Method for operating a vehicle and corresponding vehicle

Abstract

The invention relates to a method for operating a vehicle, in particular a motor vehicle, wherein a transmitter vehicle (10) informs at least one receiver vehicle (14) about an event by means of a message (12) via wireless communication, wherein the event implies a change in the driving behavior of the transmitter vehicle (10). In a method that enables situational vehicle communication without overloading the driver of a vehicle with information, it is provided that a driver of the receiving vehicle (14) is given a situational indication of the event depending on at least the speed of the receiving vehicle (14) and / or depending on the distance of the receiving vehicle (14) to the event and / or depending on visibility conditions from the perspective of the receiving vehicle (14) and / or depending on the traffic density.

Description

[0001] The invention relates to a method for operating a vehicle, in particular a motor vehicle, wherein a transmitter vehicle informs at least one receiver vehicle about an event by means of a message via wireless communication, wherein the event implies a change in the driving behavior of the transmitter vehicle.

[0002] In addition, the invention relates to a vehicle with at least one interface for wireless communication, with at least one display device with a display area and with at least one evaluation and control device.

[0003] Conventional parking assistance systems search for a suitable parking space for the vehicle by driving past potential parking spots. However, in flowing traffic, this often requires the vehicle to brake relatively abruptly to maneuver into the identified space. This is a stressful situation for the driver and can be a surprising and / or unexpectedly sharp braking maneuver for other road users. Furthermore, after stopping in the vicinity of the parking space, the vehicle must reverse to maneuver efficiently into the space, especially if it is a parallel parking space or a perpendicular parking space.Even if reversing into / into a parking space is fully or partially handled by a parking assistance system, space is still required behind the vehicle being parked. This space may be blocked by following vehicles due to the relatively quick stop. Similar situations arise when exiting a parking space, but also generally in situations where a vehicle has to perform an unforeseen maneuver.

[0004] WO 2020 / 061 090 A1 discloses a method for communication between vehicles. An approaching autonomous or semi-autonomous vehicle can initiate / receive parking assistance by offering parked vehicles credit to move autonomously or change location so that the approaching vehicle has space to park. The approaching vehicle can send a parking assistance request to a parking control server or to parked vehicles, including a credit offer to incentivize the parked vehicles to move.

[0005] WO 2020 / 123 823 A1 discloses a method for vehicle communication. In one embodiment, a first user device (UE) receives data from one or more sensors connected to the first UE; identifies intention-related information associated with an intention of the first UE based on the data, wherein the intention-related information indicates leaving a parking space, opening a door, granting permission to overtake by blind spot detection, overtaking a vulnerable road user (VRU), overtaking a toll plaza, entering a high-occupancy vehicle (HOV) lane, or making an emergency call (eCall); and communicates the intention-related information to a second UE.In another embodiment, a first UE receives a message from a second UE containing intent-related information associated with an intent of the second UE, based on data from one or more sensors connected to the second UE; and communicates with the second UE regarding the intent-related information.

[0006] However, a disadvantage of the aforementioned state of the art is that it is not possible to react situationally to different scenarios.

[0007] The invention is based on the objective of providing a method for operating a vehicle and a corresponding vehicle in which situational vehicle communication is enabled without overloading the driver of a vehicle with instructions.

[0008] In the present invention, this problem is solved by the features of claim 1 in that a driver of the receiving vehicle is given a situational indication of the event depending on at least the speed of the receiving vehicle and / or depending on the distance of the receiving vehicle to the event and / or depending on visibility conditions from the viewpoint of the receiving vehicle and / or depending on the traffic density.

[0009] In this case, the transmitting vehicle can be operated manually, semi-autonomously, or autonomously. If a corresponding event is detected where the driving behavior changes characteristically when the vehicle is being manually controlled, appropriate warnings can be issued. Similarly, activated driver assistance systems or planned routes of an autonomous vehicle can also be used to predict changes in driving behavior in advance.

[0010] The message transmitted via wireless communication may, in particular, be Car2X communication. Car2X is a technology in which vehicles communicate with their environment, i.e., "X". In a special Car2Car variant of the Car2X system, vehicles can also communicate with each other. Transmission in Car2X is bidirectional. Consequently, the vehicle can communicate with its surroundings and / or the surroundings with the vehicle. Sensor data is preferably transmitted during communication. It is conceivable that Car2X communication is implemented via a WLAN connection. For the purposes of this application, Car2X is considered equivalent to V2X when Car2X is used in relation to the vehicle, whereas V2X is used from the perspective of another vehicle.

