How to perform an automatic overtaking maneuver with a vehicle

Abstract

The present invention relates to a method for detecting other vehicles (2-4) traveling around one's own vehicle (1) and performing an automatic overtaking operation for the own vehicle (1). According to the present invention, - When an overtaking operation is planned by the own vehicle (1), it is confirmed, based on the detection signal of the surrounding sensor system, whether there are other vehicles (3, 4) following behind within the rear sensor effective range (W) of the surrounding sensor system in the own vehicle's lane (F1) and the overtaking lane (F2). - If it is determined, based on the detection signal, that there is another vehicle (3) following behind only in the own vehicle's lane (F1) with respect to the sensor effective range (W), the current speed of the own vehicle (1) is reduced by a specified speed value in order to allow the other vehicle (3) following behind to overtake the own vehicle (1) and the vehicle (2) preceding the own vehicle (1). - After the other vehicle (3) following behind has overtaken the own vehicle (1), it is confirmed, based on the detection signal of the surrounding sensor system, whether there is enough space on the overtaking lane (F2) to perform an overtaking operation.

Description

Technical Field

[0001] The present invention relates to a method for detecting other vehicles traveling around a host vehicle and performing an automatic overtaking operation of the host vehicle.

Background Art

[0002] From German Patent Specification No. 4313568, a method for assisting the lane change of an automobile from the current lane to an adjacent target lane is known. In this method, the front space and the rear space of the adjacent target lane are monitored for a desired lane change, the distance and the speed of the detected objects therein are measured, and a safety distance is calculated therefrom. If all the measured distances are greater than the calculated safety distance, this is recognized as a lane change.

[0003] Furthermore, German Patent Application Publication No. 102020118664 discloses a method for assisting an autonomous vehicle. In this method, in order to pass an obstacle in front of the autonomous vehicle on the road, it is determined whether a lane change of the autonomous vehicle to an overtaking lane is possible. If not, the autonomous vehicle stops before reaching the obstacle and transmits a support request to a control center outside the vehicle. The control center outside the vehicle determines that there are other vehicles around the autonomous vehicle, and instructs the other vehicles to move in the direction of the autonomous vehicle and change to the overtaking lane before reaching the autonomous vehicle.

[0004] From International Publication No. 2022 / 189716, a method for assisting a driver of a vehicle in manually changing lanes from the current lane to an overtaking lane is known. In this method, when the actuation of a direction indicator indicating that the driver starts a lane change operation is recognized, the risk of collision is evaluated, and a warning is issued to the driver as necessary. This evaluation of the risk of collision is based on the detection of the relative acceleration of the host vehicle with respect to other vehicles that are ahead of the host vehicle or follow the host vehicle on these lanes on the current lane or the overtaking lane.

[0005] A method for assisting the driver of a vehicle is known from German Patent Application Publication No. 102017203867, in which another vehicle following the vehicle is recognized by a camera, and the camera image is evaluated to infer the intention of the following vehicle to overtake, and this intention to overtake is then communicated to the driver. [Overview of the project] [Problems that the invention aims to solve]

[0006] The present invention is based on the objective of providing a novel method for performing overtaking maneuvers by an autonomous vehicle. [Means for solving the problem]

[0007] According to the present invention, this objective is solved by a method having the features described in claim 1.

[0008] Advantageous embodiments of the present invention are the subject matter of the dependent claims.

[0009] According to the present invention, a method for detecting other vehicles traveling around one's own vehicle and performing an automatic overtaking maneuver is as follows: -When an overtaking maneuver is planned by the vehicle, based on the detection signals from the surrounding sensor system, it is confirmed whether there are other vehicles following the vehicle within the effective range of the rear sensor system in the vehicle's lane and the overtaking lane. - backward If, based on the detection signal, it is determined that there is another vehicle following only in the vehicle's lane within the sensor's effective range, the vehicle's current speed will be reduced by a specified speed value in order to allow the following vehicle to overtake both the vehicle and the vehicle preceding it. - The intention is that, after another vehicle following behind has overtaken your vehicle, it will be confirmed, based on detection signals from the surrounding sensor system, whether there is enough space in the overtaking lane to perform the overtaking maneuver.

[0010] By applying this method, following vehicles are encouraged to change into the passing lane and overtake both your vehicle and the vehicle ahead of it. This allows your vehicle to execute its planned overtaking maneuver without the risk of following vehicles suddenly entering the passing lane and your vehicle simultaneously beginning its planned overtaking maneuver.

[0011] By slightly reducing your vehicle's current speed by the specified speed value, following vehicles are prompted to perform an overtaking maneuver to pass both your vehicle and the vehicle ahead. This means that there will no longer be any following vehicles behind your vehicle, thus creating a new situation that needs to be considered regarding the planned overtaking maneuver.

