Automatic control of a motor vehicle

Abstract

The invention relates to a method (300) for controlling a motor vehicle (105), which method comprises the steps: detecting (310) a lane for an oncoming vehicle (115); identifying (315-325) a shield between the motor vehicle (105) and the lane (118); and providing (350) a signal if the shield is inadequate for preventing a collision of the motor vehicle (105) with a potentially incoming vehicle (115) in the lane (118).

Description

[0001] Automatic control of a motor vehicle

[0002] The invention relates to the automatic control of a motor vehicle. In particular, the invention relates to the deactivation of an automatic control if there is a risk of collision with an oncoming vehicle.

[0003] A motor vehicle comprises a control device for automatically controlling the vehicle. The control device is configured to control the motor vehicle longitudinally and / or transversely and preferably performs autonomous control. To avoid an accident, the motor vehicle can only be controlled if predetermined conditions are met. One of the most serious consequences of incorrect control of the motor vehicle can occur if a collision with an oncoming vehicle occurs.

[0004] In US 2019 0 143 964 A1 it was proposed to carry out a final maneuver in the event of an impending collision of a motor vehicle in order to mitigate the consequences of the collision for the occupants of the motor vehicle.

[0005] One object underlying the invention is to provide an improved technology for protecting an autonomously controllable motor vehicle against collisions. The invention solves this problem by means of the subject matter of the independent claims. Subordinate claims specify preferred embodiments.

[0006] According to a first aspect of the present invention, a method for controlling a motor vehicle comprises steps of detecting a lane for an oncoming vehicle; determining a shielding between the motor vehicle and the lane; and providing a signal if the shielding is too small to prevent a collision of the motor vehicle with a vehicle possibly approaching in the lane.

[0007] Shielding can be understood as a physical condition that prevents a collision between the motor vehicle and an oncoming vehicle in the same lane, as explained in more detail below. Shielding can be implemented, in particular, by a structural separation between the lane of the motor vehicle and the lane for an oncoming vehicle. In Europe, for example, such a separation is often formed by a guardrail or a grass verge; in North America, a larger clear area is often provided. The shielding can also comprise another object or another vehicle.

[0008] If the shielding is insufficient, the signal can be provided to a human driver or used to initiate countermeasures. In particular, the driver can be warned of the latent danger. The signal can also request the driver to take control of the vehicle (takeover request).

[0009] If an automatic control system configured to control the motor vehicle is active, it can be activated to reduce the danger or increase protection against the consequences of a potential collision. For example, a lane change to a lane farther away from the oncoming lane can be initiated, or the vehicle's speed can be reduced. Alternatively, the vehicle can be controlled to a safe state, which could include, for example, slow travel or a standstill.

[0010] The automatic control can be disabled if it is currently active. The activation of an inactive automatic control can be prevented.

[0011] Preferably, the automatic control is deactivated if the shielding is less than predetermined for longer than a predetermined duration and / or for longer than a predetermined distance. This duration can be, for example, a few hundred milliseconds, approximately one second, or up to approximately two seconds. However, an interruption in the sufficient shielding between the motor vehicle and the oncoming lane can be tolerated if it is shorter than the predetermined duration or distance. The signal cannot then be provided, and the automatic control cannot be deactivated. The determination of a subsequent insufficient coverage can be restarted in this case.

[0012] The automatic control is preferably configured to control the motor vehicle longitudinally and / or transversely. The automatic control can achieve a level of automation equivalent to a range between Level 1 and Level 5 of the SAE Standard J3016. Particularly preferably, the automatic control is configured for combined longitudinal and transverse control and can, for example, control the motor vehicle in the event of a traffic jam or on a highway. The control can operate at Level 3 or higher on the aforementioned scale.

[0013] It is particularly preferred that a geometric area be determined with respect to the motor vehicle, and that insufficient shielding be determined if the shielding fills the area less than a predetermined amount. This makes it easy to determine whether there is a realistic risk that the motor vehicle will collide with a vehicle potentially traveling in the oncoming lane. The area moves along with the motor vehicle; its occupancy can provide information about the current collision risk.

