Method for automatically crossing an intersection area and vehicle

Abstract

Method for crossing an intersection area (1, 7, 10) with one's own vehicle (6), in which a vehicle environment (100) in the intersection area (1, 7, 10) is detected by means of at least one sensor (6.1) of the own vehicle (6) and the presence of at least one other road user within the detected vehicle environment (100) of the at least one sensor (6.1) is determined, wherein, in the case of a road user (5) detected in the vehicle's vicinity (100) approaching the intersection area (1, 7, 10), a safe crossing of the intersection area (1, 7, 10) is determined as possible, as long as the approaching road user (5) has not yet fallen below a necessary minimum distance (4) to the vehicle's own vehicle (6), and after falling below the necessary minimum distance (4), the crossing of the intersection area (1, 7, 10) can be interrupted or is interrupted, wherein, in addition, the detected vehicle environment (100) is checked for the presence of at least one speed-limiting environmental condition (11) for the approaching road user (5) based on the sensor data. The invention further relates to a vehicle (6) with at least one sensor (6.1), in particular an environmental sensor, a computing unit (6.2) and an actuating device (6.3), wherein the sensor (6.1), the computing unit (6.2) and the actuating device (6.3) are configured to carry out a method according to one of the preceding claims and interact with each other.

Description

[0001] The invention relates to a method for automatically crossing an intersection area and to a vehicle.

[0002] DE 10 2020 004 341 A1 discloses a process in which a non-signal-controlled intersection in front of a vehicle is monitored. In this process, the intersection is checked for the presence of other approaching road users within a detection zone. This determines whether a safe crossing of the intersection is possible by checking whether approaching road users have fallen below a specified minimum distance. If this distance is exceeded, the crossing of the intersection is interrupted. Otherwise, the approach process continues.

[0003] Furthermore, DE 10 2013 005 362 A1 discloses a method for analyzing a traffic situation between a vehicle and other road users at intersections or road junctions. The method comprises the following steps: - Detection of the surroundings of the vehicle and road users, - Filtering relevant road users in the vehicle’s surroundings, - Localization and lane-accurate allocation of the relevant road users, - Prediction of future movement behavior in the form of movement trajectories of the vehicle and localized road users, - Determination of danger zones based on intersection points of the predicted movement trajectories and - Determining a hazard risk based on the movement behaviour of the vehicle and road users and on the defined hazard zones.

[0004] The danger zones are defined dynamically based on the intersection points of the predicted movement trajectories, whereby the times until the vehicle and the relevant road users arrive at the respective danger zone and the times until they leave the respective danger zone are determined, evaluated and taken into account.

[0005] DE 10 2020 208 637 A1 describes a method for adapting a driving behavior of a vehicle by a control unit, wherein - measurement data collected by a radar sensor (10) and a LIDAR sensor are received and an obstacle within a scanning range of the radar sensor and the LIDAR sensor is determined by evaluating the received measurement data, - based on the detected obstacle and an installation position of the radar sensor and LIDAR sensor, a section of the scanning area obscured by the obstacle is determined, - an object prediction is created for the hidden section of the scanning area that a dynamic object can potentially cross a lane of the vehicle from the hidden section of the scanning area, - based on the object prediction, the vehicle's driving behavior is adapted to the situation.

[0006] The invention is based on the object of specifying a method for automatically crossing an intersection area with a vehicle and a vehicle which is improved compared to the prior art.

[0007] The first-mentioned object is achieved according to the invention by a method having the features of claim 1. The second-mentioned object is achieved according to the invention by a vehicle having the features of claim 9.

[0008] Advantageous embodiments of the invention are the subject of the subclaims.

