METHOD FOR CONTROLLING AN AUTOMATED DRIVING OPERATION OF A VEHICLE

Description

[0001] The invention relates to a method for controlling automated driving of a vehicle.

[0002] Such a method is known, for example, from US 2019 / 041 850 A1. The method is applied to a vehicle configured for automated driving at multiple levels of automation. Operation at these levels of automation is permitted or blocked depending on an authorization signal received from a roadside infrastructure facility. The authorization signal indicates traffic congestion, weather conditions, accidents, construction sites, etc.

[0003] DE 10 2014 014 120 A1 discloses a method for autonomous driving of a vehicle on a route ahead. Autonomous driving is only permitted if one or more conditions are met for a given length of the route ahead.The specified conditions are that there is a structural separation on at least one side of the vehicle's current lane, that one of the vehicle's lanes has a minimum lane width, that there are no crests and depressions that significantly limit the range of environmental detection sensors, that the number of lanes does not change, that there is no tunnel, that there is no building on the lane, that the radius of curvature of the vehicle's lane is greater than a specified limit, that there is no traffic disruption, that there is no traffic report about dangerous situations and that there is no traffic report about the presence of roadworks.

[0004] From DE 10 2011 082 375 A1 a method for controlling an automated driving operation of a vehicle is known, wherein it is provided that a controller takes over the control of the vehicle in response to a request from a driver if predetermined parameters are met for a defined driving route and / or period of time.

[0005] DE 10 2020 001 679 A1 discloses a method for specifying and improving traffic information provided by a traffic service. This method involves transmitting an emergency call message automatically transmitted by a vehicle to the traffic service without providing a vehicle identification number, and warning other vehicles approaching the location of the emergency call message by means of corresponding traffic information, depending on the emergency call information.

[0006] The invention is based on the object of specifying a method for controlling an automated driving operation of a vehicle.

[0007] The object is achieved according to the invention by a method which has the features specified in claim 1.

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

[0009] A method for controlling automated driving of a vehicle, wherein automated driving is permitted depending on a number of predetermined conditions, provides according to the invention that traffic information and event information are received by the vehicle, wherein the traffic information contains location- and time-referenced information about a traffic jam on a road section ahead of the vehicle and the event information contains location- and time-referenced information about an event on the road section ahead. The event is preferably a safety-critical event, for example an object on the road, in particular a broken-down vehicle or a vehicle involved in an accident, which represents a potential danger to the vehicle or other road users at the location of the event.The vehicle assesses the traffic information and the event information as belonging together if they are available close to the location and within a short time, i.e., they apply to the same location and the same time, or if at least the distance between the location for which the traffic information applies and the location for which the event information applies is less than a predefined distance threshold, and the time difference between the time for which the traffic information applies and the time for which the event information applies is less than a predefined time difference threshold. Automated driving of the vehicle is not permitted if event information and traffic information are available for a predefined forecast horizon, but only if these are assessed as not belonging together.This means that if the available event information and traffic information are assessed as belonging together, their presence should not lead to a non-approval of automated driving.

[0010] Preferably, automated driving is also not permitted if event information is available for the specified forecast horizon, but no traffic information is available.

[0011] If automated driving is not permitted, the automated driving mode will preferably be blocked from activation if it is deactivated, or terminated and blocked from activation if it is already activated. If automated driving is not permitted, a vehicle user is thus deprived of the opportunity to activate or continue automated driving.

[0012] By applying the procedure, automated driving is only offered to the vehicle user when comparatively few disruptive external influences, in particular events, are expected on the section of road ahead.

[0013] The method provides that the traffic information and the event information are made available to the vehicle via a traffic service as an information source, whereby a traffic event is combined with location- and time-referenced criteria in the vehicle in order to offer, prohibit, terminate or execute automated driving operation.

