Method for controlling the driving operation of an ego vehicle operating in assisted driving mode

Abstract

The invention relates to a method for controlling the driving operation of an ego vehicle (1) operable in assisted driving mode. According to the invention, when an event occurs during the travel of the ego vehicle (1) that impairs the driving ability of the driver (2) of the ego vehicle (1), an assistance request is sent from the ego vehicle (1) by means of an assistance request signal (13). After the assistance request signal (13) has been processed, possible assistance vehicles (7) are determined from among the vehicles (6) in the vicinity of the ego vehicle (1), and these possible assistance vehicles (7) are output in the ego vehicle (1) together with a respective characteristic value (12) assigned to the possible assistance vehicles (7) and characterizing driving safety.The ego vehicle (1) then selects a desired assistance vehicle (8) for an assistance operation (11) of the ego vehicle (1) from the possible assistance vehicles (7) based on the respective characteristic value (12) of the possible assistance vehicles (7).

Description

[0001] The invention relates to a method for controlling the driving operation of an ego vehicle operable in assisted driving mode.

[0002] Driver assistance systems are increasingly being used in vehicle operation to support or relieve the driver in certain driving situations or during certain vehicle movements. Such driver assistance systems are now used in vehicles in a wide variety of forms, for example, as electronic stability programs such as ESP or ESC, emergency braking assistants, lane keeping assistants, overtaking assistants, adaptive cruise control (ACC), turning assistants, start-off assistants, traffic jam assistants, or parking assistants.

[0003] In connection with the operation of vehicles on the road, US 2023 / 0 166 771 A1 discloses a system for assisting another vehicle in the control of a vehicle capable of operating in multiple operating modes. When a specific event occurs that prevents the vehicle from operating autonomously, such as the intended entry into a high-risk area or driving on a route with a road closure along the route or a faulty component for the vehicle's autonomous operation, the vehicle sends a request for assistance via car-to-car communication.

[0004] Furthermore, US 2023 / 0 150 537 A1 discloses a method for assisting a driver of a vehicle. Certain driving maneuvers of the vehicle are performed depending on a determined driving behavior score of other road users in the vicinity of the vehicle. Examples of such driving maneuvers of the vehicle include merging into a lane, entering a highway, or entering a roundabout.

[0005] Furthermore, US 2021 / 0 327 270 A1 describes a method for assisting a vehicle with route guidance. Route guidance is carried out based on the determined driving experience scores of other road users.

[0006] DE 10 2015 216 074 A1 discloses a method for automatically controlling a vehicle, wherein, among other things, another vehicle as the lead vehicle drives to a parking space for the vehicle, and the vehicle is automatically controlled in such a way that it follows the other vehicle.

[0007] DE 10 2021 122 298 A1 shows systems and methods for platooning and in particular the management of vehicle platooning using blockchain or other distributed ledger technologies.

[0008] DE 10 2014 224 645 A1 relates to a control / regulating device of a vehicle for stopping a disabled vehicle at a suitable position, wherein the disabled vehicle is a vehicle whose driver has reached a disabled state in which the driver is unable to drive the vehicle, for example due to a heart attack or a cerebral infarction.

[0009] The invention is based on the object of specifying a method for controlling the driving operation of an ego vehicle that can be operated in assisted driving mode, in which the vehicle is operated in a simple and reliable manner while observing safety aspects when events occur that impair the driving ability of the driver of the ego vehicle.

[0010] This object is achieved according to the invention by a method for controlling the driving operation of an ego vehicle operable in assisted driving mode having the features recited in patent claim 1.

[0011] Advantageous further developments of the method according to the invention are part of the further patent claims.

[0012] In the method according to the invention for controlling the driving operation of an ego-vehicle operable in assisted driving mode, when events occur during the ego-vehicle's travel that impair the driving ability of the driver of the ego-vehicle, a control unit acting as a central location preferably determines and informs the ego-vehicle whether there are any possible assistance vehicles to support the ego-vehicle among the other vehicles participating in the traffic situation in the vicinity of the ego-vehicle, and thus spatially close to the ego-vehicle in the direction of travel of the ego-vehicle. For this purpose, the ego-vehicle sends an assistance request by means of an assistance request signal, preferably to the control unit acting as a central location.After the assistance request signal has been processed by the control unit acting as the central location, the possible assistance vehicles in the vicinity of the ego vehicle are transmitted to the ego vehicle along with a characteristic value assigned to the possible assistance vehicles and characterizing their driving safety. This information is then output in the ego vehicle. Preferably, the central location determines the possible assistance vehicles using the current position data of the ego vehicle and the other vehicles in the vicinity of the ego vehicle and provides this information to the ego vehicle.