[0009] In the method according to the invention for, in particular, automatically and safely crossing an intersection area with one's own, in particular automated or autonomously driving, vehicle, a vehicle environment ahead in the intersection area is detected by means of at least one sensor of the own vehicle and the presence of at least one other road user within the detected vehicle environment of the at least one sensor of the own vehicle is determined or detected, wherein in the case of a road user detected in the vehicle environment and approaching the intersection area, a safe crossing of the intersection area is determined as possible as long as the approaching road user has not yet fallen below a necessary minimum distance from the own vehicle, and after falling below the necessary minimum distance, the crossing of the intersection area can be interrupted or is interrupted,Additionally, the sensor data is used to check the detected vehicle environment for the presence of at least one speed-limiting environmental condition for the approaching road user. Furthermore, it is provided that a speed profile of the approaching road user is recorded, and the at least one speed-limiting environmental condition is taken into account when determining the speed profile of the approaching road user. If at least one speed-limiting environmental condition is detected, a new speed profile of the approaching road user can be determined, for example, until twice the permitted maximum speed is reached. This new speed profile is compared with the limit function curve of the required minimum distance, and a possible intersection point SP1 is determined.

[0010] A further development provides for the determination of at least one speed-limiting environmental condition in the vehicle's surroundings within the detection zone. By additionally determining at least one speed-limiting environmental condition, it can be checked whether the approaching road user can actually reach the maximum assumed speed in the detection zone, which can be determined from the maximum permitted speed. If this is not the case, the required minimum distance between the approaching road user and the vehicle can be reduced.

[0011] As a result, the detection range can be significantly reduced, which also reduces the cost of the sensor technology. Furthermore, this method can increase the number of intersections that can be crossed automatically for vehicles where existing sensor technology can no longer be modified.

[0012] To safely cross an intersection, the approaching road user must be at a specified minimum distance from the driver's own vehicle. Legal requirements stipulate that an accident-free crossing of an intersection must be possible even if the approaching road user is approaching at twice the maximum permitted speed. The required minimum distance is determined or specified as the distance corresponding to twice the maximum permitted speed. The required minimum distance is determined using the following function: notw (2v max ), where s notw = necessary minimum distance, v max = maximum permitted speed.

[0013] By taking into account the speed-limiting environmental conditions, it can also be determined whether the approaching road user can reach twice the permitted maximum speed at the point of the necessary minimum distance.

[0014] To do this, first the starting distance s vmax,aufbau which the approaching road user needs to reach twice the permitted maximum speed from a starting speed of v = 0 km / h, for example when starting off after waiting at a traffic light, according to the formula: svmax,aufbau=12vmax2a with s vmax,aufbau = Starting distance, v max = maximum permitted speed, a = acceleration.

[0015] For example, an average acceleration value of a vehicle can be specified and taken into account as an acceleration value.

[0016] It is then determined and optionally checked whether at least one speed-limiting environmental condition exists in the detection area in the intersection area ahead, in particular in a relevant area s rel between the intersection s=0 and the maximum distance of the own vehicle to the approaching road user according to the formula: smax=snotw(2vmax)+svmax,construction with s max = Maximum distance, s notw = necessary minimum distance, v max = maximum permitted speed, s vmax,aufbau = Starting distance and S rel = relevant area ≙ S max .

[0017] In particular, the speed-limiting environmental condition that could lead to a reduction in the speed of the approaching road user is determined.

[0018] In the vehicle environment within the detection range, a speed-limiting environmental condition can be determined as a speed-limiting area, such as a curve, a bump, a construction site, or the like, and / or a speed-limiting factor, such as a wet road surface, a slippery road surface, or the like. This at least one speed-limiting environmental condition can have or cause its own speed profile and can be constant or variable.

[0019] To determine the new speed profile, both a continuous speed detection of the approaching road user and a monitoring of the speed change due to, for example, braking or acceleration can be carried out and taken into account when determining the new speed profile.

[0020] Based on the recorded, new speed profile of the approaching road user, the detection range of at least one sensor can then be checked and optionally adjusted. The detection range can, for example, be maintained or reduced.