[0014] In a first embodiment, the occupancy of the area of ​​the geometric region by a shield can be evaluated. For example, insufficient shielding can exist if the area of ​​the region is less than 40% occupied. In a further embodiment, the fill of the region by a shield can be determined in the manner of a projection. For example, if an object is located between the motor vehicle and the oncoming lane, not only the area occupied by the object but also the part of the region that lies behind the object from the motor vehicle can be counted as occupied.

[0015] The area preferably extends horizontally on a surface. In this case, the area preferably borders the motor vehicle or begins at a predetermined, short distance, for example, from approximately 0.5 to approximately 1 meter. The area can be determined depending on the current driving speed of the motor vehicle. If the driving speed is low, the area can, for example, extend more laterally from the motor vehicle. The higher the driving speed, the further in the direction of travel the area can be directed. Furthermore, as the driving speed increases, the extent of the area from the motor vehicle can be increased. The width of the area can also be adjusted.

[0016] In a further embodiment, the range is determined depending on the steering capability of the motor vehicle. This allows for the fact that the driving dynamics possible due to the driving state and design of the motor vehicle only permit a certain movement of the motor vehicle. For example, as the driving speed increases, the minimum turning radius of the motor vehicle may increase. The range can be adjusted in such a way that a collision risk for a location that the motor vehicle cannot reach due to its steering capability is not taken into account.

[0017] In yet another embodiment, the range can be determined depending on the acceleration capability of the motor vehicle. Thus, it can be taken into account that the motor vehicle cannot catch up with a vehicle traveling in the oncoming lane if this requires acceleration that cannot be achieved by the motor vehicle's drivetrain under the prevailing driving conditions. Similarly, the range can also be determined with respect to the deceleration capability of the motor vehicle. In each case, the range can be adjusted so that locations not at risk of collision are removed from consideration.

[0018] In yet another embodiment, the area is defined such that it contains locations to which the motor vehicle can be steered within a predetermined time. For example, the area can be defined such that it encompasses all locations that can be reached within the predetermined time, for example, approximately one to two seconds. Locations that the motor vehicle cannot reach within this time cannot be located in the area. Realistic limitations can be taken into account with regard to the accessibility of a location by the motor vehicle. These limitations can, in particular, relate to the aforementioned steering ability, acceleration ability, or deceleration ability of the motor vehicle. Shielding is preferably not yet taken into account when determining the accessible locations.

[0019] The shielding between the motor vehicle and the oncoming lane can be formed in different ways.

[0020] In a first variant, the shielding comprises another vehicle that travels between the motor vehicle and the oncoming lane in the same direction as the motor vehicle.

[0021] Such a situation can occur, for example, on a highway, where a motor vehicle is traveling in a slow lane and a vehicle traveling in the same direction is traveling in a faster lane. The larger the other vehicle, the greater its shielding effect on the oncoming lane. The closer the speed of the other vehicle traveling in the same direction is to the speed of the motor vehicle, the longer the shielding effect on the motor vehicle can last.

[0022] In a second variant, the shielding comprises a structure. A structure can be defined as a stationary object whose height exceeds a predetermined threshold. In another embodiment, only an object that has a predetermined resistance to the motor vehicle or an oncoming vehicle is considered a structure. For this purpose, the height, deformability, displaceability, material, shape, or mass of the object can be taken into account. A plastic beacon that can be erected in the area of ​​a construction site cannot be considered a structure in this sense, but a parked construction machine or an earth embankment can.

[0023] In a third variant, the shielding encompasses an open area of ​​a predetermined size. An object located within the area can be disregarded if it is not recognized as a building.

[0024] According to a second aspect of the present invention, a device for controlling a motor vehicle comprises a first sensor and / or a source of map information (such as a memory with map data) for detecting a lane for an oncoming vehicle; a second sensor for detecting the surroundings of the motor vehicle; and a processing device. The processing device is configured to determine whether the motor vehicle is shielded from the lane on the basis of data provided by the first sensor and / or the source of map information and by the second sensor; and further to provide a signal if the shielding cannot prevent a collision of the motor vehicle with a vehicle possibly approaching in the lane.It should be understood that the signal can be generated regardless of whether an oncoming vehicle is actually approaching; rather, the fundamental suitability of the shielding to prevent a collision between the motor vehicle and an oncoming vehicle (should an oncoming vehicle be approaching) is crucial.