[0012] Another embodiment of this method is, backward If another vehicle is detected in the passing lane within the sensor's effective range, and the distance between the following vehicle and your vehicle is smaller than the minimum distance required for the following vehicle to brake safely, the system intends to prevent your vehicle from initiating the passing maneuver. In other words, backward If the sensor's effective range is insufficient to recognize the minimum required distance, the vehicle will not be permitted to overtake.

[0013] In particular, when the vehicle is overtaking a preceding vehicle, there is a possibility that the vehicle may endanger other vehicles traveling in the overtaking lane behind it, so in such cases, the vehicle will not initiate the overtaking maneuver. Especially when the vehicle is traveling on a highway with no speed limit, and the following vehicle traveling in the overtaking lane is a so-called speed driver traveling at a current speed of at least 200 km / h, the vehicle may endanger the following vehicle in the overtaking lane. In order for the vehicle's surrounding sensor system to detect such a high-speed following vehicle, for example, a relatively wide area of ​​up to 260m is required. backward A wide sensor range is required. backward Peripheral sensor systems with a wide sensor range are relatively expensive.

[0014] In one advanced configuration, the minimum necessary distance from other vehicles traveling in the overtaking lane is determined by the reaction distance, braking distance, and safety distance after the following vehicle brakes relative to your vehicle in the overtaking lane. If an unfavorable situation is anticipated where a following vehicle is approaching at a speed exceeding 200 km / h, the minimum distance that needs to be maintained with your vehicle for safe braking must be correspondingly increased.

[0015] In one embodiment, when another vehicle following in the overtaking lane is detected within the effective range of the vehicle's rear sensor for a predetermined period of time, and it is detected that a specified separate safety distance exists between the vehicle and the other vehicle that has already overtaken it in the overtaking lane, and that a separate minimum distance necessary for the following vehicle exists in the overtaking lane, the vehicle initiates the planned overtaking operation.

[0016] In one possible development of this method, if a following vehicle traveling in the overtaking lane is detected within the effective range of the vehicle's rear sensors for a predetermined period of time, another minimum distance required for this vehicle is determined from the braking distance and the safety distance. This means that the following vehicle has been following the overtaking vehicle for at least a predetermined period of time, and the driver of such a vehicle had at least the specified time to react to the overtaking vehicle by braking, so it is no longer necessary to consider the reaction distance of the following vehicle. In that case, the additional minimum distance required is smaller because it is reduced by the reaction distance.

[0017] Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. [Brief explanation of the drawing]

[0018] [Figure 1] This shows a schematic diagram of the road section and traffic conditions at a certain point in time, and another schematic diagram of the same road section and traffic conditions at a later point in time. [Figure 2]A schematic illustration of a road section and a first traffic situation, and another schematic view of the road section and a second traffic situation.

Best Mode for Carrying Out the Invention

[0019] In any of the figures, corresponding parts are denoted by the same reference numerals.

[0020] FIG. 1 shows two illustrations A1 and A2 of a road section F including a right lane F1 and an overtaking lane F2, respectively.

[0021] On the lane F1, a vehicle 1 (own vehicle), a vehicle 2 (other vehicle) preceding this vehicle, and another vehicle 3 following the vehicle 1 are traveling.

[0022] The vehicle 1 is traveling in an automatic driving mode, particularly at an automation level of level 3 or higher.

[0023] Level 3 represents an automation level in which the driving task is completely performed by the vehicle 1, whereby the driver of the vehicle 1 can direct attention to other activities. If necessary, in the vehicle 1, a takeover request for requesting the driver to take over the driving task is output.

[0024] In the driving automation level 4, the vehicle 1 is driven in a highly automated mode, and the driving task of the vehicle 1 is continuously performed by the vehicle 1. When the driving situation cannot be handled by the vehicle 1, the driver is requested to take over the driving task.

[0025] Hereinafter, a method for executing an automatic overtaking operation of the vehicle 1 will be described.

[0026] The vehicle 1 includes a peripheral sensor system having a plurality of detection units (not shown in detail) disposed inside and / or on the vehicle 1 and continuously detecting signals in the driving mode of the vehicle 1. Based on the detected signals, the periphery of the vehicle 1 and the objects located therein are detected within the sensor effective range W of the peripheral sensor system shown in FIG. 2.

[0027] As shown in Figure 1, A1, vehicle 1 plans an overtaking maneuver to pass the preceding vehicle 2 (another vehicle), which is a truck. To execute the overtaking maneuver, based on detection signals from the surrounding sensor system of vehicle 1, it is determined whether there is another vehicle 3 following behind vehicle 1 in vehicle 1's lane F1, and whether there is another vehicle 4, shown in Figure 2, traveling in the overtaking lane F2.

