Method for locating at least one vehicle in the area of ​​a roadway and vehicle

Abstract

The invention relates to a method for locating at least one vehicle (10), in particular a bicycle, in the area of ​​a roadway (12), wherein the vehicle (10) communicates with other road users (16) by means of V2X communication (14) and / or wherein the vehicle (10) communicates with at least part of a road traffic infrastructure by means of V2X communication (14). In a method which enables reliable and cost-effective allocation of the bicycle to the correct route, it is provided that information about status data of the vehicle (10) and information about status data of the other road users (16) are transmitted during the V2X communication (14), wherein the status data comprise information about a traveled trajectory (18) of at least one other road user (16), wherein, taking into account a change in further status data, it is determined whether the trajectory (18) is an avoidance trajectory (20), and wherein, in the case of an existing avoidance trajectory (20), it is determined whether the avoidance trajectory (20) was traveled in connection with the position of the vehicle (10).

Description

[0001] The invention relates to a method for locating at least one vehicle, in particular a bicycle, in the area of ​​a roadway, wherein the vehicle communicates with other road users by means of V2X communication and / or wherein the vehicle communicates with at least part of a road traffic infrastructure by means of V2X communication, wherein information about status data of the vehicle and information about status data of the other road users are transmitted during the V2X communication.

[0002] In addition, the invention relates to a vehicle, in particular a bicycle, with at least one interface for V2X communication and with at least one evaluation unit.

[0003] Despite advances in vehicle safety, accident rates between cars and vulnerable road users have stagnated. Intersections and junctions are particularly hotspots for cyclists and motorcyclists. To prevent accidents involving vulnerable road users, state-of-the-art systems are available that warn of collisions between a vehicle and a vulnerable road user in critical situations or intervene in the vehicle's dynamics, for example, by applying the brakes. These systems utilize various sensors installed on the vehicle, such as ultrasonic sensors, radars, lidars, or cameras.

[0004] State-of-the-art systems, which exclusively use sensors installed on the vehicle, suffer from the limitation that a line of sight to the relevant road user is required, regardless of whether camera, ultrasonic, radar, or lidar sensors are used. In situations where an unprotected road user is obscured by an object, such as a building or vegetation, before entering the path of the car, conventional systems are often unable to react in time, and a collision, often with serious consequences, is unavoidable. State-of-the-art systems are also often designed to issue a warning as late as possible to minimize the number of false alarms.

[0005] DE 10 2018 200 914 A1 discloses a method in which an overtaking vehicle determination is performed to determine whether another vehicle is an overtaking vehicle based on position data included in first communication data received from the other vehicle and also the position data of a self-vehicle.

[0006] DE 10 2022 212 612 A1 discloses a method and an assistance system for monitoring the surroundings of a bicycle. The invention further relates to a computer program product and a bicycle.

[0007] US 2017 / 0 080 952 A1 discloses an electronic control unit in a vehicle configured to detect a second vehicle in front of the first vehicle. A first position of the first vehicle and a second position of the detected second vehicle are determined for a first time. It can be determined whether a lateral distance between the determined first position and the determined second position is below a predefined threshold distance. A first warning is generated if the determined lateral distance is below the predefined threshold.

[0008] DE 10 2021 213 397 A1 discloses a device for detecting vehicles in an area behind a bicycle. The approach of a vehicle is detected based on the environmental data, with the proximity data indicating whether a vehicle has reached the area behind the bicycle. Control signals are sent to a visualization unit via an output interface.

[0009] V2X communication enables vehicles in road traffic to communicate with each other and / or with infrastructure such as cameras, traffic lights, etc. However, for effective warnings and notifications regarding vulnerable road users, especially bicycles, such an implementation requires knowledge of the path a bicycle is traveling on, for example, whether it is on a bicycle path or a road. These paths can be so close together that low-cost GNSS (global navigation satellite system) receivers are insufficient to accurately resolve them. In particular, in wooded or densely built-up areas, incorrect assignments are possible. V2X functions designed to warn of cyclists on roadways are therefore triggered incorrectly or not at all.This significantly reduces the acceptance of such functions and warnings may no longer be considered relevant by the driver of a vehicle or may be deactivated directly.