[0011] Examples include the CAM (Cooperative Awareness Message) and DENM (Decentralized Environmental Notification Message) of the ETSI standard for Car2X communication. Vehicles can communicate with each other using Car2X communication. Through this communication, vehicles can share their positions. By linking this with environmental sensors, for example, the vehicle's position can be determined more precisely. Furthermore, the vehicle can communicate with the infrastructure via Car2X communication.

[0012] An event is defined as a change in the driving behavior of the transmitting vehicle that is interpreted as unpredictable by other road users. This can have various reasons, such as reduced speed due to searching for a parking space, parking maneuvers, and / or driving around obstacles.

[0013] If such events are registered by the sending vehicle itself, for example, based on sensor data or characteristic driving behavior for the given situation, a notification is transmitted to the driver of the receiving vehicle. This notification is preferably displayed visually within the display area of ​​a warning device. This display area could be a screen installed in the vehicle, for example, in the center console or the instrument cluster. It is also conceivable that the display area could be a head-up display. The notification can appear, for example, as a pop-up window, clearly visible to the driver. Depending on the urgency of the notification, its size or transparency can vary. This can also be displayed in conjunction with current traffic conditions, ensuring that important data remains visible to the driver in this situation.

[0014] In this context, "situational" means that various alerts can be issued depending on the situation. This means that alerts and warnings are only displayed to the driver when they are relevant to the situation. In particular, excessively frequent displays of unwanted messages can be very annoying for the driver. Accordingly, the system considers various other factors when deciding whether to display a warning. These include, among other things, the vehicle's speed. If the vehicle is only traveling at walking speed, a collision warning is unnecessary. The distance to the event is also taken into account. The system considers whether the event is in the correct direction of travel. A warning about exiting a parking space that is behind the receiver in the direction of travel is unnecessary.In the event of an incident behind railway tracks, if a barrier is down, the incident will likely have already passed by the time the receiving vehicle approaches. Furthermore, traffic density and / or visibility conditions can be taken into account. In particular, a day / night distinction is useful.

[0015] In the vehicle settings, the notification function for the driver can be configured, for example, by selecting the notification sensitivity: low, medium, and high. Low sensitivity could mean that only nearby events, on the same road, in the same direction of travel, without turns, and in low traffic density, should be displayed, or that a notification should only be issued under these conditions. High sensitivity could mean that even distant events, including those around turns, should trigger a notification under all traffic and visibility conditions.

[0016] One advantage of the present invention is that a driver is warned of possible critical situations in a situationally appropriate and optional manner according to his own ideas, without the amount of warnings becoming too much.

[0017] Further preferred embodiments of the invention result from the other features mentioned in the dependent claims.

[0018] In a first embodiment of the method according to the invention, the event is a parking space search by the sending vehicle, wherein the message is transmitted when a parking assistance system of the sending vehicle is activated and / or when the speed of the sending vehicle is reduced in the vicinity of a parking space and / or when a turn signal of the sending vehicle is activated in the vicinity of a parking space. When searching for a parking space, it is common for the sending vehicle to reduce its speed so that a driver or the sending vehicle itself can detect a parking space using environmental sensors or other assistance systems. Furthermore, a reduced speed is necessary to carry out a parking maneuver safely. This reduction in speed can confuse drivers of receiving vehicles, as a different speed limit prevails on the road they are traveling on.By indicating that the sending vehicle is looking for a parking space, the driver of the receiving vehicle can be notified early enough and possibly already change to another lane in order to avoid the sending vehicle.

[0019] In a further embodiment of the method according to the invention, the message can additionally contain information about the position and / or direction of travel of the sending vehicle. In this way, the driver of the receiving vehicle can be informed whether the sending vehicle, if not yet within their field of vision, is on the same lane as the receiving vehicle. It is also conceivable that the information about the position and / or direction of travel of the sending vehicle is used to transmit the message to the receiving vehicle situationally. If the sending vehicle is on a different lane, it is not an immediate obstacle for the receiving vehicle, and the notification can be omitted.

[0020] Additionally or alternatively, a further embodiment of the method according to the invention provides that the event is a parking maneuver by the sending vehicle, wherein the message is transmitted when the sending vehicle makes a steering input and / or when the sending vehicle engages reverse gear and / or when the sending vehicle is ready to drive. Driving out of a parking space can, in particular, lead to a critical situation. For the driver of the sending vehicle, the traffic is difficult to see when pulling out. At the same time, a vehicle pulling out of a parking space is often not easily visible to drivers of receiving vehicles until the sending vehicle is already back on the road. A notification of a parking maneuver, or even an impending one, can therefore help to minimize the risk of an accident.

