Method for keeping a road intersection clear for a special operations vehicle and control unit

Abstract

The invention relates to a method for keeping a road intersection (10) clear for a special emergency vehicle (12) and a control device for carrying out the method. It is provided that, based on route information received from a special operations vehicle (12), an intersection point with the route of the own motor vehicle (16) is determined and the own motor vehicle (16) stops at the intersection (10) corresponding to the intersection point and informs other road users about the approaching special operations vehicle (12) in order to keep the intersection (10) clear for the special operations vehicle (12).

Description

[0001] The invention relates to a method for keeping a road intersection clear for a special operations vehicle and a control unit for operating a motor vehicle configured to carry out the method. The motor vehicle is preferably a self-driving vehicle.

[0002] In emergency operations, fast response times are crucial to saving lives. Modern statistics show that longer response times lead to a higher mortality rate in motor vehicle accidents. It is estimated that just a five-minute delay in response time, compared to seven to twelve minutes, can increase the probability of death for the injured person by 46 percent. Therefore, it is vital that emergency services reach the scene as quickly as possible. To achieve fast response times, special emergency vehicles on duty, such as fire departments, ambulances, police, or civil protection vehicles, use their sirens, usually flashing blue lights, and sirens to quickly navigate through traffic. As such, special emergency vehicles enjoy special rights of way in many countries.This means that special emergency vehicles have priority over regular road users and must be allowed to pass. However, drivers of vehicles are often surprised by approaching emergency vehicles and require some time to clear the path for the emergency vehicle, which slows down the response time of emergency personnel.

[0003] In order to prevent road users from failing to recognize special emergency vehicles, there are current efforts to improve road users' ability to perceive special emergency vehicles.

[0004] For example, US 2020 / 0 152 058 A1 describes a system for electronically tracking and notifying drivers of approaching emergency vehicles based on a route the emergency vehicles are traveling or will be traveling. This allows a driver to respond appropriately to the emergency vehicle by moving out of the way or seeking an alternative route. Furthermore, the system can recommend an alternative route to avoid the approaching emergency vehicles and / or the emergency ahead.

[0005] The publication US 2022 / 0 410 937 A1 describes a system for an autonomous vehicle which, based on a comparison of the trajectories of the autonomous vehicle and the emergency vehicle, checks whether a lane change is possible in order to clear the way for the emergency vehicle.

[0006] The document DE 10 2019 132 091 A1 relates to a method for operating a motor vehicle, wherein the motor vehicle is designed for autonomous and / or semi-autonomous driving operation, in which the motor vehicle is moved along a predetermined driving trajectory, in particular for forming an emergency lane.

[0007] Publication WO 2011 / 013 238 A1 describes a driver assistance system for supporting the evacuation behavior of ordinary vehicles by providing information about an emergency vehicle. An emergency vehicle information receiving device receives information about the emergency vehicle, including the position, speed, and direction of travel of the emergency vehicle. Upon receiving the information about the emergency vehicle, a first notification means sends a notification of the presence of the emergency vehicle approaching the ordinary vehicles. Following notification by the first notification means, a second notification means provides the instruction information required for the evacuation behavior of the ordinary vehicles. In this way, the driver assistance system provides the information gradually in two steps.This allows the information to be provided at an appropriate time, reducing the driver's hesitation or delay in evacuation behavior.

[0008] Further examples of a relevant nature are described in the documents US 2021 / 0 103 747 A1, DE 10 2021 129 528 A1, JP 2018 - 116 409 A and JP 2017 - 182 278 A.

[0009] However, it has become apparent that the state-of-the-art solutions do not yet sufficiently improve the response times of emergency services.

[0010] Therefore, the object of the invention is to provide a method and a control device for reacting to a special operations vehicle, which shortens the reaction time of the special operations vehicle or at least reduces a delay in the reaction time as much as possible.

[0011] The object of the invention is achieved by a method for keeping a road intersection clear for a special operations vehicle and a control unit for operating a motor vehicle according to the independent patent claims. Preferred developments are the subject of the respective dependent claims.

[0012] A first aspect relates to a method for keeping a road intersection clear for a special emergency vehicle.

[0013] In one method step, a planned route of a special operations vehicle is received via a radio communication unit of a motor vehicle. The planned route originates, for example, from a navigation device of the special operations vehicle or is a route specified by the control center. For example, the special operations vehicle or an external communication unit transmits radio communication signals containing information about the planned route of the special operations vehicle. The external communication unit is preferably connected to a backend or server, for example a control center, and is configured to transmit information transmitted from the backend or server to the surrounding area via radio communication. The radio communication preferably takes place via Car2X communication.Car2X ("Car to x") is communication between vehicles and their environment ("x"), such as other motor vehicles, stationary communication units, and the like. Transmitted C2X radio signals typically have a range of several hundred meters, for example, at least 300 meters.