[0014] In particular, automated driving is permitted if the vehicle receives traffic information indicating a traffic jam on the upcoming section of the road. However, if the traffic information indicates a traffic event without a traffic jam, automated driving is not permitted, or a takeover request is issued to the vehicle user to perform a driving task. A traffic event, such as objects on a roadway, can cause problems for the vehicle in automated driving mode without a traffic jam prevailing. Without a traffic jam, such a traffic event is comparatively dangerous for the vehicle, although this traffic event is relatively unproblematic if the vehicle is traveling relatively slowly in a moving traffic jam.

[0015] If it is determined that traffic information received by the vehicle, in particular traffic jam information, is not related to a reported traffic event, the vehicle's automated driving operation is terminated.

[0016] The procedure represents a so-called traffic jam pilot, so that the comfort for the vehicle user when driving in a traffic jam can be significantly increased, provided that automated driving is permitted.

[0017] In one embodiment of the method, automated driving of the vehicle is not permitted or terminated if the vehicle's current driving speed exceeds a predefined upper speed limit. The upper speed limit is specified with reference to driving speeds in a traffic jam in order to ensure vehicle safety. If the driving speed exceeds the predefined upper speed limit in all lanes running in the same direction, automated driving is not permitted. Therefore, in a traffic jam on the route section, the vehicle user can only use automated driving if the traffic flow speed falls below the predefined upper speed limit in at least one lane, and the vehicle moves into this lane. For example, the upper speed limit is 60 km / h.

[0018] A further embodiment provides that the automated driving operation of the vehicle is not permitted if the current driving speed of the vehicle falls below a predetermined upper speed limit, which is reached within a predetermined period of time.

[0019] If it is determined that the traffic jam condition will clear within the specified period of time and the vehicle's speed will therefore exceed the specified upper speed limit, as a traffic condition of free traffic then prevails, automated driving will not be permitted, as the vehicle would otherwise represent a traffic obstruction for following vehicles in the vehicle's lane in automated driving mode, in which the vehicle can travel at a speed up to the specified upper speed limit.

[0020] In the event that traffic on a multi-lane section of road is flowing in one or more lanes at a current speed that is below the specified speed limit, a further development of the procedure involves the vehicle moving into this lane or into one of the lanes where the speed limit is exceeded. The vehicle thus moves into a lane where the speed is below the specified speed limit, so that the vehicle is not considered a traffic obstruction for faster vehicles.

[0021] Another possible implementation of the method provides for the vehicle to position itself in one of the lanes where traffic is currently flowing at a speed whose difference from the speed limit is the smallest. The vehicle therefore does not automatically change to the lane with the lowest speed, but rather to the lane with the highest speed but below the speed limit. This largely ensures that the vehicle, in automated driving mode, can still move relatively quickly in a wide, moving traffic jam to reach its destination.

[0022] In a possible further development, if a decision is made during automated driving mode not to permit automated driving, a driving task is transferred to a vehicle user after a takeover request is issued. As soon as the vehicle user operates a steering wheel with both hands, for example, automated driving is terminated, allowing the vehicle user to perform the driving task and the vehicle to be moved in manual mode.

[0023] Embodiments of the invention are explained in more detail below with reference to a drawing.

[0024] The following shows: Fig. 1 schematically shows a vehicle on a multi-lane section of road and a traffic service.

[0025] The single figure shows a section of road A, in particular a motorway, with two lanes F1, F2 running in the same direction, with a vehicle 1 traveling in a right-hand lane F1 and moving toward a traffic jam S. Vehicle 1 is connected to a traffic service 2 via a wireless data connection.

[0026] The vehicle 1 has an assistance system for automated driving, in which a driving task is fully carried out by the vehicle 1 itself, so that a vehicle user of the vehicle 1 can, for example, pursue another activity.

[0027] In order to ensure that the automated driving operation of vehicle 1 is only offered to the vehicle user when comparatively few disruptive influences are to be expected on the route section A ahead, a procedure described below is provided.

