METHOD AND DEVICE FOR CONTROLLING AN AUTOMATED VEHICLE

Description

[0001] The invention relates to a method for controlling an automated vehicle according to the preamble of claim 1.

[0002] The invention relates to a device for controlling an automated vehicle according to the preamble of claim 9.

[0003] From DE 10 2019 105 739 A1 a method for the partially automated driving of a motor vehicle while obscuring the visibility of an environmental sensor system of the motor vehicle is known, comprising the following steps: Generating and outputting entry control signals for controlling lateral and longitudinal guidance of the motor vehicle in order to guide the motor vehicle semi-automatically such that the motor vehicle enters a road junction; receiving environmental signals which represent an environment of the motor vehicle during the entry into the road junction; determining based on the environmental signals that the motor vehicle may continue to enter the road junction, must stop, or reverse; generating and outputting control signals for controlling the lateral and longitudinal guidance of the motor vehicle based on the determination in order to guide the motor vehicle semi-automatically in accordance with the determination such that the motor vehicle continues to enter the road junction, stops, or reverse.

[0004] From EP 3 599 141 A1 a method for driving a vehicle is known in which a future position of the vehicle is determined as a stop position at which the vehicle is to stop in order to observe a red traffic light, wherein the stop position is determined in such a way that the traffic light is in a field of view of a sensor arrangement of the vehicle.

[0005] From DE 10 2015 224 192 A1 a method for assessing the drivability of a route section is known, whereby the assessment is carried out taking into account a contour map which represents a topology of the route section.

[0006] From DE 10 2016 207 181 A1 a method for locating a vehicle on a roadway is known, in which the localization is based on a detection of an elevation profile of a vehicle's surroundings and a comparison of the detected elevation profile with a reference elevation profile embedded in a reference map.

[0007] DE 10 2018 217 746 A1 discloses a method for operating a driver assistance system configured for at least partially automatic guidance of a vehicle. The method involves guiding the vehicle along a trajectory that, upon detection of a reduction in the detection range of a distance sensor, at least temporarily guides the vehicle closer to a lane boundary or at least temporarily further away from a road user who obscures the field of view of the distance sensor.

[0008] From DE 10 2008 0069 849 A1 a vehicle is known whose height can be adjusted to facilitate lateral access to a roof box.

[0009] From US 2013 / 274 958 A1 an information processing system for a vehicle is known which is intended to assist a driver based on an operating pattern stored in a database.

[0010] The invention is based on the object of providing a novel method for controlling an automated vehicle and a novel device for controlling an automated vehicle.

[0011] The object is achieved according to the invention by a method which has the features specified in claim 1 and by a device which has the features specified in claim 9.

[0012] Advantageous embodiments of the invention are the subject of the subclaims.

[0013] In a method for controlling an automated, in particular highly automated or autonomous, vehicle in the area of ​​a road intersection, data collected by means of an environmental detection sensor system is used.

[0014] According to the invention, before reaching the intersection, several future vehicle positions are determined as stopping point candidates along a path ahead of the vehicle until reaching the intersection. For each of the stopping point candidates, a field of view of the environmental detection sensor system is predicted, taking into account a height profile of a road surface in the area of ​​the intersection. The stopping point candidate at which the environmental detection sensor system has the largest field of view is selected as the vehicle's stopping position. At the stopping position, the environmental detection sensor system detects the vehicle's surroundings, and the vehicle is automatically steered into the intersection depending on a traffic situation determined from the data of the environmental detection sensor system.

[0015] Using this method, environmental detection in the area of ​​intersections, which are difficult for the vehicle's environmental detection sensors to see, for example, due to the elevation profile of the road surface, can be significantly improved. This increases safety when a vehicle automatically enters and passes through an intersection.

[0016] In one possible embodiment of the method, the vehicle's orientation is changed at the stop position using an active chassis in such a way that the field of view of the environment detection sensors is maximized. This enables further improved environment detection in the area of ​​intersections.