[0025] The processing device is preferably configured to fully or partially execute a method described herein. For this purpose, the processing device may comprise a programmable microcomputer or microcontroller. The method may be in the form of a computer program product with program code means. The computer program product may also be stored on a computer-readable data carrier. Features or advantages of the method may be transferred to the device, or vice versa.

[0026] It should be noted that the first and second sensors can be integrated with each other or identical. Practically any number of sensors can be used to detect the oncoming vehicle or scan the vehicle's surroundings.

[0027] According to yet another aspect of the present invention, a motor vehicle comprises an automatic control device, as well as a device described herein.

[0028] The invention will now be described in more detail with reference to the accompanying drawings, in which:

[0029] Figure 1 shows a system with a motor vehicle;

[0030] Figure 2 shows a control device on board a motor vehicle; and Figure 3 illustrates a flow diagram of a method.

[0031] Figure 1 shows a system 100 with a motor vehicle 105 traveling on a roadway 110. Since the following observations are often made from the motor vehicle 105, it can also be referred to as an EGO vehicle 105 or EGO motor vehicle 105. Another vehicle 115 can travel on a lane 118 in a direction substantially opposite to the direction of travel of the motor vehicle 105. Typically, the oncoming vehicle 115 is also a motor vehicle. If the vehicle 115 is stationary, it can be determined as not oncoming. The lane 118 can be part of the roadway 110 or another roadway.

[0032] The movement of the motor vehicle 105 can be controlled by means of an automatic control device. The control device can control the motor vehicle longitudinally and / or transversely. To prevent a collision between the motor vehicle 105 and a vehicle 115 potentially traveling in the oncoming lane 118, even in the event of a fault in the automatic control device, the automatic control or the control device can be deactivated if a predetermined condition is not met.

[0033] It is proposed that this condition include the size or strength of a shield located between the motor vehicle 105 and the oncoming lane 118, which can make a collision with a potentially oncoming vehicle 115 less likely or less serious. To this end, it is further proposed that an area 120 be determined with respect to the motor vehicle 105 and then a measure or degree to which the area 120 is filled with a shield is determined.

[0034] Roughly speaking, the area 120 extends between the motor vehicle 105 and the oncoming lane 118. The shape and size of the area 120 are preferably predetermined, but can also be determined dynamically. In the illustrated embodiment, the area is shaped like a club; in other embodiments, the area 120 can, for example, take the shape of a rhombus, a trapezoid, a rectangle, or a circular segment; other shapes are also possible.

[0035] The region 120 extends along a longitudinal axis, which typically forms an acute angle with the direction of travel of the motor vehicle 105. A width of the region 120 can be determined perpendicular to its length. A direction of the longitudinal axis, a length, and / or a width, like the shape, can be determined depending on a driving state of the motor vehicle 105.

[0036] The representation of Figure 1 is based on the assumption that the oncoming lane 118 passes to the left of the motor vehicle 105. This is typically the case when right-hand traffic prevails in the system 100 and a potentially oncoming vehicle 115 is using the oncoming lane 118. The area 120 therefore extends to the left of the motor vehicle 105. In other constellations, however, the area 120 can also extend to the right of the motor vehicle 105. Optionally, areas 120 can be considered on both sides of the motor vehicle 105.

[0037] Area 120 can be covered in different ways. In a first variant, a section of another vehicle 125, which typically comprises another motor vehicle, is located in area 120. This typically requires that the other vehicle 125 is moving substantially between the motor vehicle 105 and the oncoming lane 118 in a direction parallel to the direction of travel of the motor vehicle 105. The other vehicle 125 can also travel slower or faster than the motor vehicle 105.