[0014] In a further step of the method, the received route of the special operations vehicle is compared with the motor vehicle's own route to determine an intersection point (of the two routes). The intersection point is preferably calculated by the received motor vehicle. Alternatively, the calculation can be performed by a backend or server communicating with the motor vehicle. Intersection points represent points of intersection of the respective route at which the motor vehicle is likely to encounter the special operations vehicle. In other words, the intersection points correspond to road intersections where the road traveled by the motor vehicle intersects the road traveled by the special operations vehicle. The term "road intersection" should be understood to include alternative forms, such as roundabouts.The vehicle's own route is derived, for example, from the vehicle's navigation system. The calculation and determination of routes, for example, based on satellite-based communication, is generally known and will therefore not be described in detail.

[0015] If an intersection point has been identified, the vehicle is directed to stop at an intersection associated with the intersection point in order to prevent (rearward) traffic on the road being traveled by the vehicle from passing through the intersection until the special emergency vehicle passes through. In particular, this maneuver is intended to block the lane used by the vehicle so that rearward traffic from at least this lane is prevented from entering or crossing the intersection. This clears or keeps the path clear for the emergency vehicle, allowing it to pass the intersection more quickly. As a result, the response times of emergency vehicles can be shortened.In contrast to known solutions, which usually aim to find solutions for individual vehicles, this approach takes into account the traffic as a whole and thus also other road users and attempts to influence it in such a way that the reaction time of the emergency vehicle can be shortened.

[0016] Particularly preferably, the motor vehicle is designed as an at least partially self-driving vehicle (fully autonomous or semi-autonomous), which thus automatically performs the stopping maneuver at the intersection. Alternatively, the motor vehicle can be controlled manually by a driver who follows a correspondingly issued request to stop at the intersection. In other words, an approach is presented that blocks traffic prior to the arrival of an emergency vehicle, thus clearing the way for the emergency vehicle, in particular by utilizing the capabilities of autonomous vehicles.

[0017] Furthermore, if an intersection point is detected, the vehicle issues a warning to the surrounding area of ​​the special operations vehicle as it approaches the intersection. By issuing the warning to the surrounding area of ​​the vehicle, or more precisely to other road users in the surrounding area, road users also affected by the special operations vehicle can be informed of the impending special driving situation with the special operations vehicle. This prevents the other road users from being surprised by the special operations vehicle and minimizes the time required to clear the path for the emergency vehicle.

[0018] If no crossing point is determined, the procedure is terminated and / or executed again.

[0019] In an additional or alternative embodiment, the received planned route of the special operations vehicle further includes associated time information. Associated time information includes, for example, a speed of the special operations vehicle, in particular an expected average speed of the special operations vehicle, and the distance to be covered. This information can be used to calculate arrival times of the special operations vehicle along the planned route, for example, expected arrival times of the emergency vehicle at intersections along the planned route. In this embodiment, it is then determined whether a difference between the expected arrival times of the special operations vehicle and the motor vehicle at the intersection falls below a predetermined threshold.The motor vehicle is then further triggered to stop at the intersection and issue the warning, provided that the determined difference in arrival times falls below the specified threshold. The specified threshold is preferably two minutes, one minute, 45 seconds, or 30 seconds. This prevents the motor vehicle from blocking an intersection too early and thus unnecessarily disrupting traffic flow.

[0020] In a further preferred embodiment, it is provided that it is determined whether another special operations vehicle is located in the vehicle vicinity of the motor vehicle. This is preferably also carried out using received radio signals. Additionally or alternatively, vehicle environment sensors, such as external camera systems and / or external microphones, can also be used to detect another special operations vehicle in the vehicle vicinity of the motor vehicle. In this embodiment, the motor vehicle is further controlled to stop at the intersection and to issue the warning under the condition that this procedure, i.e. the planned stopping maneuver at the intersection, does not block any other special operations vehicle from passing by the motor vehicle. In the simplest case, the stopping maneuver is only carried out if exactly one special operations vehicle has been detected in the vehicle vicinity.This prevents the response time of the emergency vehicle from being reduced at the expense of the response time of another emergency vehicle.

[0021] In a further preferred embodiment, before the motor vehicle is directed to stop at the intersection, a warning about the planned stopping maneuver at the intersection is issued by the motor vehicle to the surroundings of the vehicle. This informs road users behind the motor vehicle about the planned stopping maneuver at the (ahead) intersection so that the traffic behind can prepare for it and react appropriately. Preferably, the warning about the planned stopping maneuver is issued together with the warning about the approach of the special operations vehicle to the intersection.

