Method for planning lane change maneuvers for autonomous vehicles

Abstract

The invention relates to a method for planning a lane change maneuver from one driving lane (F1, F2) to an outer driving lane (F3) for an automated vehicle (1) in preparation for exiting a multi-lane road section (F), said vehicle (1) being connected or connectable in data-technical terms to a central computing unit (3). According to the invention, the central computing unit (3) receives traffic data representative of the local traffic volume on the multi-lane road section (F), receives lane change data from another automated vehicle of a fleet of vehicles relating to a planned and successfully executed automated lane change maneuver, and the central computing unit (3) determines, based on the received traffic data and the received lane change data, a probability that an automated lane change maneuver of the vehicle (1) can be executed at a specific position in the current traffic volume.

Description

[Technical Field]

[0001] The present invention relates to a method for planning a lane change maneuver from one driving lane to an outer driving lane for an automated vehicle in preparation for exiting a multi-lane road section, in which the vehicle is or can be connected in data-technical terms to a central computing unit. [Background technology]

[0002] German Patent Publication No. 102019005446 discloses a method for automating the merging of a vehicle from a merging lane to a driving lane. In this method, a primary merging position at which the vehicle should change lanes from the merging lane to the driving lane is determined in advance. If a lane change at the primary merging position or near the primary merging position would not interfere with road users in the driving lane, the vehicle is controlled so that the lane change is performed at the primary merging position. If a lane change is not performed at the primary merging position, the lane change is performed at a secondary merging position, which is determined depending on the detected free space between road users in the driving lane.

[0003] Furthermore, German Patent Application Publication No. 102017221104 describes a method for adjusting at least one distance between at least two autonomous or semi-autonomous vehicles in a vehicle group, in which at least one entrance and / or exit of a road on which the at least two vehicles are traveling in an area ahead of the vehicle group is recorded, a situation-dependent optimal distance between the at least two vehicles when passing through the entrance and / or exit is determined, the distance between the at least two vehicles is adapted to the situation-dependent optimal distance between the at least two vehicles before reaching the entrance and / or exit, the at least two vehicles pass through the entrance and / or exit at the determined situation-dependent optimal distance between the at least two vehicles, the situation-dependent optimal distance between the at least two vehicles is determined again after passing through the entrance and / or exit, and the distance between the at least two vehicles is adapted to the newly determined situation-dependent optimal distance between the at least two vehicles after passing through the entrance and / or exit. Summary of the Invention [Problem to be solved by the invention]

[0004] It is an object of the present invention to provide a method for planning lane change maneuvers for autonomous vehicles. [Means for solving the problem]

[0005] This object is achieved according to the invention by a method having the features of claim 1.

[0006] Advantageous embodiments of the invention are the subject matter of the dependent claims.

[0007] According to the present invention, there is provided a method for planning a lane change maneuver from one driving lane to an outer driving lane for an automatically driving vehicle in preparation for exiting a multi-lane roadway section (approaching an exit from the multi-lane roadway section), wherein the vehicle is connected or can be connected in data technology to a central computing unit, which receives traffic data representative of the local traffic volume on the multi-lane roadway section, and additionally receives lane change data from another automatically driving vehicle of the fleet regarding a planned and successfully executed automated lane change maneuver, and the central computing unit determines, based on the received traffic data and the received lane change data, a probability that the automated lane change maneuver of the vehicle can be executed at a specific position in the current traffic volume.

[0008] The outer driving lane is understood here to mean the right driving lane in case of right-hand traffic and the left driving lane in case of left-hand traffic, in particular on motorways.

[0009] That is, by applying this method, the position at which an autonomous vehicle should initiate a lane change maneuver to change lanes into the outer driving lane is determined, thereby enabling the vehicle to exit the highway while complying with legal requirements and technical constraints.

[0010] By using this method, traffic flow can be improved because the automated vehicles use this method to perform lane change maneuvers in a timely manner to exit the highway at each time. This eliminates the need for each automated vehicle to recognize a relatively short time gap or to require the vehicle to be manually operated by an occupant, i.e., a driver, in order to reach the highway exit in a timely manner. When this method is applied, traffic safety and driving comfort can be increased.

[0011] Compared to solution approaches based on vehicle-to-vehicle communication, the method according to the invention is substantially independent of the behavior of other road users, thus reducing both the technical complexity and the dependency on the cooperation of other vehicle manufacturers and / or road users.

[0012] In particular, application of the method makes it easier for an autonomous vehicle to exit a highway through an exit, for example, by merging into an outer lane early. Such a relatively early merge location into the outer lane can be determined, for example, from a fleet of autonomous vehicles that were able to exit a highway through an exit without driver intervention. Furthermore, the location where a human driver would normally change lanes into the outer lane to exit a highway through an exit can be determined from the fleet. Due to the technical limitations of autonomous vehicles, the location for initiating a lane change maneuver for an autonomous vehicle can also be determined at a parameterizable longer distance, for example, 300 meters before the exit.