[0017] In another possible embodiment of the method, the position of the vehicle at the stop position is changed by an automated longitudinal and / or transverse movement in such a way that the field of view of the environmental detection sensors is maximized. This can also further improve environmental detection in the area of ​​intersections.

[0018] In another possible embodiment of the method, the stop point candidates are determined based on map data from a digital road map. This provides a simple and reliable method for determining the stop point candidates.

[0019] In another possible embodiment of the method, the stopping point candidates are determined based on model data from an environmental model. This also represents a simple and reliable determination of the stopping point candidates.

[0020] In another possible embodiment of the method, the environment model is generated based on the data from the environment detection sensors. This advantageously results in the environment model being up-to-date, so that any changes in the vehicle's environment can be taken into account.

[0021] In a further possible embodiment of the method, a further three-dimensional environmental model of the vehicle environment is created based on the data recorded at the stop position by means of the environmental detection sensors of the vehicle environment, which model the vehicle environment particularly reliably and accurately due to the large field of view of the environmental detection sensors at the stop position.

[0022] In another possible embodiment of the method, the vehicle's orientation is determined based on the three-dimensional environment model and map data from a digital road map to maximize the field of view of the environment detection sensors. This allows the magnification of the field of view to be maximized particularly reliably due to the particularly reliable and accurate mapping of the vehicle's surroundings.

[0023] In another possible embodiment of the procedure, the vehicle is guided into the intersection by slowly feeling its way into it. This can reduce the risk of a collision between the vehicle and other road users. The term "feeling its way into it" is to be interpreted, for example, according to the expert's understanding of the German Road Traffic Act, Section 8. Paragraph 2, sentence 3 states: "If this cannot be overlooked because the road section is unclear, the driver may carefully feel his way into the intersection or junction until he has a clear view."

[0024] A device for controlling an automated vehicle in the region of a road intersection has an environmental detection sensor system. According to the invention, the device has a processing unit which is designed to determine several future vehicle positions as stopping point candidates before reaching the road intersection along a path ahead of the vehicle until reaching the road intersection. The processing unit is further designed to predict a field of view of the environmental detection sensor system for each of the stopping point candidates, taking into account a height profile of a road surface in the region of the road intersection, and to select the stopping point candidate at which the environmental detection sensor system has the largest field of view as the vehicle's stopping position.Furthermore, the device comprises a control unit which is designed to automatically steer the vehicle into the intersection depending on a traffic situation determined from data of a vehicle environment recorded at the stop position by means of the environment detection sensor system.

[0025] Using this device, environmental detection in the area of ​​intersections, which are difficult for the vehicle's environmental detection sensors to see, for example, due to the elevation profile of the road surface, can be significantly improved. This increases safety when a vehicle automatically enters and passes through an intersection.

[0026] In one possible embodiment of the device, it comprises an active chassis designed to change the orientation of the vehicle at the stop position in such a way that the field of view of the environmental detection sensors is maximized. This enables further improved environmental detection in the area of ​​intersections.

[0027] Embodiments of the invention are explained in more detail below with reference to drawings.

[0028] Showing: Fig. 1 schematically shows a plan view of a road intersection, Fig. 2 schematically shows a perspective view of several lanes, Fig. 3 schematically shows front views of a vehicle in different states and Fig. 4 schematically shows a block diagram of a device for controlling an automated vehicle.

[0029] Corresponding parts are provided with the same reference numerals in all figures.

[0030] In Figure 1a plan view of a road intersection SK with one vehicle 1 and two other vehicles 2, 3 is shown.

[0031] Vehicle 1 is configured for automated, particularly highly automated or autonomous, driving operation. To perform automated driving operation, the vehicle's surroundings must be detected. For this detection, vehicle 1 includes an environmental detection sensor system 4.

[0032] Before vehicle 1 enters the SK intersection, it is necessary that all other road users, in this case the other vehicles 2, 3, are recorded in order to ensure safe passage through the SK intersection, avoiding collisions and complying with legal requirements, for example right-of-way regulations.