[0028] In particular, the method provides that traffic events obtained via a traffic service 2 as an information source are combined with location- and time-referenced criteria in order to offer and permit, deny, terminate or execute automated driving operations.

[0029] For this purpose, the vehicle 1 has a control unit which is designed to receive traffic information and event information from the traffic service 2, wherein the automated driving operation of the vehicle 1 can also be carried out in the case of a traffic jam S.

[0030] The method described below represents a so-called traffic jam pilot, i.e. a traffic jam assistance program, for the vehicle 1, whereby the vehicle 1 can be moved in automated driving mode at a driving speed up to a predetermined upper speed limit, e.g., 60 km / h.

[0031] The traffic information received by the vehicle 1 contains location- and time-referenced information about traffic jams S on the route section A ahead of the vehicle 1, wherein the event information contains information about events on the route section A.

[0032] The control unit receives information from the traffic service 2, for example a navigation system of the vehicle 1, and then decides whether automated driving is possible.

[0033] This information from traffic service 2 can be present, for example, on a motorway in any combination, even at different times. A distinction is made between traffic information without event information, event information without traffic information, event information close to traffic information, i.e., close to a traffic condition, event information behind traffic information, i.e., behind a traffic condition, etc.

[0034] In particular, the automated driving operation of the vehicle 1 is not permitted if a specific traffic event, i.e. event information, for example that there are objects on a roadway, occurs at a specific temporal and spatial distance from the vehicle 1.

[0035] If vehicle 1 receives such event information, it may be a situation that vehicle 1 cannot handle in automated driving mode and which may therefore be dangerous for vehicle 1, so that automated driving mode is not offered or permitted from the outset upon receipt of such event information.

[0036] In contrast, automated driving of vehicle 1 is permitted if such event information is present within a parameterizable spatial-temporal distance from vehicle 1 in conjunction with traffic information relating to a traffic jam S. The event information is used to explain a cause of the traffic information "congestion S", whereby vehicle 1 can be moved automatically in traffic jam S. In traffic jam S, i.e., in automated driving operation at a comparatively low driving speed, the traffic event transmitted to vehicle 1 in the form of event information does not represent a problematic situation.

[0037] If vehicle 1 receives the event information "Objects on the roadway" and there is no further traffic information available for this event information, then automated driving is not permitted from the time this event information is received, so that the vehicle user cannot activate automated driving.

[0038] If automated driving is activated when this traffic information is received, a takeover request is issued to the vehicle user so that he or she takes over and executes the driving task of vehicle 1.

[0039] However, if the control unit receives the event information "objects on the roadway" and, in addition, associated traffic information, in particular with regard to the prevailing traffic situation due to the traffic event, is transmitted to vehicle 1, then the automated driving operation of vehicle 1 is still permitted because a traffic jam situation can be managed as traffic information by vehicle 1 driving in automated driving mode, regardless of the cause of the traffic jam, i.e., regardless of the event information.

[0040] If vehicle 1 in automated driving mode in a traffic jam S approaches an obstacle on the roadway, the traffic event causing the traffic jam S may be that the obstacle is located in a left lane F2 or that vehicle 1, at an appropriate driving speed, changes lanes from the right lane F1 to the left lane F2 in order to avoid the obstacle.

[0041] The automated driving operation of vehicle 1 when applying the procedure is always permitted if the traffic information is traffic jam S, regardless of the event information.

[0042] If there is no traffic jam S as traffic information and vehicle 1 receives a traffic event, a takeover request is issued to the vehicle user and the automated driving operation is deactivated.

[0043] Other possible traffic events in which automated driving is not permitted or deactivated include: accidents, construction sites, lane narrowing, impassable areas, slippery road surfaces, aquaplaning, fire on the road, animals on the road, etc.

[0044] When traffic information and event information are received, the vehicle assesses whether they belong together. This is particularly likely if the traffic event and the traffic situation are relatively close to each other in terms of location and time.