[0021] For example, the detection range remains unchanged if no speed-limiting environmental condition is detected or if the approaching vehicle has reached the maximum permitted speed, in particular twice the permitted maximum speed, before falling below the minimum required distance, despite at least one detected speed-limiting environmental condition. If, for example, the approaching road user can reach twice the permitted maximum speed before falling below the minimum required distance, despite at least one detected speed-limiting environmental condition, the detection range is not reduced.

[0022] Preferably, the detection range is adapted, in particular reduced, if the achievable speed of the approaching road user is lower than the assumed maximum speed due to at least one detected speed-limiting environmental condition.

[0023] If, for example, the approaching road user cannot reach twice the permitted maximum speed due to the determined speed-limiting environmental conditions, a reaction time t rthe speed can be increased further. In order to compensate for the additional distance traveled towards the own vehicle due to acceleration during the reaction time, so that a collision-free crossing of the intersection while maintaining the safety distance is possible, it is assumed that the start of the reaction time is before the intersection point SP1 of the limit function curve with the speed profile. This shift in the reaction time is denoted by t r,shift To determine the starting point of the maneuver s AV,start,manöver (identical to the one around t r,shift To determine the shifted start of the reaction time, for example, a new, second limit function curve is determined. This is determined taking into account the adjusted, in particular determined, second speed profile of the approaching road user.

[0024] The required minimum distance can be checked and optionally adjusted, for example, based on the recorded or adjusted speed profile and / or the checked or adjusted detection range. This enables safe crossing of the intersection. The newly determined, second speed profile can, for example, result in a smaller required minimum distance that the vehicle must maintain from the approaching road user when beginning to cross the intersection. This determined, reduced required minimum distance can, in turn, be used, for example, to reduce the detection range of at least one sensor.

[0025] By detecting these various speed-limiting environmental conditions and evaluating them in terms of the length of the section and the influence on the vehicle speed of the approaching road user, in conjunction with the continuous speed detection of the approaching road user, an accurate determination of the speed profile of the approaching road user can be carried out, whereby the required minimum distance can be precisely determined.

[0026] A vehicle according to the invention comprises at least one environmental sensor, a computing unit, and an actuating device. The vehicle can perform the above-described method according to the invention with the aid of the environmental sensor, the computing unit, and the actuating device, wherein the environmental sensor, the computing unit, and the actuating device interact with one another. The at least one environmental sensor can be, for example, a radar, a camera, a lidar, and / or the like. With the aid of the actuating device, the vehicle can be controlled at least partially automatically.

[0027] The actuating device can be included in the computing unit or there can be a separate actuating device.

[0028] Your own vehicle can be any vehicle, such as a car, a truck, an agricultural machine and / or the like.

[0029] Embodiments of the invention are explained in more detail below with reference to drawings.

[0030] Showing: Fig. 1 schematically shows a plan view of a first intersection area and a first speed-distance diagram, Fig. 2 schematically shows a plan view of a second crossing area and a second speed-distance diagram, Fig. 3 schematically shows a plan view of a third intersection area with speed-limiting environmental conditions and a third speed-distance diagram, Fig. 4 a detailed view of the intersection point SP1 of the third speed-distance diagram and Fig. 5 a determined speed profile.

[0031] Corresponding parts are provided with the same reference numerals in all figures.

[0032] Fig. 1 shows a schematic plan view of a first intersection area 1.

[0033] Depicted is a private vehicle 6 on the road, which intends to cross the intersection 1. The private vehicle 6 comprises at least one sensor 6.1, a computing unit 6.2 (also called control unit) and an actuating device 6.3, which are configured and interact with each other to ensure a safe crossing of the intersection 1 by the private vehicle 6 depending on speed-limiting environmental conditions 11 (as in Fig. 3) as described in more detail below.