[0033] Figure 2shows a perspective view of several roadways FB1 to FB4, which are at least partially characterized by a hilly elevation profile of their road surfaces. Figure 3 Front views of vehicle 1 in different conditions on a roadway FB1 with an uneven road surface are shown.

[0034] Due to the elevation profile of the lanes FB1 to FB4 and / or due to an uneven road surface, for example with potholes L and / or elevations E, sensors of the environment detection sensor system 4 with a limited vertical opening angle may have restrictions in a field of view S. These restrictions may result in insufficient detection of the road surface and the corresponding sensor not being sufficiently inclined to detect the vehicle surroundings along a lane FB1 to FB4 and to detect moving road users.

[0035] In order to avoid such a restriction of the field of view S, a device 5 and a method for controlling an automated vehicle 1 are provided.

[0036] A block diagram of a possible embodiment of such a device 5 shows Figure 4 .

[0037] The device 5 comprises the environment detection sensor system 4, which includes, for example, camera, radar, and / or lidar sensors and / or other sensors for detecting the vehicle's surroundings. Furthermore, the device 5 comprises a processing unit 6 with several processing modules 6.1 to 6.4, a control unit 7, a digital road map 8, an active chassis 9 of the vehicle 1, a fusion module 10, and a control module 11.

[0038] By means of the fusion module 10, data D acquired by means of several sensors of the environment detection sensor system 4 are fused to form fused data FD, wherein static and dynamic objects in the vehicle environment are detected on the basis of the fused data FD.

[0039] From data D acquired by the environmental detection sensor system 4 and map data KD of the digital road map 8, a three-dimensional environmental model UM1 is generated by means of a first processing module 6.1 of the processing unit 6 on the basis of an estimation of a profile of the road surface and a road surface detection, for example of potholes L and / or elevations E.

[0040] Subsequently, in a second processing module 6.2 of the processing unit 6, a stop position POS of the vehicle 1 is determined from a plurality of stop point candidates based on the environmental model UM1 and the map data KD, which represent future vehicle positions located on a path ahead of the vehicle 1. For each of the stop point candidates, a field of view S of the environmental detection sensor system 4 is predicted, taking into account the elevation profile of the road surface in the area of ​​the road intersection SK, wherein the stop point candidate at which the environmental detection sensor system 4 has the largest field of view S is selected as the stop position POS of the vehicle 1. This stop position POS is transmitted to the control unit 7 for controlling an automated longitudinal and / or transverse movement of the vehicle 1, so that the vehicle 1 is guided to the stop position POS and stops there.

[0041] At the stop position POS, a possible field of view S of the environmental detection sensor system 4 is determined by means of a further processing module 6.3 depending on the map data KD, in particular based on a roadway geometry of the intersection SK contained therein, and based on the fused data FD. In this case, a further three-dimensional environmental model UM2 is determined from the data D and / or the fused data FD, and on this basis, the processing module 6.4 determines whether the field of view S of the environmental detection sensor system 4 can be increased at the stop position POS by changing the orientation of the vehicle 1 using an active chassis 9 thereof. If this is the case, the orientation of the vehicle 1, i.e., its inclination to the road surface, is changed by means of the active chassis 9 in such a way that the field of view S is maximized.

[0042] In addition, at the stop position POS, depending on the map data KD and the merged data FD, the processing module 6.4 checks whether the field of view S of the environmental detection sensor system 4 can be further enlarged by further, in particular minor, changes in the position of the vehicle 1 through an automated longitudinal and / or transverse movement. If this is the case, the vehicle 1 is moved from the stop position POS to a new stop position POS by means of the control unit 7 for controlling the automated longitudinal and / or transverse movement.