[0010] The invention is based on the object of specifying a method for locating a vehicle, in particular a bicycle, on a roadway and a vehicle, which enables a reliable and cost-effective assignment of the bicycle to the correct route.

[0011] This object is achieved in the present invention firstly by the features of patent claim 1 in that the state data comprise information about a driven trajectory of at least one further road user, wherein, taking into account a change in further state data, it is determined whether the trajectory is an avoidance trajectory, and wherein, in the case of an existing avoidance trajectory, it is determined whether the avoidance trajectory was driven in connection with the position of the vehicle.

[0012] V2X data is a technology that allows vehicles to communicate with their environment, i.e., "X." A special Car2Car variant of the Car2X system allows vehicles to communicate with each other. Transmission is possible in both directions. Consequently, the vehicle can communicate with its environment and / or the environment with the vehicle. Sensor data is preferably transmitted during communication. It is conceivable that Car2X communication will be implemented via a Wi-Fi connection.

[0013] Examples of this are the CAM (Cooperative Awareness Message) or DENM (Decentralized Environmental Notification Message) of the ETSI standard for Car2X communication. Vehicles can communicate with other vehicles using Car2X communication. Through communication between vehicles, the vehicles can share their positions with each other. By linking them to an environmental sensor, for example, the vehicle's position can be determined more precisely. The vehicle can also communicate with the infrastructure using Car2X communication.

[0014] The infrastructure can include traffic lights or, for example, cameras used to monitor road traffic.

[0015] The status data can be various data from the vehicle or other vehicles. States are, in particular, physical properties that the vehicle possesses at a specific moment. These include, for example, speed, direction of travel, acceleration, and similar values.

[0016] Other road users include, in particular, those who are in the vicinity of the vehicle. These are vehicles moving in the prescribed direction of travel in the lane occupied by the vehicle. However, it is also conceivable that other vehicles are part of oncoming traffic, for example. Other road users can also be cyclists or pedestrians.

[0017] A trajectory is the path traveled by a vehicle or other road users, particularly on a road. This takes into account both the longitudinal movement on the road and the lateral movement of the vehicle on the road. Consequently, a trajectory includes not only the path traveled on a road, for example, but also the lateral movement, i.e., the position of the vehicle in relation to the overall roadway width or the width of the roadway. Roadworks, for example, often result in road narrowing, meaning that driving is only possible within a certain range of the total theoretically available width of the roadway.

[0018] An avoidance trajectory is a path taken to avoid an object, such as an obstacle. For example, if a slow cyclist is overtaken, another road user will pull out onto the roadway to overtake the cyclist at a reasonable distance. Such a pullout and subsequent re-entry is considered an avoidance trajectory. Essentially, an avoidance trajectory is a deviation from a path otherwise determined by the road layout.

[0019] A first advantage of the method according to the invention is that the position of the vehicle with the evasive trajectory, more precisely the position at which the other road user initiates the evasive trajectory, provides information about whether the vehicle is on the road or a lane of a road. In this way, the vehicle can self-locate by recognizing patterns from other road users.

[0020] Further preferred embodiments of the invention emerge from the remaining features mentioned in the subclaims.

[0021] According to the invention, information that the vehicle is on the road is transmitted to other road users via V2X communication. This allows the vehicle to perform self-localization based on pattern recognition and share its position with other road users. Thus, it is sufficient for an evasive trajectory to be identified, yet other vehicles can still be warned that a bicycle is on the road.