[0021] In a further advantageous embodiment of the method according to the invention, the message contains information about the vacancy of a parking space from which the sending vehicle is exiting. Simultaneously with the start of the exiting maneuver, the sending vehicle can indicate that the parking space it was occupying will soon become available. Should a receiving vehicle be searching for a parking space, the vehicle can quickly take over the space. The message can contain the position, information about the size and / or orientation of the parking space, or similar information. This information can, for example, be determined by environmental sensors in the sending vehicle or derived from navigation data.

[0022] In a further embodiment of the method according to the invention, the message is transmitted when the vehicle's stationary time exceeds a predetermined stationary time limit and / or when a parking maneuver was last registered by the sending vehicle's environmental sensors. This allows for additional verification that the maneuver is an exit from a parking space. Only a longer stationary time suggests that the driver of the sending vehicle had previously parked. The corresponding registration of a previous parking maneuver provides further evidence that the vehicle is in a parking space, thus enabling the corresponding triggers of the message to be correctly interpreted.

[0023] Additionally or alternatively, a further advantageous embodiment of the method according to the invention provides that the event is a parking maneuver, wherein the message is transmitted when a parking assistance system of the sending vehicle is activated and / or when the sending vehicle performs characteristic steering inputs and travels at speeds typical of a manual parking maneuver and / or when the sending vehicle has detected a parking space using a parking space assistance system and a turn signal of the sending vehicle is activated. In contrast to a search for a parking space, in which the sending vehicle merely reduces its speed to check whether suitable parking spaces are in the immediate vicinity, parking involves corresponding maneuvers in which the sending vehicle may reverse or swing out to reach a parking space.The transmitting vehicle may not only operate in its own lane, but may also at least touch or enter other lanes. Therefore, separate notices and warnings are necessary to increase safety and minimize the risk of accidents.

[0024] Furthermore, in a further embodiment of the invention, the event can be the detection of a hazardous object, with the message being transmitted when the sending vehicle brakes sharply and / or when the sending vehicle performs characteristic steering inputs of an evasive maneuver and travels at evasive speeds. A hazardous object could be, in particular, a particularly deep puddle, an overturned garbage can, debris, lost cargo, or similar items. The sending vehicle transmits the information about the hazard via a message. Triggers for transmitting the message are, accordingly, a sharp braking or evasive maneuver, or objects detected in the driving area by the environmental sensors (in particular, a camera).

[0025] In a particularly preferred embodiment of the method according to the invention, the warning can be given acoustically, haptically, and / or visually. A warning need not only be visual, displayed in a display area of ​​a display device. It would also be conceivable, if the situation requires it because the driver of the receiving vehicle must pay particular attention to the event, for an acoustic warning to also be given. Preferably, a haptic warning is also given, for example, in the form of a vibration of the steering wheel and / or the driver's seat.

[0026] The aforementioned problem is also solved by a vehicle with at least one interface for wireless communication, with at least one display unit with a display area, and with at least one evaluation and control unit. It is provided that the evaluation and control unit is configured and designed to carry out a method according to the invention. The preceding descriptions concerning the method according to the invention also apply accordingly to the vehicle according to the invention.

[0027] Electronic or electrical devices and / or other relevant devices or components according to the embodiments of the present invention described herein, such as the evaluation and control unit, can be implemented using any suitable hardware, firmware (for example, an application-specific integrated circuit), software, or a combination of software, firmware, and hardware. For example, the various components of these devices can be housed on an integrated circuit (IC) or on separate IC chips. Furthermore, the various components of these devices can 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 can be a process or thread running on one or more processors in one or more computer devices, executing computer program instructions, and interacting with other system components to perform the various functions described here. The computer program instructions are stored in memory, which can be implemented in a computer device using standard memory, such as main memory (RAM). The computer program instructions can also be stored on other non-transferable, computer-readable media, such as a CD-ROM, a flash drive, or similar devices.A competent person should also recognize that the functionality of different computer devices can be combined or integrated into a single computer device, or that the functionality of a particular computer device can be distributed among one or more other computer devices, without deviating from the scope of application of the exemplary embodiments of the present invention.

[0028] Unless otherwise specified in individual cases, the various embodiments of the invention mentioned in this application can be advantageously combined with one another.

[0029] The invention is explained below using exemplary embodiments with reference to the accompanying drawings. These show: Fig. 1. A schematic representation of the execution of a procedure for operating a vehicle in a first scenario in a perspective view. Fig. 2. A schematic representation of the execution of a procedure for operating a vehicle in a second scenario in a perspective view. Fig. 3 a schematic representation of the execution of a procedure for operating a vehicle in a third scenario in a perspective view, Fig. 4 a schematic representation of the implementation of a procedure for operating a vehicle in a fourth scenario in a perspective view and Fig. 5 A schematic representation of the implementation of a procedure for operating a vehicle in a fifth scenario in a perspective view.

