Procedure for operating an automated vehicle

Abstract

The invention relates to a method for operating an automated vehicle (1) while driving in a lane (F1) of a multi-lane roadway section (F). According to the invention, a steering intervention by the vehicle (1) to shift its lateral position towards an adjacent lane (F2) is suppressed if one of the following conditions is met: a) By means of an environmental sensor (1.1) of the vehicle (1), a vehicle (2) is detected on the adjacent lane (F2) which is approaching the vehicle (1) from behind at a relative speed that exceeds a predetermined threshold, and b) using the environmental sensors (1.1) no vehicle is detected approaching the rear of the vehicle (1) on the adjacent lane (F2) and it is determined that there is no maximum permissible speed for the road section (F).

Description

[0001] The invention relates to a method for operating an automated vehicle on a multi-lane road section.

[0002] DE 10 2014 014 249 A1 discloses a method for operating a motor vehicle, a computer program product, and a motor vehicle. The motor vehicle is longitudinally and laterally controlled by an automated driving system. An object is detected in the lane the vehicle is currently traveling in, and a check is made to determine whether the object can be avoided within the current lane. If the check is positive, the object is avoided; if the check is negative, the vehicle is braked.

[0003] The invention is based on the object of providing a novel method for operating an automated vehicle on a multi-lane road section.

[0004] The object is achieved according to the invention by a method which has the features specified in claim 1.

[0005] Advantageous embodiments of the invention are the subject of the subclaims.

[0006] A method for operating an automated vehicle when driving on a lane of a multi-lane road section provides, according to the invention, that a steering intervention of the vehicle to shift a transverse position of the vehicle in the direction of an adjacent lane of the vehicle is suppressed if one of the following cases occurs: a) by means of an environmental sensor of the vehicle, a vehicle is detected in the adjacent lane that is approaching the rear of the vehicle at a relative speed that exceeds a predetermined threshold, and b) the environmental sensors do not detect any vehicle approaching the rear of the vehicle in the adjacent lane and it is determined that no maximum permissible driving speed is specified for the section of road.

[0007] The suppression of the steering intervention is advantageously of different strengths in the two cases, in particular it is more pronounced in case a) than in case b).

[0008] In an advantageous embodiment of the method, the steering intervention is suppressed both in the direction of the adjacent lane and in the opposite direction of the adjacent lane.

[0009] Advantageously, the steering intervention is suppressed in such a way that any lateral movement of the vehicle is limited to a specified range within the vehicle's lane. If the specified range is kept narrow, a vehicle approaching in the adjacent lane will have the impression that the vehicle will remain stable in its lane, allowing it to overtake the vehicle safely at a comparatively high speed.

[0010] By applying this method, road safety and a sense of security can be increased for both the vehicle in the adjacent lane and the occupants of the automated vehicle, especially when the vehicle in the adjacent lane is passing at comparatively high speeds. The vehicle therefore performs no or only limited steering movements when the vehicle detects a relatively fast passing vehicle in the adjacent lane, particularly to avoid endangering the vehicle.

[0011] The method therefore provides for suppressing a steering intervention by the vehicle to shift a transverse position of the vehicle within its lane, particularly toward the adjacent lane. This means that a steering movement of the vehicle is prevented or limited, particularly a steering movement toward the adjacent lane, so that the vehicle traveling in the adjacent lane at a comparatively high speed is not endangered by the vehicle, particularly since a driver of the vehicle in the adjacent lane might think that the vehicle is changing lanes into the adjacent lane and subsequently initiate an evasive maneuver and / or emergency braking.

[0012] The suppression of the steering intervention of the vehicle in a case in which no vehicle is detected in the adjacent lane and no maximum permissible driving speed is specified for the road section is advantageous because in such a case, vehicles are also taken into account in advance which are quickly approaching the vehicle in the adjacent lane, in particular in an overtaking lane, from behind, and which are still outside the range of the environmental sensors and therefore cannot yet be detected with the environmental sensors.

[0013] The determination that no maximum permissible speed is specified for the road section is preferably carried out on the basis of data from a digital map and / or on the basis of traffic signs recognised by a traffic sign recognition system.

[0014] A further advantageous embodiment provides that the steering intervention is also suppressed if the vehicle's environmental sensors detect that the vehicle is approaching an obstacle in its lane that the vehicle can avoid within the lane to avoid a collision. Here, too, steering intervention by the vehicle is suppressed so as not to endanger the vehicle in the adjacent lane. If, for example, the vehicle in the adjacent lane is equipped with an emergency braking assistant, such a steering movement by the vehicle, even if the vehicle remains in its lane, would lead to a false-positive decision by the vehicle in the adjacent lane, so that the vehicle in the adjacent lane might then initiate emergency braking.