[0013] In other words, the method is based on the spatiotemporal investigation of lane change maneuvers at highway exits of other networked autonomous vehicles using the services of a central computing unit, thereby significantly reducing the risk of overshooting the exit and significantly increasing safety and driving comfort during lane change maneuvers. Based on lane change data and traffic data, the time to perform a lane change maneuver can be dynamically determined.

[0014] In one embodiment of the method, the lane change data transmitted from another autonomous vehicle of the fleet to the central computing unit includes lane change position information and lane change success information transmitted from another autonomous vehicle of the fleet to the central computing unit. Thus, the lane change data of the other vehicle contains sufficient information to determine a suitable position for the autonomous vehicle to initiate a lane change maneuver, thereby enabling the vehicle to take the next exit with minimal risk. In particular, the position is determined based on the current lane change data so that the lane change maneuver is initiated gradually, in a manner adapted to the traffic situation, rather than suddenly, so that the driving comfort of the vehicle's occupants before and during the lane change maneuver is not impaired.

[0015] In one embodiment of the method, the lane change position information is used to identify the location where a lane change maneuver was initiated for each other autonomous vehicle in the fleet, i.e., the lane change data includes information regarding the exact location where each other autonomous vehicle initiated a lane change maneuver to change from a current driving lane to an outward driving lane.

[0016] In another embodiment, the lane change success information is used to indicate whether the lane change maneuver of each other autonomous vehicle in the fleet was successfully executed or had to be aborted, for example, because a takeover request was output to the driver regarding the vehicle's driving task. The location for commencing or initiating the lane change maneuver, particularly the satellite-assisted detected location, can be determined based on a calculation of the spatial distribution of successfully executed lane change maneuvers. In particular, before exiting the highway, a location is determined where an automated lane change maneuver can be successfully executed with a parameterizable probability.

[0017] In another embodiment of the method, the start of a lane change maneuver is identified by actuation of a turn signal of the autonomous vehicle, where actuation of the turn signal serves as the beginning of the lane change maneuver and triggers transmission of lane change data to the central computing unit. The start of a lane change maneuver of each other autonomous vehicle is also identified based on actuation of the turn signal.

[0018] For this purpose, in one possible embodiment, the current position of the vehicle and each other vehicle at the time of activation of the turn signal is detected and transmitted to a central computing unit, where this current position and time are considered as the spatiotemporal position of the start of the calculated lane change maneuver of the autonomous vehicle.

[0019] In one possible embodiment of the method, traffic data is transmitted by a traffic and / or navigation service to the central computing unit, in particular continuously, at least at regular time intervals, so that the central computing unit is always provided with relatively recent traffic data, which it uses to determine (calculate) a position at which a lane change maneuver can be performed in order to take the next exit.

[0020] Furthermore, in one development of the method, when determining whether the vehicle can perform an automated lane change maneuver at a particular location and in a given current traffic volume, the method further comprises: - Weather conditions around the vehicle, - Visibility conditions around the vehicle, - Blockades around the vehicle, and / or -Dynamic traffic information Therefore, the specific position is adapted according to the surrounding conditions of the vehicle so that a safe and comfortable lane change maneuver can be performed.

[0021] Furthermore, in one embodiment, based on the fleet data, capacity requirements are determined for the expected (probable) exit process specific to each exit, and the position for initiating the lane change maneuver is adapted (adjusted) according to the determined (determined) capacity requirements.

[0022] In the following, an embodiment of the invention will be described in detail with reference to the drawings. [Brief explanation of the drawings]

[0023] [Figure 1] 1 shows a schematic diagram of a roadway section of a highway in the area of ​​an exit. DETAILED DESCRIPTION OF THE INVENTION

[0024] The only diagram shows a plan view of the highway roadway section F in the area of ​​exit A.

[0025] The roadway section F includes an inside driving lane F1, a center driving lane F2, and an outside driving lane F3, which is the right driving lane in cases of right-hand traffic and the left driving lane in cases of left-hand traffic.

[0026] A vehicle 1 traveling in an automatic driving mode, particularly an autonomous driving mode, is traveling in the center driving lane F2, while a line of multiple large freight vehicles 2 is traveling in the outer driving lane F3.

[0027] When such large goods vehicles 2 travel relatively close to each other and traffic volume is relatively high, for example during evening rush hour and / or traffic in metropolitan areas, the possibilities for executing a lane change maneuver for vehicle 1 from the center travel lane F2 to the outer travel lane F3 are often limited, so that vehicle 1 may not be able to exit the highway from this exit A. In particular, in situations where the gradient of exit A is relatively steep, a lane change maneuver is hardly possible or not possible at all.