[0022] In a further additional or alternative embodiment, it is provided that the received planned route of the special operations vehicle further includes associated time information (as already mentioned above). The arrival time of the special operations vehicle at the intersection is then determined, and the determined arrival time or a duration determined therefrom until the arrival of the special operations vehicle at the intersection is output by the motor vehicle to the vehicle's surroundings. This not only warns surrounding drivers but also provides an overview of how long the intersection is expected to be blocked. This can improve the understanding and consideration of surrounding drivers for the special driving situation associated with the special operations vehicle.In a further preferred embodiment, in addition to the warning issued by the motor vehicle about the approach of the special operations vehicle to the intersection, a request to implement a collaborative strategy to keep the intersection clear for the special operations vehicle is issued by the motor vehicle to other vehicles in the vehicle's vicinity. The request, or more precisely the communication, preferably takes place via Car2X radio communication. A collaborative strategy is understood to be a jointly coordinated behavior of several participants to achieve a common goal. In other words, the surrounding vehicles are called upon by the motor vehicle to also stop at the intersection in order to allow the special operations vehicle to pass with as little delay as possible. As a result, additional access roads to the intersection and / or additional lanes may be blocked.As a result, the efficiency of the stopping maneuver can be increased and the reaction time of the emergency vehicle can be further (or even better) reduced. Preferably, the collaborative strategy can also include a targeted lane change by the vehicles to actively block additional (free) lanes at the intersection. In other words, the vehicles can position themselves at the intersection, distributed across the lanes within the permissible limits of the road's lane layout, and block them until the emergency vehicle has passed the intersection.

[0023] It is also preferable that warnings about the jointly executed stopping maneuver at the intersection be issued to the surrounding vehicles by the vehicles participating in the collaborative strategy. The warning issued by multiple vehicles makes it even less likely that surrounding traffic will be surprised by the special operations vehicle.

[0024] Furthermore, it is preferably provided that the collaborative strategy for keeping the intersection clear for the special operations vehicle is determined by the motor vehicle or by a server communicating with the motor vehicle. This allows more effective strategies to be determined for individual driving situations and intersections. For example, data is exchanged with the server to evaluate and optimize the determined collaborative strategy, particularly after the collaborative strategy has been implemented, in order to assess the efficiency of the strategy used. Proven, optimal strategies can then be used in future situations.

[0025] In a further preferred embodiment, it is provided that the warning about the approach of the special operations vehicle (and / or other warnings mentioned herein) to the intersection is transmitted to the vehicle's surroundings by the motor vehicle acoustically, visually and / or by radio communication. An acoustic output is provided, for example, via an internal or external loudspeaker and / or by honking the horn. A visual output is preferably provided via a screen of the motor vehicle. The screen can display, for example, an arrival time or a duration determined from this until the arrival of the emergency vehicle. The radio communication is preferably carried out via Car2X communication, in particular via car-to-car (also called vehicle-to-vehicle "V2V") communication.

[0026] A further aspect of the invention relates to a control unit for a motor vehicle. The control unit is configured to carry out the method described above. The motor vehicle is preferably the motor vehicle described above. The advantages achieved with the method can be achieved analogously with the control unit. The disclosed feature combinations of the method can be applied analogously to the control unit. A repeated description of the features and advantages is therefore omitted.

[0027] The individual method steps of the method according to the invention are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated when executing one or more computer programs. The computing devices are preferably designed to cooperate with other components, in particular a control unit for operating a motor vehicle, in order to implement the functionalities described herein. Likewise, the control unit is preferably embodied as a central (single-part) or decentralized (multi-part) component.

[0028] The individual components of the control unit are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated when executing one or more computer programs. The computing devices are preferably designed to cooperate with other components, for example, with a radio communication unit, in order to implement the functionalities described herein. The instructions of the computer programs are also preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory, or the like.

[0029] It will also be apparent to a person skilled in the art that the functionalities of several computers (data processing devices) may be combined or combined in a single device or that the functionality of a particular data processing device may be distributed among a plurality of devices in order to carry out the steps of the method according to the invention without deviating from the method according to the invention.

[0030] A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit for operating a motor vehicle, cause the computer to carry out the method, in particular a method for keeping a road intersection clear for a special emergency vehicle.

[0031] Further preferred embodiments of the invention emerge from the remaining features mentioned in the subclaims.

[0032] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless otherwise stated in the individual case.