[0034] In the method according to the invention for crossing an intersection area 1 with the own vehicle 6, in which a vehicle environment 100 in the intersection area 1 is detected by means of at least one sensor 6.1 and the presence of at least one other road user within the detected vehicle environment 100 of the at least one sensor 6.1 is determined, wherein in the case of a road user 5 approaching the intersection area 1 that is detected in the vehicle environment 100, a safe crossing of the intersection area 1 is determined as possible as long as the approaching road user 5 has not yet fallen below a necessary minimum distance 4 from the own vehicle 6, and after falling below the necessary minimum distance 4, the crossing of the intersection area 1 is interruptible or is interrupted, wherein additionally based on the sensor data the detected vehicle environment 100 is checked for the presence of at least one speed-limiting environmental condition 11 (as in Fig. 3) is checked for the approaching road user 5.

[0035] In this case, a detection area 102 of the at least one sensor 6.1 of the own vehicle 6 for detecting the vehicle environment 100 is specified as a function of a permissible maximum speed in the intersection area 10 ahead.

[0036] Based on the recorded speed profile 12 of the approaching road user 5, the at least one predetermined detection range 102 of the at least one sensor 6.1 is checked and optionally adjusted according to arrow 104.

[0037] The detection area 102 is maintained unchanged if no speed-limiting environmental condition 11 is detected or if the approaching road user 5, despite at least one detected speed-limiting environmental condition 11 (as in Fig. 3) has reached the maximum permissible speed before falling below the required minimum distance 4.

[0038] The detection range 102 is adjusted, in particular reduced, if at least one detected speed-limiting environmental condition 11 (as in Fig. 3) the achievable speed of the approaching road user 5 is lower than the assumed maximum speed.

[0039] For example, data acquired by at least one sensor 6.1 is processed by a computing unit 6.2 and, as in the intersection area 1 shown here as an example, the approaching road user 5 is detected and checked to determine whether a safe crossing of the intersection area 1 is possible. In particular, a safe crossing of the intersection area 1 by the host vehicle 6 is determined as long as the approaching road user 5 does not fall below a required minimum distance 4 from the host vehicle 6. Once the required minimum distance 4 is fallen below, the crossing of the intersection area 1 can be interrupted or is interrupted by means of an actuating signal for the actuating device 6.3 generated by the computing unit 6.2. The actuating device 6.3 brakes or stops the host vehicle 6 using the actuating signal and prevents the host vehicle 6 from crossing the intersection area 1.

[0040] In Fig. 1, to the right of the own vehicle 6, there is a road user 5 approaching on a straight section of road, which is represented here by way of example by another vehicle.

[0041] Furthermore, Fig. 1 a first speed-distance diagram D1, which is depicted above the schematically depicted intersection area 1 in such a way that the ordinate axis, on which the speed v of the approaching road user 5 is depicted, is located vertically above the own vehicle 6 and the abscissa axis, on which the distance s is depicted, is located above the depicted intersection area 1 in such a way that the necessary minimum distance 4 between the own vehicle 6 and the approaching road user 5 is located vertically above the front edge of the approaching road user 5.

[0042] In the speed-distance diagram D1, the necessary minimum distance 4 that the approaching road user 5 must have at least from the own vehicle 6, depending on its speed, in order to be able to cross the intersection area 1 without collision while maintaining a safety distance, is shown by means of a limit function 3.

[0043] Legal requirements define that an accident-free crossing of an intersection 1 must be possible while maintaining a safe distance even if the approaching road user 5 is traveling at twice the permitted maximum speed 2v max In the intersection area 1 shown here, the maximum permitted speed is v max for example 100 km / h, which results in twice the permitted maximum speed 2v max a value of 200 km / h.

[0044] These specifications also apply to the examples in the other figures.

[0045] In addition, a speed profile 2 of the approaching road user 5 is represented by a function whose starting speed v start significantly lower than twice the permitted maximum speed 2v max From the course of the speed profile 2 shown, it can be seen that the approaching road user 5 is traveling at twice the maximum permitted speed 2v max cannot have been reached when the necessary minimum distance 4 is not reached. The approaching road user 5 has an instantaneous speed v at the time the necessary minimum distance 4 is not reached mom , which is greater than the starting speed v start , but less than twice the maximum permitted speed 2v max is.