[0028] Within the effective sensor range W of the surrounding sensor system of vehicle 1, particularly in the space behind it (The "sensor effective range" in the space behind this vehicle 1 is referred to as the "rear sensor effective range.") If no other vehicle 4 is detected in the overtaking lane F2, and another vehicle 3 is detected following vehicle 1 in lane F1, vehicle 1 slightly reduces its current speed by the specified speed value. As a result, the following vehicle 3 is instructed to change lanes to the overtaking lane F2, as shown in Figure 1, Part 2, A2, and overtake vehicle 1 and the preceding vehicle 2.

[0029] After the following vehicle 3 overtakes vehicle 1, vehicle 1 re-checks the space behind it in its own lane F1 and the overtaking lane F2 within the sensor's effective range W to see if there is sufficient space in the overtaking lane F2 for the planned overtaking maneuver. Based on the detection signals from the surrounding sensor system, if sufficient space is detected, vehicle 1 activates its turn signal 1.1 and begins overtaking the preceding vehicle 2. The overtaking maneuver is performed automatically.

[0030] Figure 2, diagram A1, shows a first traffic situation in road section F, which has a right-hand lane F1 and an overtaking lane F2.

[0031] Here too, Vehicle 1 operates in an automated driving mode of automation level 3 or higher.

[0032] Vehicle 1, vehicle 2 preceding it, and another vehicle 3 following vehicle 1 are traveling in lane F1. Another vehicle 4 is traveling in the overtaking lane F2, and this vehicle 4 is located outside the effective range W of the sensor system surrounding vehicle 1, and therefore is not detected by this sensor system.

[0033] Vehicle 1 plans an overtaking maneuver to pass the preceding vehicle 2, specifically a truck.

[0034] In order for vehicle 1 to perform an overtaking maneuver, it is necessary to detect all other vehicles 4 following in the overtaking lane F2 that could be endangered by vehicle 1's overtaking maneuver.

[0035] In particular, if vehicle 1 performing an overtaking maneuver becomes unable to safely avoid a collision with vehicle 1 through reasonable braking, it will endanger other vehicles 4 traveling in the overtaking lane F2.

[0036] This is especially true when the distance between vehicle 1 and the following vehicle 4 in the overtaking lane F2 is smaller than the minimum distance M1 required to safely brake the following vehicle 4.

[0037] In particular, in designing the autonomous driving system for vehicle 1, it is necessary to define the minimum required distance M1. In this case, the following vehicle 4 will, in the most unfavorable scenario, travel at the maximum possible speed specified for the system design, for example, 250 km / h on a highway section without a speed limit, and at a maximum of the specified, for example, 6 m / s 2 It is necessary to assume that braking will occur with a gradual and manageable deceleration.

[0038] In that case, the minimum required distance M1 consists of the reaction distance R, the braking distance B, and the safety distance S.

[0039] The reaction distance R is defined by the distance that the following vehicle 4 travels within a predetermined reaction time, for example, 1 second. For example, if the maximum possible speed is 250 km / h and the reaction time is 1 second, the reaction distance will be 70 m.

[0040] Braking distance B represents the distance required to slow down another vehicle 4 traveling in the overtaking lane F2 to the current speed of vehicle 1.

[0041] In that case, the safe distance S is the distance that should remain between the following vehicle 4 and vehicle 1 as a so-called safe margin after the following vehicle 4 has braked in the overtaking lane F2.

[0042] It is possible to recognize, or determine, whether a minimum distance M1 exists necessary to allow vehicle 1 to perform a planned overtaking maneuver in the first traffic situation shown in Figure A1. In other words, this means that if the effective range W of the surrounding sensor system is too narrow to recognize the minimum distance M1 necessary, the planned overtaking maneuver of vehicle 1 cannot be permitted.

[0043] This corresponds to the first traffic situation shown in Figure 2, A1, in which case the vehicle is not designed to perform a planned overtaking maneuver due to its system design.

[0044] According to the second traffic situation shown in another diagram A2 of Figure 2, the following vehicle 3 overtakes vehicle 1 and travels alongside vehicle 2, which is ahead of vehicle 1, in lane F1.

[0045] The following vehicle 4, traveling in the overtaking lane F2, continues to follow the following vehicle 3, which is overtaking, for a predetermined period of time, especially for several seconds. Therefore, by reducing its speed, it remains able to react to the following vehicle 3 early.

[0046] There is sufficient space in front of vehicle 1 to perform the planned overtaking maneuver, which means that a safe distance Sv exists.

[0047] Behind the vehicle, there is another minimum distance M2, which is a sufficiently large distance consisting of the braking distance B and the safety distance S. In this case, since the following vehicle 4 continues to follow the following vehicle 3, which is overtaking, for several seconds, the reaction distance R is no longer considered. This gives the driver of the following vehicle 4 sufficient time to react to the following vehicle 3, which is overtaking, by applying the brakes. Since the reaction time has elapsed in this way, there is no need to consider the reaction distance R.