[0045] If a correlation can be assumed between the traffic information and the event information, given a comparatively short distance and a temporal latency, the event information can be ignored for the decision on the permissibility of automated driving. This makes it possible to use automated driving more often than if the decision were made event-dependently and a takeover request is issued to the vehicle user of vehicle 1 for each traffic event.

[0046] If it is determined that the traffic information, particularly with regard to the traffic condition, and the event information do not belong together, both the traffic information and the event information are taken into account.

[0047] Vehicle 1 can manage traffic jam S in automated driving mode, but not the traffic event, so that automated driving mode is terminated.

[0048] In other words: If it is determined that the present traffic information and the present event information cannot be considered to be related, in particular due to the temporal and spatial distance, the automated driving operation of vehicle 1 is terminated.

[0049] The relationship between traffic information and event information can be parameterized, e.g. depending on the quality of the information.

[0050] For example, received traffic information and received event information are considered to belong together if there is a distance of 2 km between the traffic information, in particular the traffic condition, and the traffic event, for example an accident.

[0051] As mentioned above, a speed limit of, for example, 60 km / h is specified for the automated driving operation of vehicle 1.

[0052] In the event that the traffic information includes that in the traffic jam S as a traffic condition, for example, driving can be carried out at a speed of 0 km / h to 85 km / h, the vehicle 1, if it is driving in automated driving mode at a maximum speed of 60 km / h, can represent a traffic obstacle, in particular for following traffic.

[0053] In order to be able to rule out as far as possible that vehicle 1 in automated driving mode will constitute a traffic obstruction in such a situation, vehicle 1, when it reaches the specified speed limit or is expected to reach it within a predefined period of time, positions itself in one of the lanes F1, F2 in which traffic is flowing at a speed that is below the specified speed limit.

[0054] If vehicle 1 is driving on a three-lane road section A and the traffic in the right lane F1 is flowing at a current speed of 10 km / h, in a middle lane (not shown) at 30 km / h and in a left lane F2 at 60 km / h, one embodiment of the method provides that vehicle 1 can also position itself in the left lane F2, since the speed of 60 km / h corresponds to the specified speed limit.

[0055] Vehicle 1 therefore positions itself in lane F1, F2, whose speed does not exceed the specified speed limit. In particular, vehicle 1 positions itself in lane F1, F2 with the highest speed, which still exceeds the speed limit, so that any delay caused by traffic jam S can be reduced.

[0056] If vehicle 1 is driving in a lane F1, F2 on which traffic is flowing at a speed that exceeds the specified speed limit, then vehicle 1 performs a lane change to a lane F1, F2 with a speed that is below the specified speed limit or, in the event that no such speed is being driven, a takeover request is issued to the vehicle user and the automated driving operation is terminated.

[0057] Furthermore, the method provides that the automated driving operation of the vehicle 1 is not permitted in the case of a dissolving traffic jam S, with a so-called falling trend, and is permitted in the case of an increasing traffic jam S, with a so-called rising trend.

[0058] Automated driving of vehicle 1 is not permitted because the driving speed of vehicle 1 is limited by the specified speed limit.

[0059] Since it should be ruled out as far as possible that vehicle 1 represents a traffic obstruction for following traffic due to the driving speed limited by the speed limit in automated driving mode, the automated driving operation of vehicle 1 will only continue to be permitted when the traffic jam S is cleared or is only possible if vehicle 1 continues to drive at a speed below the specified speed limit, for example due to a speed limit or because vehicle 1 is following behind a comparatively slow-moving commercial vehicle, for example a truck.

[0060] Vehicle 1, operating in automated driving mode, thus follows flowing traffic as long as its speed falls below the specified speed limit. If the current speed exceeds the specified speed limit, a takeover request is issued to the vehicle user.