[0022] In a further embodiment of the method according to the invention, only the V2X communication of other road users located within a certain radius of the vehicle is taken into account. This minimizes computational effort, as unnecessary evasive trajectories executed by another road user who is not in the vicinity of the vehicle do not need to be evaluated. It can also be provided that the information that the vehicle, in the form of a bicycle, is on the road is only transmitted to road users who are in the vicinity of the vehicle. Road users outside a predetermined radius or perimeter do not require such information.

[0023] Furthermore, a further embodiment of the method according to the invention provides that only the V2X communication of other road users traveling in the same direction as the vehicle is taken into account. This further reduces the computational effort. Such a restriction of the addressees can also be carried out in combination with the aforementioned radius. Thus, only directly relevant evasive trajectories are taken into account, which are or were most likely executed with respect to the vehicle.

[0024] In a further preferred embodiment of the invention, it is provided that a change in further state data is a change in a lateral acceleration or a lateral speed of the further road user. The lateral acceleration or lateral speed is to be understood as the direction perpendicular to the direction of travel. A change in the lateral acceleration or speed is therefore an indication of, for example, a lane change that results in an overtaking maneuver. This can be an indication that the further road user is initiating an evasive trajectory to avoid an obstacle or to overtake a slower vehicle, for example a bicycle. More specifically, it can be provided that only the lateral acceleration or speed to the left is considered for initiating an evasive trajectory.Analogously, a lateral acceleration or speed to the left can be used to terminate an evasive trajectory.

[0025] Additionally or alternatively, a further embodiment of the method according to the invention provides that a change in further status data is the activation of a left turn signal as the initiation of an evasive maneuver. The turn signal status can additionally be used to assess whether an evasive trajectory is being taken. A left turn signal is generally an indication of a planned change of direction by a vehicle or other road user. In traffic where driving on the right is mandatory, vehicles are overtaken on the left. Therefore, a left turn signal can be assessed as an indication of an impending overtaking maneuver or the initiation of an evasive trajectory, provided that the vehicle or other traffic is not at that time in an intersection where turning is possible.

[0026] Furthermore, in a further embodiment of the invention, it is additionally or alternatively provided that a change in further status data is the activation of a right turn signal to terminate an evasive maneuver. Analogous to the previous explanations regarding the left turn signal, a right turn signal can be interpreted as an indication of a completed overtaking maneuver or the termination of an evasive maneuver, provided that the vehicle or other traffic is not in an intersection area where turning is possible at that time.

[0027] Furthermore, a further embodiment of the method according to the invention provides that a change in further status data is a lateral change in the distance of the other road user to a road edge. If the lateral distance to the road edge changes, this can be an indication of an evasive trajectory being taken. Minimum distances when overtaking cyclists are even specified by law. It can therefore be provided that a threshold value for a distance change must be exceeded before the distance change is identified as an evasive trajectory.

[0028] In a further advantageous embodiment of the method according to the invention, the change in distance is determined using GNSS. Especially with a sufficient minimum distance of 1.5 to 2 m, the accuracy of GNSS can be sufficient to detect an evasive trajectory.

[0029] The aforementioned object is also achieved by a vehicle, in particular a bicycle, with at least one interface for V2X communication and with at least one evaluation unit, wherein the evaluation unit is designed and configured to carry out a method according to the invention. The previous statements regarding the method according to the invention also apply accordingly to the vehicle according to the invention.

[0030] Electronic or electrical devices and / or other relevant devices or components according to the embodiments of the present invention described herein may be implemented using any suitable hardware, firmware (e.g., an application-specific integrated circuit), software, or a combination of software, firmware, and hardware. For example, the various components of these devices may be packaged on an integrated circuit (IC) or on separate IC chips. Furthermore, the various components of these devices may be implemented on a flexible printed circuit board, a tape carrier package (TCP), a printed circuit board (PCB), or on a single substrate.Furthermore, the various components of these devices may be a process or thread running on one or more processors in one or more computing devices, executing computer program instructions, and interacting with other system components to perform the various functions described herein. The computer program instructions are stored in a memory, which may be implemented in a computing device using standard memory, such as random access memory (RAM). The computer program instructions may also be stored in other non-transferable, computer-readable media, such as a CD-ROM, a flash drive, or the like.A person of ordinary skill in the art should also recognize that the functionality of various computing devices may be combined or integrated into a single computing device, or that the functionality of a particular computing device may be distributed among one or more other computing devices without departing from the scope of the exemplary embodiments of the present invention.