[0048] As described above, assuming the most unfavorable scenario where the following vehicle 4 is traveling at a maximum possible speed of 250 km / h and the reaction time is 1 second, the reaction distance R is 70 m. Since the reaction distance R for the second traffic situation shown in Figure A2 is not considered, the other minimum distance M2 is 70 m smaller than the minimum distance M1 for the first traffic situation shown in Figure A1.

[0049] In the second traffic situation shown in Figure A2, the sensor effective range W with respect to the space behind vehicle 1 is large enough to recognize another shortened minimum distance M2.

[0050] Therefore, vehicle 1 can recognize, based on the second traffic situation, whether there is enough space behind it to perform an overtaking maneuver, and can then authorize an automatic overtaking operation.

[0051] In the first traffic situation shown in Figure A1, the sensor's effective range W is limited, making it technically impossible to confirm the prerequisites for vehicle 1 to be permitted to overtake.

[0052] In contrast, in the second traffic situation shown in Figure A2, it is technically possible to verify the preconditions for allowing vehicle 1 to perform the planned overtaking maneuver.

[0053] Therefore, it is beneficial for vehicle 1 and its driving strategy to shift from the first traffic situation to the second traffic situation. To this end, it is first possible to check whether the current situation corresponds to the first traffic situation. In this case, measures to shift the current situation to the second traffic situation are initiated. To this end, vehicle 1 reduces its current speed, particularly by applying the brakes relatively lightly, allowing the following vehicle 3 to overtake vehicle 1 and the preceding vehicle 2.

[0054] If a second traffic situation occurs, vehicle 1 can determine if there is enough space to perform the planned overtaking maneuver, and if so, can perform the overtaking maneuver. [Prior art documents] [Patent Documents]

[0055] [Patent Document 1] German Patent Specification No. 4313568 [Patent Document 2] German Patent Application Publication No. 102020118664 [Patent Document 3] International Publication No. 2022 / 189716 [Patent Document 4] German Patent Application Publication No. 102017203867

Claims

1. A method for detecting other vehicles (2-4) traveling around one's own vehicle (1) and performing an automatic overtaking operation of the own vehicle (1), - When an overtaking maneuver is planned by the vehicle (1), it is confirmed, based on the detection signals of the surrounding sensor system, whether or not there are other vehicles (3, 4) following behind within the effective range (W) of the rear sensor system of the surrounding sensor system in the vehicle's (1) lane (F1) and overtaking lane (F2). - If it is determined based on the detection signal that a following vehicle (3) is present only in the lane (F1) of the vehicle (1) within the sensor effective range (W), the current speed of the vehicle (1) is reduced by a specified speed value in order to cause the following vehicle (3) to overtake the vehicle (1) and the vehicle (2) preceding the vehicle (1). - After the following vehicle (3) overtakes the vehicle (1), it is confirmed, based on the detection signal of the surrounding sensor system, whether there is space on the overtaking lane (F2) necessary to perform the overtaking operation. method.

2. When a following vehicle (4) is detected on the overtaking lane (F2) within the sensor's effective range (W), if the distance between the following vehicle (4) traveling on the overtaking lane (F2) and the vehicle itself (1) is smaller than the minimum distance (M1) required for the following vehicle (4) to perform a safe braking operation, the vehicle itself (1) will not initiate the overtaking operation. The method according to claim 1.

3. The minimum required distance (M1) between the vehicle and the other vehicle (4) traveling in the passing lane (F2) is determined from the reaction distance (R), braking distance (B), and safety distance (S) after the other vehicle (4) following the vehicle (1) has performed a braking operation relative to the vehicle (1) in the passing lane (F2). The method according to claim 2.

4. - When the following vehicle (4) traveling in the overtaking lane (F2) is detected within the effective range (W) of the rear sensor of the vehicle (1) for a predetermined period of time, - It is detected that a designated separate safety distance (Sv) exists between the vehicle (1) and the other vehicle (3) that has already overtaken the vehicle (1) on the passing lane (F2), and, - If it is detected that there is another minimum distance (M2) required for the following vehicle (4) on the passing lane (F2), The vehicle (1) is characterized by starting a planned overtaking maneuver. The method according to claim 3.

5. When the following vehicle (4) traveling in the overtaking lane (F2) is detected within the effective range (W) of the rear sensor of the own vehicle (1) for a predetermined period of time, the other minimum distance (M2) required for the following vehicle (4) in the overtaking lane (F2) is determined from the braking distance (B) and the safety distance (S), characterized in that The method according to claim 4.

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