[0046] Fig. 2 shows a schematic plan view of a second intersection area 7.

[0047] Shown is how in Fig. 1, a vehicle 6 of the driver's own on the road, which wants to cross the intersection 7. To the right of the vehicle 6, on a straight section of road, there is an approaching road user 5, which, in contrast to Fig. 1, a different starting speed v start with v = 0 km / h.

[0048] In addition, Fig. 2 a second speed-distance diagram D2, in which the ordinate axis, on which the speed v is shown, is located vertically above the own vehicle 6 and the abscissa axis, on which the distance s is shown, is located above the intersection area 7 shown, so that the distance s max , in which the approaching road user 5 has the starting speed v startwith v = 0 km / h, is located vertically above the front edge of the approaching road user 5.

[0049] In the second speed-distance diagram D2, the necessary minimum distance 4 that an approaching road user 5 must have from the vehicle 6, depending on its speed, in order to be able to cross the intersection area 7 without collision while maintaining the safety distance, is shown by means of a first limit function 3. In addition, a speed profile 8 of the approaching road user 5 is shown, whose starting speed v start v = 0 km / h. The distance that the approaching road user 5 needs to accelerate from the starting speed v start with 0 km / h twice the permitted maximum speed 2v max is called starting distance s vmax,aufbau designated.

[0050] The sum of the required minimum distance 4 and the starting distance s vmax,aufbau is defined as the maximum distance s max 9. This maximum distance s max 9 corresponds to the relevant area s rel , in which the presence of a speed-limiting environmental condition 11 (as in Fig. 3).

[0051] Fig. 3 shows a schematic plan view of a third intersection area 10.

[0052] Shown is as in Fig. 1 and Fig. 2 a vehicle 6 of the driver's own on the road, which intends to cross the intersection 10. To the right of the vehicle 6, on a straight section of road, there is an approaching road user 5, which, as in Fig. 2, a starting speed v start with v = 0 km / h. In the area in front of the approaching road user 5, in contrast to the Fig. 1 and Fig. 2, a speed-limiting environmental condition 11, which is or was determined from the sensor data recorded by the own vehicle 6.

[0053] In addition, Fig. 3 a third speed-distance diagram D3, in which the ordinate axis, on which the speed v is shown, is located vertically above the own vehicle 6 and the abscissa axis, on which the distance s is shown, is located above the intersection area 10 shown, such that the distance at which the approaching road user 5 reaches the starting speed v start with v = 0 km / h, is located vertically above the front edge of the approaching road user 5 and the speed range influenced by the speed-limiting environmental condition 11 is located vertically above the speed-limiting environmental condition 11.

[0054] The third speed-distance diagram D3 shows a speed profile 12 of the approaching road user 5. The speed profile 12 depicts a speed change caused by the speed-limiting environmental condition 11. In the example shown here, the approaching road user 5 reaches twice the permitted maximum speed 2v. max not before the first limit function 3 and the speed profile 12 intersect. Therefore, before initiating a braking action by the approaching road user 5, a reaction time t r 13 further increases the speed. The speed profile 12 of the approaching road user 5 after falling below the required minimum distance 4 is shown with a dashed line.

[0055] In order to calculate the additional distance travelled by the further acceleration towards the own vehicle 6 during the reaction time t r 13, so that a collision-free crossing of the intersection area 10 is possible while maintaining the safety distance, the start of the reaction time t r 13 still lie before the intersection point SP1 of the limit function curve 3 with the speed profile 12. This shift in the reaction time t r 13 is with t r,shift designated.

[0056] Fig. 4 shows a detailed view SP-D of the intersection point SP1 of the Fig. 3 for determining a new necessary minimum distance 4 based on a second limit function 14, taking into account the determined speed-limiting environmental condition 11 and the resulting changed or adjusted speed profile 12 of the approaching road user 5.