[0038] The area 120 can also be covered by a structure 130. A structure 130 is understood to be a structural measure, a terrain feature, an item, an object, or a section of the roadway 110 that is designed to stop the movement of the motor vehicle 105 in the direction of the oncoming vehicle 115. As a first approximation, it can be assumed that this is the case for any structure 130 that is larger than a predetermined minimum size. The size can include a height in the vertical direction and / or a cross-section that can be determined from the motor vehicle 105.

[0039] In a refinement, it can also be checked whether the structure 130 would be sufficiently resistant to the movement of the motor vehicle 105 or a vehicle 115. For this purpose, an object class of the structure 130 can be determined. Only objects that fall into predetermined object classes can be accepted as the structure 130. Examples of such object classes include a guardrail, a bridge pier, or a drainage ditch.

[0040] In a third variant, the area 120 is covered by an open space of a predetermined size. The open space can counteract the movement of the motor vehicle 105 toward the oncoming vehicle 115 in the manner of a buffer zone or gravel bed.

[0041] Figure 2 shows a control device 200 on board a motor vehicle 105. The control device 200 comprises a processing device 205, a first sensor 210, an optional second sensor 215, an interface 220 and optionally a data memory 225 and / or an output device 230.

[0042] The first sensor 210 comprises, for example, a camera and is configured to scan the surroundings of the motor vehicle 105. The second sensor 215 comprises, for example, a radar or LIDAR sensor. The surroundings of the motor vehicle 105 can also be detected using the second sensor 215. Sensor signals are provided that can be evaluated by the processing device 205 to determine an oncoming vehicle 115 or coverage in the area of ​​the motor vehicle 105.

[0043] A signal can be provided via interface 220 to deactivate an automatic control device for motor vehicle 105. To prevent motor vehicle 105 from being moved without a driver, a request to a driver 235 to take control of motor vehicle 105 can be provided via output device 230.

[0044] Information can be stored in the data memory 225 that allows the processing device 205 to detect an oncoming vehicle 115, another vehicle 125, a building 130 or an open area in the vicinity of the motor vehicle 105.

[0045] Figure 3 shows a flowchart of a method 300, which is preferably carried out by means of a system 100 on board a motor vehicle 105.

[0046] In a step 305, the surroundings of the motor vehicle 105 can be detected using the sensors 210, 215. Based on the detected sensor data, an oncoming lane 118 can be determined in a step 310. In another embodiment, the oncoming lane can also be determined based on a geographical position of the motor vehicle 105 and map data in the area of ​​the determined position. If no oncoming lane 118 exists within a predetermined distance from the motor vehicle 105, the method 300 can terminate or return to the beginning. Furthermore, in step 310, the area 120 can be defined, the size, orientation, or shape of which can depend on a driving state of the motor vehicle 105.

[0047] Depending on the sensor detection in step 305 and the area 120 defined in step 310, different coverages of the area 120 can now be determined. The different coverages can be treated individually or weighted and then combined.

[0048] In a step 315, another vehicle 125 can be determined, at least a portion of which lies in area 120. The other vehicle 125 is located substantially between the motor vehicle 105 and the oncoming lane 118.

[0049] In a step 320, a development 130 can be determined, at least a portion of which lies in the area 120. Optionally, it can be determined for an object in the vicinity of the motor vehicle 105 whether it meets predetermined criteria to be considered a development 130. Furthermore, it can be determined whether a detected development 130 has a predetermined minimum size.

[0050] In a step 325, a free space or a free area in the vicinity of the

[0051] Motor vehicle 105. The free space preferably forms a contiguous area of ​​a predetermined size. The area can have a predetermined minimum length and / or a predetermined minimum width. In various embodiments, the size of the free space can be determined overall or within the area 120. Only when the size within the area 120 exceeds a predetermined threshold can the free space be considered as shielding.

[0052] In a step 330, it can be determined which part of the area 120 is filled by the additional vehicle 125. Similarly, in a step 335, it can be determined which part of the area 120 is filled by the development 130, and in a step 340, which part of the area 120 is filled by the open space.

[0053] In a step 345, it can be determined whether shielding between the motor vehicle 105 and the oncoming lane 115 is sufficient. This can be the case if the predetermined area 120 is filled to a predetermined extent. In one variant, the filled portions determined in steps 330, 335, and 340 are added together for this determination. A portion that is filled multiple times can only be evaluated once.