[0033] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Fig. 1 a schematic representation of a method for keeping a road intersection clear for a special emergency vehicle according to one embodiment and Fig. 2 a schematic representation of a driving situation of a motor vehicle with a control unit for operating the motor vehicle according to an embodiment.

[0034] Fig. 1 shows a schematic representation of a method for keeping a road intersection 10 clear for a special operation vehicle 12 according to an embodiment, which is shown by way of example in Fig. 2, a schematic representation of a driving situation of a motor vehicle 16 with a control unit (not shown) for operating the motor vehicle 16 according to one embodiment (or a plurality of motor vehicles 16).

[0035] In Fig. 2 shows an exemplary intersection 10, which a special operations vehicle 12 in use must cross according to the planned route 14 in order to reach the called-up location. The route 14 planned by the special operations vehicle 12 intersects many routes of the Fig. 2, so that the driver of the special operations vehicle 12 cannot simply cross the intersection 10 without thinking. Rather, for his own safety, the driver must check whether the motor vehicles 16 have noticed the special operations vehicle 12 and are allowing it to pass. In particular, if individual road users fail to see the special operations vehicle 12, situations arise in which the special operations vehicle 12 takes significantly longer to cross the intersection 10. This results in valuable reaction time of the special operations vehicle 12 being lost.

[0036] Therefore, according to a first method step 50, the planned route 14 of the special operations vehicle 12 is received via a radio communication unit (not shown) of the motor vehicle 16, or of the motor vehicles 16a to 16e—hereinafter referred to as 16. Of course, the planned route 14 of the special operations vehicle 12 can also be received by the other vehicles 18, more precisely 18a to 18e—hereinafter referred to as other vehicles 18. The other vehicles 18 differ from the motor vehicles 16 essentially in that they arrive at the intersection 10 behind the motor vehicles 16 and thus only come into contact with the special operations vehicle 12 indirectly at the intersection 10.Because the planned route 14 of the special operations vehicle 12 is received via radio communication, the presence of the special operations vehicle 12 can be detected even in areas that are otherwise obscured for some of the motor vehicles 16, namely the motor vehicles 16b to 16d. In the example shown in . Fig. In the driving situation shown in Figure 2, the view of the special operation vehicle 12 is blocked for the motor vehicles 16b to 16d by buildings 22 located in between.

[0037] In a second method step 52, the received route 14 of the special operations vehicle 12 and the own route of the motor vehicle 16 are compared to determine an intersection point. Fig. In the example shown in Figure 2, this means that the motor vehicles 16 compare their respective driving routes with the received planned driving route 14 of the special operations vehicle 12 in order to determine whether there is an intersection point of the respective driving routes.

[0038] In a third method step 54, based on a result of the comparison, it is determined whether an intersection point exists between the planned route 14 of the special operations vehicle 12 and the routes of the respective motor vehicles 16.

[0039] If no intersection point can be determined (No), as is the case, for example, with the motor vehicle 16e, which has already passed the intersection 10 and therefore no longer has to pass the intersection 10 to be crossed by the special operations vehicle 12 (compare the direction of travel arrows 20), the method is terminated or the process returns to the first method step 50 and the method is carried out again.

[0040] However, if an intersection point has been determined (Yes), as is the case for motor vehicles 16a to 16d, since each of the aforementioned motor vehicles 16a to 16d is approaching the intersection 10 and intersecting the route 14 planned by the special operations vehicle 12, a fourth method step 56 takes place. In the fourth method step 56, the respective motor vehicle 16, namely 16a to 16d, is controlled to stop at the intersection 10 associated with the intersection point. This prevents traffic, i.e. the other vehicles 18a to 18d, on the road traveled by the respective motor vehicle 16 from passing through the intersection 10 until the special operations vehicle 12 passes through. In other words, the intersection 10 is blocked for the other vehicles 18a to 18d by the stopped motor vehicles 16a to 16d and the intersection 10 is kept clear for the approaching special operations vehicle 12.In this respect, the special operations vehicle 12 can pass the intersection 10 kept clear in this way more quickly, so that the reaction time of the special operations vehicle 12 can be shortened.

[0041] The approach pursued here is therefore not based on a motor vehicle 16 developing an individual strategy for letting the special operations vehicle 12 through with a view to itself, but rather it is envisaged that a strategy is developed with which other road users, for example the other vehicles 18, are also encouraged to let the special operations vehicle 12 through. Preferably, a mutually coordinated collaborative strategy for letting the special operations vehicle 12 through at the intersection 10 should be determined and implemented, as described in the Fig.2 is shown as an example. In this collaborative strategy, all possible access roads and access lanes to the intersection 10 are blocked by a respective motor vehicle 16, namely by the motor vehicles 16a to 16d, so that crossing the intersection 10 within the permitted lanes is not possible or only possible behind the special operations vehicle 12.

