METHOD FOR OPERATING AN AUTOMATED VEHICLE

Description

[0001] The invention relates to a method for operating an automated vehicle in the area of ​​an intersection.

[0002] DE 10 2016 203 086 A1 discloses a method and a driver assistance system for driver assistance. The method involves an ego vehicle automatically executing a driving maneuver, with objects in the vicinity of the ego vehicle being detected during the maneuver. The objects are classified, with stationary objects forming bottlenecks and oncoming vehicles being classified. Subsequently, the movement of the ego vehicle and the movement of oncoming vehicles are predicted.Open spaces in the vicinity of the stationary objects forming bottlenecks are determined and first blockage situations are determined in which further travel of the ego vehicle at a bottleneck is no longer possible due to an oncoming vehicle and / or second blockage situations are determined in which the ego vehicle cannot identify the end of the bottleneck, whereby when a blockage situation is determined, a stop position is determined at which the ego vehicle stops until the blockage situation is resolved.

[0003] From DE 10 2012 021 282 A1 a method for coordinating the operation of fully automated vehicles is known, wherein it is provided that the vehicles exchange trajectory data with each other at an intersection at which a blockage situation could occur in order to avoid or resolve a blockage situation by adapting the trajectory.

[0004] From DE 10 2018 119 832 A1 a method for operating an autonomously driving vehicle on a road section with two opposing lanes is known, wherein it is provided that the autonomously driving vehicle detects a blockage of the opposing lane by a stationary vehicle and in such a case stops at a distance from the stationary vehicle in order to allow vehicles in the opposing lane to bypass the stationary vehicle.

[0005] From DE 10 2018 004 113 A1, an autonomous vehicle is known which, for operation at intersections, determines the required clearance before passing an intersection by detecting the environment using remote sensors and detects and evaluates gestures or light signals from other road users.

[0006] From US 2020 / 211 378 A1 a method for traffic control at a traffic light-controlled intersection is known, wherein during the control a prioritization of public transport vehicles is carried out and wherein the prioritization is terminated when a predetermined condition is met, for example when an exit from the intersection is blocked.

[0007] From DE 10 2012 215 093 A1 a method for operating a driver assistance system for a vehicle is known, wherein it is provided that a bottleneck ahead and an oncoming vehicle are detected and wherein it is further provided that a safety device is activated when the two vehicles are expected to meet in the area of ​​the bottleneck.

[0008] The invention is based on the object of providing an improved method for operating an automated vehicle at an intersection.

[0009] The object is achieved according to the invention by a method which has the features specified in claim 1.

[0010] Advantageous embodiments of the invention are the subject of the subclaims.

[0011] A method for operating an automated, in particular driverless, vehicle in the area of ​​an intersection provides according to the invention that the vehicle, in a situation in which it is stationary at the intersection observing a right-of-way rule, detects another vehicle with right of way at the intersection based on signals recorded by an environmental sensor and determines its intended path. The vehicle determines on the basis of the intended path whether the other vehicle must drive past the other vehicle laterally after passing the intersection and, if so, determines whether the path of the other vehicle is blocked by an obstacle. If the vehicle has determined that the path of the other vehicle is blocked, it establishes a communication link with the other vehicle and informs the other vehicle about the blocked path via this communication link.

[0012] By applying the procedure, a blocking situation of the two vehicles can be largely excluded, in particular in the case when the two automated vehicles are at a right-before-left intersection and the other vehicle with right of way intends to turn into the lane of the vehicle and the other vehicle has to stop in front of the vehicle because the other vehicle cannot drive past the vehicle from the side, for example because of a parked vehicle, so that both vehicles remain there for an indefinite period of time without further action until the blocking situation can be lifted, for example with the help of a teleoperator.

[0013] By at least one vehicle recognizing the impending blockage situation and communicating with the other vehicle accordingly so that a solution can be found, traffic flow can also be optimized, as the emergence of such a blockage situation can be counteracted.

[0014] One implementation of the procedure involves coordinating the order in which the two vehicles pass the intersection. In particular, the order is coordinated to avoid a blocking situation, so that the vehicle begins driving first to pass the intersection, even though the other vehicle has the right of way.

[0015] In a further development, the vehicle is also used to determine whether the other vehicle's view of the obstacle blocking its path is obscured. In particular, if it is determined that the other vehicle's view of the obstacle is obscured, the communication link between the two vehicles is immediately established to prevent the other vehicle from starting its journey and thus creating a blocking situation for both vehicles.

