orientation of the vehicle 1, i.e., its inclination to the road surface, is changed using the active chassis 9 in such a way as to maximize the field of view S.

[0037] Additionally, at the POS stop position, the processing module 6.4 checks, based on the map data KD and the fused data FD, whether the field of view S of the environmental sensors 4 can be further increased by further, particularly minor, changes to the position of vehicle 1 through automated longitudinal and / or lateral movement. If this is the case, the control unit 7 moves vehicle 1 from the POS stop position to a new POS stop position to control the automated longitudinal and / or lateral movement.

[0038] Once the stop position POS with maximized field of view S is reached and the vehicle's inclination 1 is adjusted accordingly by means of the active chassis 9, the vehicle's surroundings at the stop position POS are detected by the environmental sensors 4. Depending on the traffic situation determined from the data D of the environmental sensors 4 and / or the fused data FD, the control module 11 automatically steers the vehicle 1 into the intersection SK. This can be done, for example, by slowly approaching the intersection. Reference symbol list 1 vehicle 2 vehicles 3 vehicles 4 Environmental sensing sensors 5 Device 6 processing units 6.1 to 6.4 Processing module 7 Control unit 8 digital street map 9 active suspension 10 Fusion module 11 Control module D data E survey FB1 to FB4 lane FD merged data KD map data L pothole POS stop position S field of vision SK street intersection UM1 Environment Model UM2 environment model

Claims

[1] Method for controlling an automated vehicle (1) in the area of ​​a road intersection (SK) using data (D) acquired by means of an environment sensing sensor system (4), wherein - before reaching the road junction (SK), several future vehicle positions are determined as stop point candidates along a route preceding the vehicle (1) until reaching the road junction (SK), - for each of the stop point candidates a field of view (S) of the environmental detection sensors (4) is predicted taking into account a height profile of a road surface in the area of ​​the road intersection (SK), - the stop point candidate at which the environmental sensing sensors (4) have the largest field of view (S) is selected as the stop position (POS) of the vehicle (1), - at the stop position (POS) a vehicle environment is detected by means of the environment detection sensors (4) and - depending on a traffic situation determined from the data (D) of the environmental sensor system (4), the vehicle (1) is automatically steered into the intersection (SK), characterized by , that - at the stop position (POS) the orientation of the vehicle (1) is changed by means of an active chassis (9) in such a way that the field of view (S) of the environment detection sensors (4) is maximized. [2] Method according to claim 1, characterized by , that at the stop position (POS) the position of the vehicle (1) is changed by an automated longitudinal and / or lateral movement in such a way that the field of view (S) of the environmental detection sensors (4) is maximized. [3] Method according to claim 1 or 2, characterized by , that the stop point candidates are determined using map data (KD) from a digital road map (8). [4] Method according to any one of the preceding claims, characterized by, that the stop point candidates are determined based on model data from an environment model (UM1). [5] Method according to claim 4, characterized by , that the environment model (UM1) is generated based on the data (D) from the environment detection sensors (4). [6] Method according to any one of the preceding claims, characterized by , that a further three-dimensional environment model (UM2) of the vehicle environment is created based on the data (D) acquired at the stop position (POS) by means of the environment detection sensors (4). [7] Method according to claim 6, characterized by , that the orientation of the vehicle (1) to maximize the field of view (S) of the environmental detection sensor (4) is determined using the three-dimensional further environment model (UM2) and map data (KD) of a digital road map (8). [8] Device (5) for controlling an automated vehicle (1) in the area of ​​a road intersection (SK) with an environment detection sensor (4), comprising a processing unit (6) which is designed - to determine several future vehicle positions as stop point candidates along a route preceding the vehicle (1) until reaching the road junction (SK) before reaching the road junction (SK), - to predict a field of view (S) of the environmental detection sensors (4) for each of the stop point candidates, taking into account a height profile of a road surface in the area of ​​the road intersection (SK), - to select the stop point candidate at which the environmental detection sensors (4) have the largest field of view (S) as the stop position (POS) of the vehicle (1), and a control unit (7) which is designed - depending on the traffic situation determined from data (D) of a vehicle environment acquired at the stop position (POS) by means of the environmental sensing sensors (4), the vehicle (1) is automatically steered into the road intersection (SK) depending on the traffic situation, characterized by - an active chassis (9) which is designed to change the orientation of the vehicle (1) at the stop position (POS) in such a way that the field of view (S) of the environmental detection sensors (4) is maximized.

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