[0015] If an obstacle is located in the vehicle's lane, one embodiment of the method initiates a braking maneuver to avoid a collision between the vehicle and the obstacle. In such a case, the vehicle may be braked and control may be transferred to a driver of the vehicle so that they can manually avoid the obstacle.

[0016] Furthermore, in an advantageous embodiment, an automatically activated status for suppressing steering interventions is visually displayed in a display area of ​​a display unit of the vehicle. This informs the vehicle's occupants of the status, which can provide the occupants with a relatively high sense of security that the vehicle will not perform any steering movements when a vehicle in the adjacent lane is approaching the vehicle and the relative speed between the vehicle and the vehicle in the adjacent lane exceeds the specified threshold, i.e., the vehicle in the adjacent lane is traveling comparatively fast.

[0017] In a further advantageous embodiment, the predefined threshold is at least 50 km / h. This suppresses any steering intervention by the vehicle if it is determined that the relative speed between the vehicle and the vehicle in the adjacent lane is more than 50 km / h. If it is determined that the relative speed between the two vehicles is so high, any steering intervention by the vehicle, particularly in the direction of the adjacent lane, is suppressed in order to avoid unsettling the vehicle approaching the vehicle in the adjacent lane from behind.

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

[0019] The following shows: Fig. 1 schematically shows a road section with two lanes running in the same direction and a vehicle driving in each lane.

[0020] The single figure shows a roadway section F with two lanes F1, F2 running in the same direction. A vehicle 1 is traveling in automated driving mode, particularly in highly automated driving mode, in a right-hand lane F1. A vehicle 2 is approaching vehicle 1 from behind in an adjacent lane F2, traveling at a comparatively high speed.

[0021] For example, vehicle 1 is traveling at a speed of 100 km / h in its lane F1 and vehicle 2 in the adjacent lane F2 is approaching vehicle 1 at a speed of, for example, 200 km / h, so that a relative speed of the two vehicles 1, 2 to each other is 100 km / h.

[0022] The vehicle 1 has an environmental sensor system 1.1, which comprises at least one rearward-facing detection unit, for example in the form of a rear-view camera or a radar-based sensor.

[0023] While vehicle 1 is driving, the environmental sensor system 1.1 continuously records signals that are used to detect the surroundings behind vehicle 1 and the objects located therein. If vehicle 2 is in the adjacent lane F2 at a specified distance from vehicle 1, i.e., within the detection range of the environmental sensor system 1.1, vehicle 2 is detected in the adjacent lane F2.

[0024] Based on a decreasing distance between vehicle 1 and vehicle 2 in the adjacent lane F2, the relative speed between the two vehicles 1, 2 is determined using vehicle 1. The determined relative speed exceeds a threshold value specified by the vehicle, for example, 50 km / h.

[0025] Since the relative speed between the two vehicles 1, 2 exceeds the specified threshold, the status of vehicle 1 is set to “High Speed ​​Vehicle”.

[0026] If this status is activated in vehicle 1, steering interventions by vehicle 1 to shift a transverse position of vehicle 1 within its lane F1, in particular toward the adjacent lane F2, i.e., toward the faster-moving vehicle 2, are suppressed. This largely prevents vehicle 1 in the adjacent lane F2 from detecting a steering movement of vehicle 1, subsequently assuming that vehicle 1 intends to change lanes, and initiating a braking maneuver, for example, in the form of an emergency braking maneuver.

[0027] Alternatively or additionally, the “High Speed ​​Vehicle” status is activated in the automated vehicle 1 if no vehicle 2 is detected in the adjacent lane F2 and no maximum permissible driving speed is specified for the road section F. If the maximum permissible driving speed is not specified, a comparatively fast-moving vehicle 2 is to be expected, in particular in the adjacent lane F2, which is the left lane and thus an overtaking lane, whereby the suppression of a steering intervention by vehicle 1 in the direction of the adjacent lane F2 prevents any endangerment of the vehicle 2 driving in the adjacent lane F2.

[0028] The detection that no maximum permissible driving speed is specified is carried out, for example, by means of a digital map based on attributes stored there for the road section F. Alternatively or additionally, this detection can also be carried out by means of a traffic sign recognition system provided in vehicle 1 for detecting speed-limiting traffic signs on the road section F.