[0016] A further development of the method provides for determining the occurrence of a blockage situation by determining the remaining lane width between the vehicle and the obstacle blocking the path of the other vehicle, as well as the width of the other vehicle. The remaining lane width and the width of the other vehicle are determined based on signals detected by the vehicle in order to perform a comparison.

[0017] In one possible embodiment, the remaining lane width is compared with the width of the other vehicle to determine the occurrence of a blockage situation, so that it can be determined whether the remaining lane width is sufficient for the other vehicle to drive past the side of the vehicle and in particular between the vehicle and the obstacle if the other vehicle passes the intersection first.

[0018] In one embodiment of the method, the intended path of the other vehicle is determined based on an activated turn signal and / or information transmitted via vehicle-to-vehicle communication. The vehicle thus has information about the path the other vehicle intends to take, allowing it to be determined whether the obstacle in the vehicle's lane is relevant to the other vehicle's turning maneuver.

[0019] To verify the width of the other vehicle, the width of the other vehicle and a signal from the activated turn signal are sent to the other vehicle via vehicle-to-vehicle communication. This allows the path of the other vehicle and the remaining road width between the vehicle and the obstacle to be verified.

[0020] The other vehicle is also operated in automated and driverless mode, so that communication between vehicle users of the two vehicles is not possible in order to avoid or resolve the blockage situation as far as possible.

[0021] Embodiments of the invention are explained in more detail below with reference to drawings.

[0022] Showing: Fig. 1 schematically shows an intersection area without right-of-way traffic signs, traffic lights or police officers, a vehicle and another vehicle turning left and Fig. 2 schematically shows the intersection area with the two vehicles and a respective detection area of ​​detection units of an environmental sensor system of the vehicle.

[0023] Corresponding parts are provided with the same reference numerals in all figures.

[0024] Figure 1 shows an area of ​​an intersection K without any right-of-way traffic signs, traffic lights, or police officers. A vehicle 1 is parked in lane F1 of intersection K, observing a right-of-way rule, while another vehicle 2 is turning left in another lane F2 of the intersection. The other vehicle 2 has the right-of-way over vehicle 1.

[0025] The intersection K with the two vehicles 1, 2 and a respective detection area E of detection units 3 to 6 of an environmental sensor system of the vehicle 1 is in Figure 2 shown.

[0026] The two vehicles 1, 2 drive in automated driving mode, whereby a driving task is fully carried out by the respective vehicle 1, 2 and there is no vehicle user in the respective vehicle 1, 2.

[0027] In an opposite lane of roadway F1 of vehicle 1, there are two longitudinally parked vehicles 7, 8, with a first parked vehicle 7 being partially adjacent to vehicle 1.

[0028] If the additional vehicle 2 coming from the right for vehicle 1 turns in front of vehicle 1 on its lane F1, the additional vehicle 2 cannot pass vehicle 1 laterally and remains in front of vehicle 1. Thus, a blockage situation exists for both vehicles 1, 2, so that both vehicles 1, 2 remain in this blockage situation for an indefinite period of time without further action, until, for example, a teleoperator takes over remote control of at least one of the two vehicles 1, 2 in order to resolve the blockage situation or the first parked vehicle 7 leaves its parking position.

[0029] In order to avoid such a blockage situation as far as possible, a procedure is provided as described below.

[0030] Vehicle 1 includes the environmental sensor system with at least the detection units 3 to 6, which continuously detect signals while the vehicle 1 is in operation. Based on the detected signals, the environment of the vehicle 1 and objects located therein, and thus also the other vehicle 2, are detected.

[0031] Based on detected signals from a detection unit 3, in particular designed as a side camera, and based on detected signals from a detection unit 4 designed as a radar-based rear-side sensor, at least the first parked vehicle 7 next to the vehicle 1 is detected. In particular, the first parked vehicle 7 is recognized as an object and obstacle that blocks the passage of another vehicle 2 potentially approaching the other vehicle 1 in the opposite lane of its roadway F1. This means that the roadway width for the passage of the other vehicle 2, i.e. the distance between the vehicle 1 and the first parked vehicle 7, is too small.

[0032] For this purpose, the remaining lane width between vehicle 1 and the first parked vehicle 7 is determined as an obstacle based on detected signals, in particular from the detection unit 4 designed as a side camera. An obstacle causing a blocking situation can also be a construction site fence or another object in the opposite lane of vehicle 1 that blocks the path of the other vehicle 2.