[0013] If the ego vehicle has selected a specific possible assistance vehicle as the desired assistance vehicle to assist the ego vehicle, according to the invention, the ego vehicle sends an assistance request signal containing an assistance reward to the possible assistance vehicle selected as the desired assistance vehicle. The desired assistance vehicle then sends an assistance response signal to the ego vehicle in response to this assistance request signal.

[0014] In a preferred development of the invention, the control unit acting as a central location continuously determines the characteristic values ​​of the possible assistance vehicles that characterize the driving safety on the basis of data obtained by means of telematics and can thus be provided in a continuously updated manner.

[0015] In a preferred development of the invention, the possible assistance vehicles and their respective characteristics are visually displayed in the ego vehicle. The driver of the ego vehicle is thus visually informed about the possible assistance vehicles located in the upcoming route of the ego vehicle and their current characteristics, for example, through a visual display in a driver information system of the ego vehicle or in a head-up display of the ego vehicle or in a navigation system of the ego vehicle.

[0016] Based on the possible assistance vehicles transmitted to the ego vehicle and their respective driving safety characteristics, the ego vehicle or the driver of the ego vehicle selects a specific desired assistance vehicle to assist the ego vehicle. In particular, the desired assistance vehicle with the highest driving safety characteristic is selected from the possible assistance vehicles under consideration.

[0017] The selection of possible assistance vehicles to assist the ego vehicle is limited to the respective current journey of the ego vehicle and also to those other vehicles that are in the immediate vicinity of the ego vehicle and are moving in the same direction of travel as the ego vehicle and can therefore also be available to support the ego vehicle in a timely manner.

[0018] If the desired assistance vehicle sends a positive assistance response and thus a positive assistance response signal as an assistance confirmation signal to the ego vehicle, the desired assistance vehicle, now acting as the support vehicle, provides assistance operation for the ego vehicle.

[0019] In a preferred development of the invention, the characteristic value characterizing the driving safety of the potential assistance vehicles is determined based on several characteristic factors. In particular, the characteristic value characterizing the driving safety of the potential assistance vehicles is determined based on a weighted summation of several characteristic factors. This means that each of the individual characteristic factors used is assigned a specific weighting factor, so that the characteristic factors are weighted according to their significance. The characteristic value determined based on these weighted characteristic factors is then used to evaluate the driving safety of the potential assistance vehicles.

[0020] In this case, different characteristic factors can be used, at least in part, for manually or assisted possible assistance vehicles than for autonomously operated possible assistance vehicles.

[0021] The data transmission between the ego vehicle and the control unit acting as a central point and between the ego vehicle and the possible assistance vehicles for the determination and selection of a support vehicle can be carried out wirelessly in the context of Car2X communication.

[0022] In a further advantageous development of the invention, when selecting a support vehicle, at least one driver assistance system provided for carrying out movement processes of the ego vehicle is influenced in such a way that after the positive selection of a support vehicle, an assistance operation of the ego vehicle is carried out by the support vehicle with the aid of the driver assistance system of the ego vehicle.

[0023] The method according to the invention is thus used in particular in a driver assistance system of the ego vehicle that performs an independent movement process of the ego vehicle, such as an ACC system of the ego vehicle (Adaptive Cruise Control System) for longitudinal control of the ego vehicle as a driver assistance system. The data for this driver assistance system of the ego vehicle is then provided accordingly by the support vehicle.

[0024] Furthermore, an ego vehicle having at least one such driver assistance system is also claimed. The invention thus also includes a vehicle with a driver assistance system according to the invention, wherein the vehicle with the driver assistance system according to the invention can be designed in particular as a motor vehicle or truck, in particular as a passenger car, or as a truck or passenger bus.

[0025] The method according to the invention advantageously takes into account the traffic situation in which, due to external or internal circumstances, there is an increased need for assistance when operating the ego vehicle. According to the invention, this exceptional situation is reacted to accordingly, and control of the ego vehicle is temporarily transferred to a support vehicle with a high safety standard. Thus, the proposed method also advantageously controls the movement processes of the ego vehicle in a simple manner while adhering to safety aspects when exceptional situations occur.

[0026] An exemplary embodiment of the invention is described below. It shows: Fig. 1 a schematic representation of the traffic situation in front of an ego vehicle; Fig. 2 a schematic representation of the sequence of an assistance process for an ego vehicle and. Fig. 3 a schematic representation of an assistance operation for an ego vehicle.

[0027] The exemplary embodiment explained below is a preferred exemplary embodiment of the invention. In this exemplary embodiment, the described components each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also considered components of the invention, either individually or in a combination other than that shown. Furthermore, the described exemplary embodiment can also be supplemented by further features of the invention already described.