[0030] Fig. Figure 1 shows a schematic representation of a first scenario of a method for operating a vehicle. In this scenario, a transmitter vehicle 10 informs at least one receiver vehicle 14 about an event via wireless communication using a message 12. The event implies a change in the driving behavior of the transmitter vehicle 10. A driver of the receiver vehicle 14 receives a situational notification of the event, depending on at least the speed of the receiver vehicle 14 and / or the distance of the receiver vehicle 14 to the event and / or the visibility conditions from the receiver vehicle 14's perspective and / or the traffic density.

[0031] In Fig. Figure 1 shows that the sending vehicle 10 and the receiving vehicle 14 are driving along a row of parking spaces 16. The sending vehicle 10 significantly reduces its speed, below the permitted speed, as it is searching for a suitable parking space. Consequently, the receiving vehicle 14 has to brake, and the driver of the receiving vehicle 14 may be annoyed by the slow speed of the sending vehicle 10. In this scenario, the sending vehicle 10 transmits the information via C2X message 18 that it is searching for a parking space. Additionally, the vehicle position, direction of travel, and speed of the sending vehicle 10 are transmitted.The following events trigger the sending of the C2X message: A parking button of the sending vehicle 10 is pressed, an infotainment system of the sending vehicle 10 is switched to a parking menu, a parking intention is recognized via other input variables, such as the activation of a turn signal, a reduction in speed, etc.

[0032] The receiving vehicle 14 receives this message 12 and displays a corresponding warning to the driver of the receiving vehicle 14. This significantly reduces the risk of a rear-end collision. Furthermore, this function reduces stress, as the driver of the receiving vehicle 14 knows that the slow-moving sending vehicle 10 will soon be gone.

[0033] Fig. Figure 2 shows a scenario in which the sending vehicle 10 is in the process of backing out of a parking space 20. The receiving vehicle 14 is approaching along the row of parking spaces 16. In addition to the information that parking space 20 is becoming vacant, there is a risk of collision. The sending vehicle 10 transmits the information about the impending backing out maneuver via a C2X message 18. The following events can trigger the transmission of the message: the sending vehicle 10 turns its steering wheel, engages reverse gear, or is ready to drive. These triggers, along with a previously longer period of inactivity of the sending vehicle and a parking maneuver detected by an environmental sensor before the sending vehicle 10 stopped, are taken into account accordingly.The information about the parking maneuver is therefore sent before the transmitter vehicle 10 has moved or before the transmitter vehicle 10 is back in road area 22.

[0034] The receiving vehicle 14 receives this C2X message 18 and displays a corresponding notification to the driver. This allows the driver to prepare for a possible braking maneuver, significantly reducing the likelihood of an accident. Furthermore, the driver receives early notification of an available parking space.

[0035] Fig. Figure 3 shows the sending vehicle 10 during a parking maneuver into a parking space 20. The receiving vehicle 14 is approaching, obscuring the view of the parking sending vehicle 10. The view may be obstructed, for example, because the sending vehicle is around a curve, as in the illustrated embodiment, or behind a hill. It is also conceivable that visibility is limited due to bad weather or that there are large obstacles on the road. There is a risk of collision. The sending vehicle 10 transmits the information about the parking maneuver via a C2X message 18. Triggers for sending the message can include, among other things, the following events: a parking assistant is active, a characteristic manual parking maneuver with corresponding steering inputs and speeds is detected and executed, a parking space has been detected nearby, and a turn signal has been activated.

[0036] To warn the transmitter vehicle 10 before it begins parking, a suitable warning message is displayed in the receiver vehicle 14. This warning is only displayed if the criticality of the current driving scenario is sufficiently high. Criteria for assessing criticality include, among other things, that the receiver vehicle 14 is traveling at too high a speed, that there are tight curve radii between the receiver vehicle 14 and the transmitter vehicle 10, and that visibility is therefore restricted. Furthermore, other road type and environmental parameters, particularly those from a roadbook or route data, such as from a navigation system, can be taken into account. Driving on cobblestones, for example, would require an earlier warning due to the longer braking distance caused by reduced traction.

[0037] Furthermore, the information about the parking process can be used to delete parking space 20, which was previously received as free, from the memory, since it is obviously no longer free.