[0029] If vehicle 1 intervenes to steer in the direction of the adjacent lane F2, there is a risk that a driver of vehicle 2 in the adjacent lane F2 will assume that vehicle 1 intends to change lanes into the adjacent lane F2.

[0030] In particular, when the “High Speed ​​Vehicle” status is activated, any steering movement within lane F1 of vehicle 1 is suppressed, especially for a short time, so that vehicle 2 driving in the adjacent lane is not endangered, since the driver of vehicle 2 could think that vehicle 1 is initiating a lane change.

[0031] The environmental sensor system 1.1 of the vehicle 1.1 is advantageously configured to also detect objects located in the front area of ​​the vehicle 1. If, based on the signals detected by the environmental sensor system 1.1 of the vehicle 1, an obstacle is detected in front of the vehicle 1 in its lane F1, which the vehicle 1 can avoid by means of a steering intervention within the lane F1, and if the "High Speed ​​Vehicle" status is activated, the steering intervention to avoid the obstacle is suppressed and braking is initiated instead. Such an obstacle could be, for example, a lost load or another vehicle that has broken down (not shown in detail).If vehicle 1 were to initiate a steering intervention to avoid the obstacle, vehicle 2 in the adjacent lane F2 could detect this steering intervention as a false positive event and initiate an emergency braking maneuver to avoid colliding with vehicle 1 due to a suspected lane change.

[0032] If the "High Speed ​​Vehicle" status is activated, for example, because the threshold value with respect to the relative speed between vehicle 1 and a faster-moving vehicle 2 in the adjacent lane F2 has been exceeded and / or because of a permitted unlimited speed, this status is visually output as information in a display area of ​​a display unit in vehicle 1. This can give occupants of vehicle 1 a greater sense of security, since steering movements of vehicle 1 are suppressed when a fast-moving vehicle 2 is in the adjacent lane.

[0033] Furthermore, a traffic situation, i.e., a road situation, can be classified for the application of a method described above. In particular, it can be provided that the method is only applied on a road classified as a motorway or expressway. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2014 014 249 A1

[0002]

Claims

[1] Method for operating an automated vehicle (1) when driving on a lane (F1) of a multi-lane road section (F), characterized by that a steering intervention of the vehicle (1) to shift a transverse position of the vehicle (1) in the direction of an adjacent lane (F2) of the vehicle (1) is suppressed if one of the following cases occurs: a) by means of an environmental sensor system (1.1) of the vehicle (1), a vehicle (2) is detected in the adjacent lane (F2) which is approaching the rear of the vehicle (1) at a relative speed which exceeds a predetermined threshold value, and b) by means of the environmental sensor system (1.1), no vehicle approaching the rear of the vehicle (1) is detected in the adjacent lane (F2) and it is determined that no maximum permissible driving speed is specified for the lane section (F). [2] Method according to claim 1, characterized by, the suppression of the steering intervention occurs both in the direction of the adjacent lane (F2) and in the opposite direction of the adjacent lane (F2). [3] Method according to claim 1 or 2, characterized by that a transverse movement of the vehicle (1) is limited to a predetermined area within the lane (F1) of the vehicle (1) by suppressing the steering intervention. [4] Method according to one of the preceding claims, characterized by that the steering interventions in cases a) and b) are suppressed to different degrees. [5] Method according to one of the preceding claims, characterized by that the steering intervention is suppressed more strongly in case a) than in case b). [6] Method according to one of the preceding claims, characterized bythat the determination that no maximum permissible driving speed is specified for the carriageway section (F) is made on the basis of data from a digital map and / or on the basis of traffic signs recognised by a traffic sign recognition system. [7] Method according to one of the preceding claims, characterized by that the steering intervention is also suppressed if the environmental sensors (1.1) of the vehicle (1) detect that the vehicle (1) is approaching an obstacle in its lane (F1) which can be avoided by the vehicle (1) within the lane (F1) to avoid a collision. [8] Method according to claim 5, characterized by that a braking maneuver of the vehicle (1) is initiated to avoid a collision between the vehicle (1) and the obstacle. [9] Method according to one of the preceding claims, characterized bythat an automatically activated status for suppressing the steering interventions is optically output in a display area of ​​a display unit of the vehicle (1). [10] Method according to one of the preceding claims, characterized by that the specified threshold is at least 50 km / h.

Images