[0042] In a fifth method step, a warning is issued by the respective motor vehicles 16 about the approach of the special operations vehicle 12 to the intersection 10 to the surrounding vehicle area, for example, the other vehicles 18. By issuing the warning, the other vehicles 18, which are also indirectly affected by the special operations vehicle 12, can be informed of the impending special driving situation with the special operations vehicle 12 in order to avoid the situation in which the other vehicles 18 are surprised by the special operations vehicle 12.

[0043] In a particularly preferred embodiment, the motor vehicles 16 are designed as self-driving motor vehicles 16, which in this respect automatically carry out the stopping maneuver at the intersection 10 and thus enable a collaborative strategy of almost automatically keeping the intersection 10 clear for special emergency vehicles 12.

[0044] Although a large number of motor vehicles 16 have been used to explain the method by way of example, it is understandable that the method can already be applied to only one motor vehicle 16 and can bring about the described technical effects and advantages. List of reference symbols 10 intersection 12 special operations vehicles 14 planned route of the special operations vehicle 16 motor vehicle 18 other vehicles 20 direction indicators 22 buildings 50 First process step - Receiving a planned route 52 Second process step - Comparing the received route 54 Third procedural step - Checking the routes 56 fourth procedural step - controlling the motor vehicle to stop 58 fifth procedural step - issuing a warning

Claims

[1] Method for keeping a road intersection (10) clear for a special operations vehicle (12), comprising the steps: - receiving (50) a planned route (14) of a special operations vehicle (12) and associated time information via a radio communication unit of a motor vehicle (16), - comparing (52) the received route (14) of the special operation vehicle (12) and the motor vehicle's own route (16) to determine an intersection point, - if an intersection point has been determined, controlling (56) the motor vehicle (16) to stop at an intersection (10) associated with the intersection point in order to prevent traffic on the road travelled by the motor vehicle (16) from passing through the intersection (10) until the special operation vehicle (12) passes through, and - issuing (58) a warning about the approach of the special operations vehicle (12) to the road intersection (10) to the vehicle surroundings by the motor vehicle (16), the method further comprising the step: - Determining whether a difference between the expected arrival times of the special operations vehicle (12) and the motor vehicle (16) at the intersection (10) falls below a predetermined threshold value, wherein the motor vehicle (16) is further controlled to stop at the intersection (10) and to issue the warning under the condition that the determined difference in the arrival times falls below the predetermined threshold value, and / or wherein the method further comprises the steps: - Determining an arrival time of the special operation vehicle (12) at the intersection (10) and - Output of the determined arrival time or a duration determined therefrom until the arrival of the special operation vehicle (12) at the road intersection (10) by the motor vehicle (16) to the vehicle surroundings. [2] Method according to the preceding claim, further comprising the step: - determining whether another special operations vehicle is located in the vehicle surroundings of the motor vehicle (16), wherein the motor vehicle (16) is further controlled to stop at the intersection (10) and to issue the warning under the condition that this procedure does not block any other special operations vehicle from passing by the motor vehicle (16). [3] Method according to one of the preceding claims, wherein, before the motor vehicle (16) is driven to stop at the road intersection (10), a warning about the planned stopping maneuver at the road intersection (10) is output by the motor vehicle (16) to the vehicle surroundings. [4] Method according to one of the preceding claims, wherein, in addition to the warning issued by the motor vehicle (16) about the approach of the special operations vehicle (12) to the intersection (10), a request to carry out a collaborative strategy for keeping the intersection (10) clear for the special operations vehicle (12) is issued by the motor vehicle (16) to other vehicles (18) in the vehicle environment. [5] Method according to claim 4, wherein warnings about the jointly performed stopping maneuver at the intersection (10) are issued to the vehicle environment by the vehicles (18) involved in the implementation of the collaborative strategy. [6] Method according to one of claims 4 or 5, wherein the collaborative strategy for keeping the intersection (10) clear for the special operations vehicle (12) is determined by the motor vehicle (16) or by a server communicating with the motor vehicle (16). [7] Method according to one of the preceding claims, wherein the warning about the approach of the special operations vehicle (12) to the road intersection (10) to the vehicle surroundings is given by the motor vehicle (16) acoustically, visually and / or by means of radio communication. [8] Control device for operating a motor vehicle (16), which is designed to carry out the method according to one of the preceding claims.

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