[0033] The additional vehicle 2 and its activated turn signal 9 are detected based on signals from a detection unit 5 configured as a radar-based front corner sensor and from signals from a detection unit 6 configured as a front camera. Furthermore, the width of the additional vehicle 2 is determined, in particular, based on signals from the detection units 5, 6.

[0034] Because the direction indicator 9 of the further vehicle 2 is activated, a path of the further vehicle 2 can be determined, wherein the further vehicle 2 intends to turn left.

[0035] To determine whether the additional vehicle 2 can pass the vehicle 1 from the side despite the first parked vehicle 7, the determined remaining road width between the vehicle 1 and the first parked vehicle 7 is compared with the determined width of the additional vehicle 2.

[0036] To verify the width of the other vehicle 2, the other vehicle 2 sends its width as well as a signal from the set direction indicator 9 to the vehicle 1 via a communication connection.

[0037] In one embodiment of the method, it is provided that, based on the signals detected by the environmental sensors of the vehicle 1, it is determined whether the view of the further vehicle 2 of the obstacle blocking its path in the form of the first parked vehicle 1 is obscured.

[0038] Because intersection K is a level crossing K, the other vehicle 2 has priority over vehicle 1 to pass intersection K.

[0039] If vehicle 1 determines that a blocking situation arises between vehicle 1 and the other vehicle 2 when the other vehicle 1 exercises its right of way, and in addition the view of the other vehicle 2 of the first parked vehicle 7 is obscured, the communication connection is re-established between the two vehicles 1, 2.

[0040] Via the communication link, in particular vehicle-to-vehicle communication, the other vehicle 2 is informed of its blocked path, and the other vehicle 2 acknowledges receipt of this information. Subsequently, despite the existing right of way of the other vehicle 2, the two vehicles 1 and 2 coordinate as to which of the two vehicles 1 and 2 should pass intersection K first.

[0041] Due to the resulting blocking situation, in the event that the other vehicle 1 passes the intersection K first, the vehicles 1, 2 will agree that the other vehicle 2 informs the vehicle 1 via the existing communication connection that the vehicle 1 passes the intersection K before the other vehicle 2.

[0042] In particular, the additional vehicle 2 sends a right-of-way information to vehicle 1, which in turn acknowledges receipt and starts its automated driving operation.

Claims

1. Method for operating an automated vehicle (1) in the region of an intersection (K), characterized in that - the vehicle (1), in a situation in which it is stationary at the intersection (K) adhering to a right-of-way rule, detects another vehicle (2) with right-of-way at the intersection (K) on the basis of detected signals from an environmental sensor system and determines the intended route of this other vehicle, - the vehicle (1) determines, on the basis of the intended route of the other vehicle (2), whether the other vehicle (2) must pass it laterally after passing the intersection (K), and in such a case determines whether the route of the other vehicle (2) is blocked by an obstacle, - the vehicle (1), in a case in which it has determined that the route of the other vehicle (2) is blocked by an obstacle, establishes a communication link to the other vehicle (2) and uses this to inform the other vehicle (2) about the blocked route.

2. Method according to claim 1, characterized in that the order in which the two vehicles (1, 2) pass the intersection (K) is agreed upon.

3. Method according to either claim 1 or claim 2, characterized in that by means of the vehicle (1) it is determined whether the view of the other vehicle (2) of the obstacle blocking its route is obscured.

4. Method according to any of the preceding claims, characterized in that in order to determine whether a blockage situation has occurred, a remaining road width between the vehicle (1) and the obstacle blocking the route of the other vehicle (2) and a width of the other vehicle (2) are determined.

5. Method according to claim 4, characterized in that in order to determine whether the blockage situation has occurred, the remaining road width is compared with the width of the other vehicle (2).

6. Method according to any of the preceding claims, characterized in that the intended route of the other vehicle (2) is determined on the basis of an activated turn signal light (8) and / or on the basis of information transmitted via vehicle-to-vehicle communication.

7. Method according to claim 6, characterized in that by means of the other vehicle (2), in order to verify the plausibility of the width of the other vehicle (2), the width thereof and a signal of the set turn signal light (9) are sent to the vehicle (1) via vehicle-to-vehicle communication.

8. Method according to any of the preceding claims, characterized in that the other vehicle (2) is operated in automated driving mode and driverlessly.