[0028] In the figures, functionally identical elements are provided with the same reference numerals.

[0029] In the Fig. 1 shows a traffic situation in the area of ​​a multi-lane road 3 with multiple lanes 5. Here, the ego vehicle 1, which is manually controlled by a driver 2 and has at least one driver assistance system for an assisted driving mode, moves together with several other vehicles 6 in a specific direction of travel 4 on different lanes 5 of the multi-lane road 3. In various scenarios, it may be necessary or desirable, particularly when an event occurs that impairs the current driving ability of the driver 2 of the ego vehicle 1, for the driver 2 and thus the ego vehicle 1 to be at least temporarily supported during the current journey of the ego vehicle 1.

[0030] A possible scenario for requiring assistance from driver 2 of ego-vehicle 1 could be, for example, a current impairment of the health or fitness of driver 2 of ego-vehicle 1, for example, due to stress, headaches, or fatigue. However, the impairment of driver 2 of ego-vehicle 1 is not so severe that the current journey of ego-vehicle 1 must be aborted. Another possible scenario for requiring assistance from driver 2 of ego-vehicle 1 is the completion of urgent, important work by driver 2 of ego-vehicle 1, for example, making an urgent, important phone call or answering an urgent, important email during the current journey of ego-vehicle 1.Another possible scenario for requiring assistance from driver 2 of ego-vehicle 1 is that driver 2 of ego-vehicle 1 would like to take a break during a longer current journey of ego-vehicle 1, but without wanting to interrupt the current journey of ego-vehicle 1. Finally, another possible scenario for requiring assistance from driver 2 of ego-vehicle 1 could be that weather conditions impair a safe current journey of ego-vehicle 1, particularly if the current visibility of driver 2 of ego-vehicle 1 is impaired.

[0031] In order to provide support for the driver 2 of the ego vehicle 1 in these exemplary scenarios, the method according to the invention provides that, for a specific route during the current journey of the ego vehicle 1, an assistance vehicle 8 supports the ego vehicle 1 by at least temporarily taking control of the ego vehicle 1. Possible assistance vehicles 7 include, in particular, other vehicles 6 that are located in the immediate vicinity of the ego vehicle 1 and are moving in the same direction of travel 4 as the ego vehicle 1.

[0032] As in the Fig. 2, in these exemplary scenarios and, if necessary, in similar cases, an assistance request signal 13 is sent from the ego vehicle 1 to a central location 10. This central location 10 stores the data from various vehicles, which are continuously transmitted, for example, via a telematics connection 17, and in particular also the data from those vehicles that are considered as possible assistance vehicles 7. On the basis of the data transmitted by the possible assistance vehicles 7, the central location 10 uses various characteristic factors to constantly determine a characteristic value 12 for the possible assistance vehicles 7, which characteristic value 12 depends in particular on the driving behavior and driving skills of a driver, and this characteristic value 12 is assigned individually and currently to the possible assistance vehicles 7.

[0033] For a possible assistance vehicle 7 operated in a manual driving mode, several or all of the following characteristic value factors can be considered to determine the current characteristic value 12: Acceleration and braking, cornering and turning behavior, driving experience based on the total distance traveled, driving on different routes and locations, use of mobile devices, number of traffic violations and accidents, and behavior regarding vehicle maintenance

[0034] For a possible assistance vehicle 7 operated in a highly automated or autonomous driving mode, several or all of the following characteristic value factors may be considered to determine the current characteristic value 12: the collision rate, compliance with traffic regulations, fuel efficiency, the system performance of the driving mode, the number or frequency of human interactions, data exchange and connectivity, as well as weather conditions and environmental conditions.

[0035] A specific weighting factor can be assigned to the characteristic factors used, so that the current characteristic value 12 of the respective possible assistance vehicle 7 is then determined based on these weighted, different characteristic factors. The possible assistance vehicles 7, together with their respective individual current characteristic value 12, are transmitted from the central station 10 to the ego vehicle 1, for example, via a radio connection, in response to the assistance request signal 13 sent from the ego vehicle 1 to the central station 10. In the ego vehicle 1, the possible assistance vehicles 7, together with their respective individual current characteristic value 12, are then visually displayed on a display unit 9 of the ego vehicle 1.