[0057] From the intersection point SP2 of the second limit function 14 and the speed profile 12 of the approaching road user 5, a new required minimum distance 4 can be derived. The intersection point SP2 is thus the new starting point of the reaction time t r .

[0058] The reduced necessary minimum distance 4 results in a smaller required detection range 102. The saving potential 15 of the detection range 102 is between the intersection point SP1 of the first limit function 3 with the necessary minimum distance 4, which the approaching road user 5 must maintain when traveling at twice the permitted maximum speed 2v max would move, and the intersection point SP2 of the second limit function 14 with the speed profile 12 of the approaching road user.

[0059] Fig.Figure 5 shows, by way of example, a speed profile 16 of an approaching road user 5 in a speed-time diagram. The speed profile 16 was determined taking into account at least one speed-limiting environmental condition 11. It shows the required minimum distance 4 as a function of the starting speed v start of the approaching road user 5 to the own vehicle 6.

Claims

[1] Method for crossing an intersection area (1, 7, 10) with one's own vehicle (6), in which a vehicle environment (100) in the intersection area (1, 7, 10) is detected by means of at least one sensor (6.1) of the own vehicle (6) and the presence of at least one other road user within the detected vehicle environment (100) of the at least one sensor (6.1), wherein, in the case of a road user (5) detected in the vehicle environment (100) approaching the intersection area (1, 7, 10), a safe crossing of the intersection area (1, 7, 10) is determined as possible as long as the approaching road user (5) has not yet fallen below a necessary minimum distance (4) from the vehicle's own vehicle (6), and once the necessary minimum distance (4) has been fallen below, the crossing of the intersection area (1, 7, 10) can be interrupted or is interrupted, wherein, in addition, the detected vehicle environment (100) is checked on the basis of the sensor data for the presence of at least one speed-limiting environmental condition (11) for the approaching road user (5), a speed profile (12) of the approaching road user (5) is recorded, and the at least one speed-limiting environmental condition (11) is taken into account when determining the speed profile (12). [2] Method according to claim 1, characterized by that the at least one speed-limiting environmental condition (11) is determined in the vehicle environment (100). [3] Method according to claim 1 or 2, characterized by that as the at least one speed-limiting environmental condition (11) a road area ahead is checked and / or monitored for at least one speed-limiting area and / or at least one speed-limiting factor. [4] Method according to one of the preceding claims, characterized by that a detection range (102) of the at least one sensor (6.1) for detecting the vehicle surroundings (100) is predetermined as a function of a permissible maximum speed in the intersection area (1, 7, 10) ahead. [5] Method according to one of the preceding claims, characterized bythat based on the detected speed profile (12) of the approaching road user (5), the at least one predetermined detection range (102) of the at least one sensor (6.1) is checked and optionally adjusted. [6] Method according to claim 5, characterized by that the detection area (102) is maintained unchanged if no speed-limiting environmental condition (11) is detected or if the approaching road user (5) has reached the permissible maximum speed before falling below the necessary minimum distance (4) despite at least one detected speed-limiting environmental condition (11). [7] Method according to claim 5 or 6, characterized bythat the detection range (102) is adapted, in particular reduced, if the achievable speed of the approaching road user (5) is lower than the assumed maximum speed due to at least one detected speed-limiting environmental condition (11). [8] Method according to one of the preceding claims, characterized by that the necessary minimum distance (4) is checked and optionally adjusted based on the recorded or adjusted speed profile (12) and / or the checked or adjusted detection range (102). [9] Vehicle (6) with at least one sensor (6.1), in particular an environmental sensor, a computing unit (6.2) and an actuating device (6.3), characterized by that the sensor (6.1), the computing unit (6.2) and the actuating device (6.3) are designed to carry out a method according to one of the preceding claims and interact with one another.

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