[0031] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless otherwise stated in the individual case.

[0032] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Fig. 1 a schematic representation of the implementation of a method for locating a vehicle on a roadway and Fig. 2 a schematic representation of various steps of an embodiment of a method for locating a vehicle in a block diagram.

[0033] Fig. 1 shows a possibility for assisted self-localization of a vehicle 10, in particular a bicycle, in the area of ​​a roadway 12. The vehicle 10 communicates with other road users 16 via V2X communication 14. During the V2X communication 14, information about status data of the vehicle 10 and information about status data of the other road users 16 are transmitted. It is provided that the status data include information about a trajectory 18 traveled by the other road user 16, wherein, taking into account a change in other status data, it is determined whether the trajectory is an avoidance trajectory 20. In addition, it is determined whether the avoidance trajectory was traveled in connection with the position of the vehicle 10.

[0034] One advantage of the method is that the position of the vehicle 10 in conjunction with the avoidance trajectory 20, more precisely with the position at which the other road user 16 initiates the avoidance trajectory 20, provides information about whether the vehicle 10 is on a lane 12 of a road or possibly traveling on a cycle path adjacent to the lane 12. In this way, the vehicle 10 can self-locate through pattern recognition of other road users 16. Independent sensor technology is not mandatory but can be used additionally for a consistency check.

[0035] Accordingly, it is provided that information is transmitted to other road users 16 via V2X communication 14 if, by comparing the position of the vehicle 10 and the avoidance trajectory 20, it is determined that the vehicle 10 is located on the roadway 12. In this way, the vehicle 10 can perform self-localization based on pattern recognition and share its own position with other road users 16. Thus, it is sufficient for an avoidance trajectory 20 to be identified, and yet other road users 16 can be warned that a vehicle 10 in the form of a bicycle is located on the roadway 12.

[0036] In order to reduce the computational effort required to evaluate the trajectories 18 driven, only the V2X communication 14 of other road users 16 who are located within a certain radius 22 around the vehicle 10 is taken into account. This means that no unnecessary evasive trajectories 20 driven by another road user 16 who is not in the vicinity of the vehicle 10 are evaluated. The information that the vehicle 10, in the form of a bicycle, is located on the roadway 12 is only transmitted to other road users 16 who are in the vicinity of the vehicle 10. Other road users 16 outside a predetermined radius or perimeter 22 do not require such information. In addition, only the V2X communication 14 of other road users 16 who are traveling in the same direction as the vehicle 10 is taken into account.This further reduces the computational effort. Thus, only directly relevant evasive trajectories 20 are considered, which are or have been executed with a high probability with respect to vehicle 10.

[0037] Fig.Figure 2 shows a block diagram of various steps of a method for assisted self-localization of a vehicle 10, in the form of a bicycle, on a roadway 12. In step 100, changing status data determines whether another road user 16 is following an avoidance trajectory 20. For this purpose, step 102 provides that a change in further status data is a change in the lateral acceleration or lateral speed of the other road user. The lateral acceleration or lateral speed refers to the direction perpendicular to the direction of travel. A change in the lateral acceleration or speed is thus an indication of, for example, a lane change that results in an overtaking maneuver.This may be an indication that the other road user 16 initiates an evasive trajectory 20 in order to avoid an obstacle or to overtake a slower vehicle 10, for example a bicycle.