[0043] Once the stop position POS with maximized field of view S is reached and the inclination of the vehicle 1 is adjusted accordingly using the active chassis 9, the vehicle's surroundings at the stop position POS are detected using the environment detection sensor system 4. Depending on a traffic situation determined from the data D of the environment detection sensor system 4 and / or the fused data FD, the control module 11 automatically steers the vehicle 1 into the intersection SK. This can be done, for example, by slowly approaching the intersection. List of reference symbols

[0044] 1Vehicle 2Vehicle 3Vehicle 4Environmental detection sensors 5Device 6Processing unit 6.1 to 6.4Processing module 7Control unit 8Digital road map 9Active chassis 10Fusion module 11Control module DData ESurvey FB1 to FB4Roadway FDFused data KDMap data LPothole POSStop position SSField of view SKRoad intersection UM1Environmental model UM2Environmental model

Claims

1. Method for controlling an automated vehicle (1) in the region of a road intersection (SK) using data (D) acquired by means of an environment acquisition sensor system (4), wherein - before the road intersection (SK) is reached, a plurality of future vehicle positions are determined as stopping point candidates along a route ahead of the vehicle (1) until the road intersection (SK) is reached, - for each of the stop point candidates, a field of view (S) of the environment acquisition sensor system (4) is predicted, - a stop point candidate is selected as the stop position (POS) of the vehicle (1), - at the stop position (POS), a vehicle environment is acquired by means of the environment acquisition sensor system (4) and - depending on a traffic situation determined from the data (D) of the environment acquisition sensor system (4), the vehicle (1) is guided into the road intersection (SK) in an automated manner, characterized in that - for each of the stopping point candidates, the field of view (S) is predicted taking into account a height profile of a road surface in the region of the road intersection (SK) and - the stop point candidate at which the environment acquisition sensor system (4) has the largest field of view (S) is selected as the stop position (POS).

2. Method according to claim 1, characterized in that at the stop position (POS), an orientation of the vehicle (1) is changed by means of an active chassis (9) thereof such that the field of view (S) of the environment acquisition sensor system (4) is maximized.

3. Method according to either claim 1 or claim 2, characterized in that at the stop position (POS), a position of the vehicle (1) is changed by an automated longitudinal and / or transverse movement such that the field of view (S) of the environment acquisition sensor system (4) is maximized.

4. Method according to any of the preceding claims, characterized in that the stop point candidates are determined based on map data (KD) of a digital road map (8).

5. Method according to any of the preceding claims, characterized in that the stopping point candidates are determined based on model data from an environment model (UM1).

6. Method according to claim 5, characterized in that the environment model (UM1) is generated based on the data (D) of the environment acquisition sensor system (4).

7. Method according to any of the preceding claims, characterized in that based on the data (D) acquired at the stop position (POS) by means of the environment acquisition sensor system (4) of the vehicle environment, a three-dimensional additional environment model (UM2) of the vehicle environment is created.

8. Method according to claim 7, characterized in that the orientation of the vehicle (1) is determined based on the three-dimensional additional environment model (UM2) and on map data (KD) of a digital road map (8) in order to maximize the field of view (S) of the environment acquisition sensor system (4).

9. Device (5) for controlling an automated vehicle (1) in the region of a road intersection (SK), comprising an environment acquisition sensor system (4), a processing unit (6) which is designed - before the road intersection (SK) is reached, to determine a plurality of future vehicle positions as stopping point candidates along a route ahead of the vehicle (1) until the road intersection (SK) is reached, - for each of the stop point candidates, to predict a field of view (S) of the environment acquisition sensor system (4) and - to select a stop point candidate as the stop position (POS) of the vehicle (1), and a control unit (7) which is designed - to guide the vehicle (1) into the road intersection (SK) in an automated manner depending on a traffic situation determined from data (D) of a vehicle environment acquired at the stop position (POS) by means of the environment acquisition sensor system (4), characterized in that the processing device (6) is designed - for each of the stopping point candidates, to predict the field of view (S) of the environment acquisition sensor system (4) taking into account a height profile of a road surface in the region of the road intersection (SK), and - to select the stop point candidate at which the environment acquisition sensor system (4) has the largest field of view (S) as the stop position (POS) of the vehicle (1).

10. Device (5) according to claim 9, characterized by an active chassis (9) which is designed to change an orientation of the vehicle (1) at the stop position (POS) such that the field of view (S) of the environment acquisition sensor system (4) is maximized.