[0054] Further preferably, it is determined whether this condition is not met for a predetermined duration or for longer than a predetermined distance. This duration can be, for example, approximately 1 to approximately 3 seconds. If the area 120 is not filled to a predetermined extent, or if the area 120 is not filled to the predetermined extent for longer than the predetermined duration or distance, a warning can be provided to the driver 235 in a step 350. The control device of the motor vehicle 105 can be switched off immediately or with a delay of a predetermined time. If the control device is not active at this time, switching on the device can be prevented. The warning to the driver 235 can then also be dispensed with.

[0055] The method 300 can then return to the beginning and run through again. Reference numerals

[0056] 100 systems

[0057] 105 Motor vehicle

[0058] 110 road

[0059] 115 oncoming vehicle

[0060] 120 area

[0061] 125 additional vehicles

[0062] 130 Development

[0063] 200 control device

[0064] 205 Processing facility

[0065] 210 first sensor

[0066] 215 second sensor

[0067] 220 interface

[0068] 225 data storage

[0069] 230 Dispensing device

[0070] 235 drivers

[0071] 300 procedures

[0072] 305 Capture environment

[0073] 310 Define area, determine oncoming traffic

[0074] 315 Determine another vehicle

[0075] 320 Determine development

[0076] 325 determine free space

[0077] 330 Determine occlusion

[0078] 335 Determine occlusion

[0079] 340 Determine occlusion

[0080] 345 Shielding sufficient?

[0081] 350 Provide warning

Claims

Claims 1. Procedure (300) for steering a motor vehicle (105), comprising the following steps: Detect (310) a lane for an oncoming vehicle (115); Determine (315 - 325) a barrier between the motor vehicle (105) and the lane (118); and Providing (350) a signal if the shielding is insufficient to prevent a collision between the motor vehicle (105) and a vehicle (115) that may be traveling in the opposite direction on the lane (118).

2. Method (300) according to claim 1, wherein an automatic control (200) configured to control the motor vehicle (105) is controlled on the basis of the signal.

3. Method (300) according to claim 2, wherein the automatic control (200) is switched off or its switching on is prevented.

4. Method (300) according to any of the preceding claims, wherein the signal (350) is provided if the shielding is insufficient to prevent the collision for a longer than a predetermined duration and / or a longer than a predetermined distance.

5. Method (300) according to one of the preceding claims, wherein a geometric area with respect to the motor vehicle (105) is determined (310); and insufficient shielding is determined (345) if the shielding fills the area (120) to less than a predetermined extent.

6. Method (300) according to claim 5, wherein the area (120) is determined (310) depending on a current driving speed of the motor vehicle (105).

7. Method (300) according to one of claims 5 or 6, wherein the area (120) is determined (310) depending on the steering capability of the motor vehicle (105).

8. Method (300) according to one of the preceding claims, wherein the area (120) is determined such that it contains places to which the motor vehicle (105) can be steered within a predetermined time.

9. Method (300) according to one of the preceding claims, wherein the shielding comprises another vehicle (125) traveling between the motor vehicle (105) and the lane (118) in the same direction as the motor vehicle (105).

10. Method (300) according to one of the preceding claims, wherein the shielding comprises a structure (130).

11. Method (300) according to one of the preceding claims, wherein the shielding comprises a free area of ​​a predetermined size.

12. Device (200) for controlling a motor vehicle (105), the device (200) comprising: a first sensor (210, 215) and / or a map information source for detecting a lane for an oncoming vehicle (115); a second sensor (210, 215) for detecting the surroundings of the motor vehicle (105); and a processing unit (205) for determining whether the motor vehicle (105) should be shielded from the lane (118) based on data provided by the first sensor (210, 215) and / or the map information source and by the second sensor (210, 215); the processing unit (205) further being configured to provide a signal if the shielding is insufficient to prevent a collision between the motor vehicle (105) and a vehicle (115) that may be approaching in the opposite direction in the lane (118).

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