[0038] In step 104, a check is carried out to determine whether the activation of a left turn signal constitutes the initiation of an evasive maneuver. The turn signal status can also be used to assess whether an evasive trajectory 20 is being followed. A left turn signal is generally an indication of a planned change of direction by a vehicle or other road user 16. In traffic where driving on the right is mandatory, vehicles are overtaken on the left. Therefore, a left turn signal can be interpreted as an indication of an impending overtaking maneuver or the initiation of an evasive trajectory, provided that the vehicle or other traffic is not in an intersection area where turning is possible at that time.

[0039] In step 106, a check is made to determine whether a right turn signal has been activated to complete an evasive maneuver. Similar to the previous explanations regarding the left turn signal, a right turn signal can be interpreted as an indication of a completed overtaking maneuver or the completion of an evasive maneuver 20, provided that the vehicle 10 or the other road user 16 is not in an intersection area where turning is possible at this time.

[0040] Furthermore, step 108 provides that a change in further status data is a lateral change in the distance of the other road user 16 to a road edge of lane 12. If the lateral distance to the road edge changes, this can be an indication of an evasive trajectory 20 being followed. Minimum distances when overtaking cyclists are even specified by law. It can therefore be provided that a threshold value for a distance change must be exceeded before the distance change is identified as an evasive trajectory 20. Such a distance change can then even be determined using GNSS. Especially with a sufficient minimum distance of 1.5 to 2 m, the accuracy of GNSS can be sufficient to detect an evasive trajectory 20. List of reference symbols 10 vehicles 12 lane 14 V2X communication 16 other road users 18 Trajectory 20 Avoidance trajectory 22 radius 100 Process step - Determine whether an avoidance trajectory exists 102 Process step - Change of further state data = Change of lateral acceleration or lateral velocity 104 Procedure step - Check whether the left turn signal has been activated (to initiate an evasive maneuver) 106 Procedure step - Check whether the right turn signal has been activated (to complete an evasive maneuver) 108 Process step - Change of further status data = lateral distance change

Claims

[1] Method for locating at least one vehicle (10), in particular a bicycle, in the area of ​​a roadway (12), wherein the vehicle (10) communicates with other road users (16) by means of V2X communication (14) and / or wherein the vehicle (10) communicates with at least part of a road traffic infrastructure by means of V2X communication (14), wherein during the V2X communication (14) information about status data of the vehicle (10) and information about status data of the other road users (16) are transmitted, wherein the status data comprise information about a driven trajectory (18) of at least one further road user (16), wherein, taking into account a change in further state data, it is determined whether the trajectory (18) is an avoidance trajectory (20) (100), wherein, given an existing avoidance trajectory (20), it is determined whether the avoidance trajectory (20) was driven in connection with the position of the vehicle (10), wherein the vehicle (10) is a bicycle and, in the case of an existing evasive trajectory, information is transmitted to other road users (16) by means of V2X communication (14) that the vehicle (10) is not on a cycle path next to the roadway (12), but on the roadway (12). [2] Method according to claim 1, wherein only the V2X communication (14) of other road users (16) located within a certain radius (22) around the vehicle (10) is taken into account. [3] Method according to claim 1 or 2, wherein only the V2X communication (14) of other road users (16) traveling in the same direction as the vehicle (10) is taken into account. [4] Method according to one of claims 1 to 3, wherein a change in further state data is a change in a lateral acceleration or a lateral speed of the further road user (16) (102). [5] Method according to one of claims 1 to 4, wherein a change in further status data is an actuation of a left turn signal as initiation of an evasive maneuver (104). [6] Method according to one of claims 1 to 5, wherein a change in further status data is an actuation of a right turn signal to terminate an evasive maneuver (106). [7] Method according to one of claims 1 to 6, wherein a change in further status data is a lateral change in distance of the further road user (16) to a road edge of the roadway (12) (108). [8] Method according to claim 7, wherein the change in distance is determined by means of GNSS. [9] Vehicle (10), in particular a bicycle, with at least one interface for V2X communication (14) and with at least one evaluation unit, wherein the evaluation unit is designed and configured to carry out a method according to one of claims 1 to 8.

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