[0038] Fig. Figure 4 shows a scenario in which a hazardous object 24 is located in front of the transmitter vehicle 10. The transmitter vehicle 10 is driving ahead of the receiver vehicle 14. A hazardous object 24, which is difficult to detect, is located in the road area 22. These objects could be, for example, a particularly deep puddle, a fallen trash can, debris, lost cargo, or similar items. The transmitter vehicle 10 transmits the information about the hazard via a C2X message 18. Triggers for sending the message include, for example, a hard braking or evasive maneuver, or objects detected in the driving area by the environmental sensors (especially the camera).

[0039] Fig.Figure 5 shows a scenario in which several receiver vehicles 14 communicate with each other. To prevent a "race" between the receiver vehicles 14, they negotiate amongst themselves who receives a notification. In this embodiment, the sender vehicle 10 displays a free parking space 20. This parking space 20 is received by the receiver vehicles 14. The two receiver vehicles 14 then negotiate amongst themselves, using a voting algorithm, to determine which of them receives the notification. A cost function is used to determine for each receiver vehicle 14 which parking space 20 is more conveniently located. Input variables for the cost function include the vehicle speeds of the receiver vehicles 14, the distance to the parking space 20, and the corresponding calculated time to reach the parking space 20. Furthermore, the algorithm considers whether the parking space 20 lies on a likely route for each receiver vehicle 14.The number of necessary turning maneuvers, traffic lights, pedestrian crossings, stop signs, etc. along the way to parking space 20 are also taken into account.

[0040] In this example, the cost function yields lower costs for the receiving vehicle 14, which is already on the same lane as the sending vehicle 10, because it is approaching parking space 20 at a higher speed and without turning, while the speed of the other receiving vehicle 14 is lower due to the turning maneuver, and its trajectory includes a traffic light. Therefore, the algorithm decides that only one receiving vehicle 14 will receive a notification about parking space 20. Reference symbol list 10 transmitter vehicles 12 Message 14 recipient vehicle 16 parking rows 18 C2X message 20 parking spaces 22 street area 24 dangerous object

Claims

[1] Methods for operating a vehicle, in particular a motor vehicle, wherein a transmitter vehicle (10) informs at least one receiver vehicle (14) about an event via a message (12) using wireless communication, the event implying a change in the driving behavior of the transmitter vehicle (10), wherein a driver of the receiving vehicle (14) is given a situational indication of the event depending on at least the speed of the receiving vehicle (14) and / or depending on the distance of the receiving vehicle (14) to the event and / or depending on visibility conditions from the point of view of the receiving vehicle (14) and / or depending on the traffic density. [2] Method according to claim 1, wherein the event is a parking space search drive of the sending vehicle (10), wherein the message is sent when a parking assistance system of the sending vehicle (10) is activated and / or when the speed of the sending vehicle (10) is reduced in the area of ​​a parking space (20) and / or when a direction indicator of the sending vehicle (10) is activated in the area of ​​a parking space (20). [3] Method according to claim 2, wherein the message contains information about the position and / or direction of travel of the sending vehicle (10). [4] Method according to one of claims 1 to 3, wherein the event is a parking maneuver of the sending vehicle (10), wherein the message (12) is sent when the sending vehicle (10) makes a steering input and / or when the sending vehicle (10) is put into reverse gear and / or when the sending vehicle (10) is made ready to drive. [5] Method according to claim 4, wherein the message (12) contains information about the availability of a parking space (20) from which the sending vehicle (10) is parking. [6] Method according to claim 4 or 5, wherein the message (12) is sent when the stationary time of the sending vehicle (10) exceeds a predetermined stationary time limit and / or when a parking operation was last registered by an environmental sensor of the sending vehicle (10). [7] Method according to any one of claims 1 to 6, wherein the event is a parking maneuver, wherein the message (12) is sent when a parking assistance system of the sending vehicle (10) is activated and / or when characteristic steering inputs are made by the sending vehicle (10) and speeds of a manual parking maneuver are driven and / or when a parking space has been detected by the sending vehicle (10) by means of a parking space assistance system and a direction indicator of the sending vehicle (10) is activated. [8] Method according to any one of claims 1 to 7, wherein the event is the detection of a dangerous object (24), wherein the message (12) is sent when the sending vehicle (10) brakes sharply and / or when the sending vehicle (10) makes characteristic steering inputs of an evasive maneuver and drives at evasive maneuver speeds. [9] Method according to any one of claims 1 to 8, wherein the indication can be acoustic and / or haptic and / or visual. [10] Vehicle with at least one interface for wireless communication, with at least one display device with a display area and with at least one evaluation and control device, wherein the evaluation and control device is configured and designed to perform a method according to one of claims 1 to 9.

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