[0036] By means of the selection process 14, the ego vehicle or the driver 2 of the ego vehicle 1 then selects a desired assistance vehicle 8 from the possible assistance vehicles 7 visually displayed on the display unit 9 of the ego vehicle 1. An assistance request signal 15 is then transmitted from the ego vehicle 1 to the selected desired assistance vehicle 8, for example, within the framework of car-to-car communication (C2C communication), wherein the assistance request signal 15 also includes, in particular, the indication of a reward in the event of assistance by the desired assistance vehicle 8. The desired assistance vehicle 8 then transmits an assistance response signal 16 to the ego vehicle 1 in response to the assistance request signal 15, for example, also within the framework of car-to-car communication (C2C communication).In the case of a positive assistance response signal 16 from the desired assistance vehicle 8 and thus an assistance confirmation signal from the desired assistance vehicle 8, the desired assistance vehicle 8 then functions as a support vehicle for the ego vehicle 1 in a temporary assistance operation 11.

[0037] The assistance process for this temporary assistance operation 11 of the ego vehicle 1 is in the Fig. 3 symbolically shown. The left representation of the Fig. 3 shows the selection process 14 of the ego vehicle 1, which has a positive conclusion. This means that the selected desired assistance vehicle 8 responds to the assistance request signal 15 of the ego vehicle 1 with an assistance confirmation signal as a positive assistance response signal 16. In the right illustration of the Fig.3 shows that the desired assistance vehicle 8, as a support vehicle for the ego vehicle 1, enters lane 5 in front of the ego vehicle 1 and thereby temporarily assumes control of the ego vehicle 1. In particular, in the temporary assistance mode 11, a driver assistance system of the ego vehicle 1 is also controlled by the desired assistance vehicle 8 as a support vehicle. For example, a driver assistance system of the ego vehicle 1 (ACC system "Adaptive Cruise Control System") intended for the longitudinal control of the ego vehicle 1 is controlled with the data of the desired assistance vehicle 8 as a support vehicle. List of reference symbols 1 own vehicle 2 drivers 3 Street 4 Direction of travel 5 lanes 6 additional vehicles 7 possible assistance vehicles 8 support vehicle 9 Display unit 10 Central Office 11 Assistance operation 12 characteristic value 13 Support request signal 14 Selection process 15 Assistance request signal 16 Assistance response signal 17 Telematics connection

Claims

[1] Method for controlling the driving operation of an ego vehicle (1) operable in assisted driving mode, wherein when an event occurs which impairs the driving ability of the driver (2) of the ego vehicle (1) during the journey of the ego vehicle (1), an assistance request is sent by the ego vehicle (1) by means of an assistance request signal (13), wherein after a predetermined processing of the assistance request signal (13), possible assistance vehicles (7) are determined from among the vehicles (6) located in the vicinity of the ego vehicle (1), and these possible assistance vehicles (7) are output in the ego vehicle (1) together with a respective characteristic value (12) assigned to the possible assistance vehicles (7) and characterizing the driving safety, and wherein the ego vehicle (1) or the driver (2) of the ego vehicle (1) selects a desired assistance vehicle (8) for an assistance operation (11) of the ego vehicle (1) from the possible assistance vehicles (7) based on the respective characteristic value (12) of the possible assistance vehicles (7), characterized by , that after the selection of a desired assistance vehicle (8) from the ego vehicle (1) an assistance request signal (15) containing a support reward is sent to the desired assistance vehicle (8) and the desired assistance vehicle (8) then sends an assistance response signal (16) to the ego vehicle (1). [2] Method according to claim 1, characterized by that in the case of an assistance confirmation signal as a positive assistance response signal (16) of the desired assistance vehicle (8), the desired assistance vehicle (8) as a support vehicle provides an assistance operation (11) for the ego vehicle (1). [3] Method according to one of claims 1 and 2, characterized by that the possible assistance vehicles (7) are determined by a central station (10) using the current position data of the ego vehicle (1) and the vehicles (6) located in the vicinity of the ego vehicle (1) and are made available to the ego vehicle (1). [4] Method according to one of claims 1 to 3, characterized by that the characteristic value (12) of the possible assistance vehicles (7) characterising the driving safety is determined on the basis of a weighted summation of several characteristic value factors. [5] Method according to one of claims 1 to 4, characterized by that the central station (10) continuously determines the characteristic value (12) of the possible assistance vehicles (7) characterising the driving safety on the basis of data obtained by means of a telematics connection (17). [6] Method according to one of claims 1 to 5, characterized bythat the characteristic value (12) of the possible assistance vehicles (7) characterizing the driving safety is optically output in the ego vehicle (1) by means of an optical display unit (9) of the ego vehicle (1). [7] Method according to claim 6, characterized by that the characteristic value (12) of the possible assistance vehicles (7) characterizing the driving safety is optically output in a head-up display of the ego vehicle (1) or in a driver information system of the ego vehicle (1) or in a navigation system of the ego vehicle (1). [8] Driver assistance system of an ego vehicle (1), in which a method according to one of claims 1 to 7 is used. [9] Ego vehicle (1) with at least one driver assistance system operated according to claim 8.

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