[0061] If the traffic jam S clears up within a comparatively short period of time, for example within 5 minutes, the automated driving operation of vehicle 1 is not permitted, since it can only be used for a relatively short period of time, including a handover and takeover time.

[0062] The fact that the traffic jam S will resolve within a corresponding period of time can essentially be deduced from traffic information received by the vehicle.

[0063] The method therefore implies behavioral rules for vehicle 1, so that the automated driving of vehicle 1 is, in principle, permissible when a traffic jam report is received as traffic information, without taking event information into account. The respective behavioral rule for the location- and time-referenced combination of traffic information and event information for the control unit is managed, stored, and adapted by a central computer unit (not shown in detail) to which vehicle 1, in particular the control unit, is continuously connected.

[0064] Automated driving, however, is not permitted if only event information without traffic jam reports is available as traffic information.

[0065] The upper speed limit up to which automated driving is permitted in traffic jam S can be specified in a vehicle-specific and location- and time-referenced manner by means of a central computer unit (not shown in detail) to which vehicle 1, in particular the control unit, is continuously connected, and transmitted to vehicle 1.

[0066] Depending on the event information available to vehicle 1, the behavior rules of vehicle 1 are adjusted. For example, the minimum distance to be maintained between vehicle 1 and the traffic ahead is increased if the event information transmitted indicates that there are objects on the roadway.

[0067] The minimum distance is also increased and a reduction in the driving speed of vehicle 1 is initiated in the event of aquaplaning, heavy rain, etc. as event information.

[0068] A mapping rule defines the respective traffic event, a location- and time-referenced distance to traffic jam information, ie to a traffic jam report, in particular to traffic information relating to a traffic condition, and a respective consequence for the automated driving operation of the vehicle 1.

Claims

1. Method for controlling an automated driving operation of a vehicle (1), wherein - the automated driving operation is authorized depending on a number of prespecified conditions, - traffic information and event information are received by the vehicle (1), - the traffic information contains location- and time-referenced information about a traffic jam (S) on a portion of road (A) ahead of the vehicle (1), and the event information contains location- and time-referenced information about an event on the portion of road (A) ahead, characterized in that - the traffic information and the event information are assessed by the vehicle (1) as related if they are close together in space and time, - the automated driving operation of the vehicle (1) is not authorized if event information and traffic information are available for a specified prediction horizon, but only if these are assessed as not related.

2. Method according to claim 1, characterized in that the automated driving operation of the vehicle (1) is not authorized if event information is available for the specified prediction horizon but no traffic information is available.

3. Method according to either of the preceding claims, characterized in that the automated driving operation of the vehicle (1) is not authorized if a current driving speed of the vehicle (1) exceeds a prespecified upper speed limit.

4. Method according to any of the preceding claims, characterized in that the automated driving operation of the vehicle (1) is not authorized if a current driving speed of the vehicle (1) is below a specified upper speed limit, but this is reached within a predetermined period of time.

5. Method according to either claim 3 or claim 4, characterized in that in the case that traffic on a multi-lane road portion (A) is flowing on one lane (F1, F2) or on a plurality of lanes (F1, F2) at a current driving speed which is below the prespecified upper speed limit, the vehicle (1) positions itself on this lane (F1, F2) or on one of these lanes (F1, F2), respectively.

6. Method according to claim 5, characterized in that the vehicle (1) positions itself on one of the lanes (F1, F2) on which the traffic is flowing at a current driving speed that has the smallest difference to the upper speed limit.

7. Method according to any of the preceding claims, characterized in that if a decision is made during automated driving operation to not to authorize the automated driving operation, a driving task is transferred to a vehicle user after a takeover request has been issued.

8. Method according to any of the preceding claims, characterized in that non-authorization of the automated driving operation results in the automated driving operation being blocked from activation if it is deactivated or being terminated and blocked from activation if it is activated.

9. Method according to any of the preceding claims, characterized in that the event information relates to an event that poses a potential danger to the vehicle (1) or other road users.