[0028] A vehicle 1 traveling in an autonomous driving mode needs a sufficiently long time interval to perform a lane change maneuver relatively safely and comfortably. Because multiple large freight vehicles 2 are traveling in a convoy in close proximity to each other, a sufficiently long time interval does not exist.

[0029] In order to enable an autonomous vehicle 1 to perform lane change maneuvers on a highway in a relatively safe and comfortable manner, a solution will be described below, in particular for exiting the highway.

[0030] The autonomous vehicle 1 as well as other vehicles not shown in detail belong to a common vehicle group (fleet vehicles) of a vehicle manufacturer, for example, and are connected data-technically (from a data technology perspective) to a central computing unit 3.

[0031] At regular time intervals, the vehicle 1 as well as the other vehicles transmit to the central computing unit 3 their respective current positions, including the lane F1-F3 in which they are currently traveling.

[0032] Furthermore, the central computing unit 3 is connected in data technology to a navigation service 4; alternatively or additionally, the central computing unit 3 can also be connected to a traffic service. The central computing unit 3 receives traffic data which represent the respective local traffic volume, for example for a roadway section F.

[0033] The method can significantly reduce the risk of missing the exit A and improve safety and driving comfort when performing lane change maneuvers based on the spatiotemporal investigation of lane change maneuvers at a highway exit A of another autonomous vehicle connected to the central computing unit 3 via a network. In particular, the method can dynamically determine the spatiotemporal position for a lane change maneuver of the autonomous vehicle 1 based on available lane change data and traffic data. The lane change data of the other vehicle includes lane change position information and lane change success information.

[0034] For each automatically driving vehicle 1, an exit from the highway via exit A can be realized, for example, by the vehicle 1 merging into the outer driving lane F3 at a relatively early time. For example, such an early position for initiating a lane change maneuver from the central driving lane F2 to the outer driving lane F3 can be detected (recorded) based on lane change data transmitted by another automatically driving vehicle to the central computing unit 3. In particular, for this purpose, lane change maneuvers in which another vehicle successfully exits the highway via exit A without driver intervention are taken into account.

[0035] Furthermore, based on the data transmitted from the fleet of vehicles, the position at which the occupant, i.e., the driver, of vehicle 1 would normally change lanes into the outer driving lane F3 to use exit A, and thus initiate an automated lane change operation, can be determined.

[0036] Due to technical constraints of the autonomous vehicle 1, the position for initiating a lane change maneuver can also be set at a parameterizable longer distance, for example 300 m to exit A.

[0037] To carry out the method, the central computing unit 3 is provided with the destination of the autonomous vehicle 1, so that it knows where the vehicle 1 must leave the highway. The central computing unit 3 is further provided with traffic data, as described above, which represent the traffic volume in the traffic network and thus also the traffic volume on the roadway section F.

[0038] Furthermore, the central computing unit 3 receives lane change data from other autonomous vehicles of the fleet regarding planned and successfully executed automated lane change maneuvers. The start of each lane change maneuver is identified in particular by the activation (setting) of the turn indicator of each other vehicle. In particular, the position at which the lane change maneuver of the other autonomous vehicle is to be initiated is transmitted to the central computing unit 3 using the lane change data as lane change position information. The activation of the turn indicator indicates to road users around each other autonomous vehicle that a lane change maneuver is about to be executed.

[0039] The successful execution of a lane change maneuver by another vehicle in the area of ​​exit A, i.e. at exit A, is transmitted by this other vehicle as lane change success information to the central computing unit 3. The lane change success information is a component of the lane change data.

[0040] Based on the current traffic data and the lane change data of other vehicles, the probability that the vehicle can execute an automated lane change maneuver at a specific location, for example, at a predetermined distance to exit A, is then determined. In other words, based on the spatiotemporal distribution of successful execution of lane change maneuvers, a position for initiating a lane change maneuver of vehicle 1 is calculated with satellite assistance and determined, at which position a lane change maneuver is successfully executed with a parameterizable probability before exit A of the highway.

[0041] The location where an unsuccessful lane change maneuver was initiated can also be used to determine the location for future lane change maneuvers, for example by initiating the maneuver 50 meters earlier. This approach is particularly useful when there is no successful lane change information available yet.

[0042] In an alternative embodiment, the most likely (most probable) merging location into the outer driving lane F3 can be determined from data of the fleet at the highway exit A, and this merging location can be extended for the autonomous vehicle 1 by a parameterizable distance to the exit, for example 300 m.

[0043] In one possible embodiment of the method, the probabilities and merging positions can be parameterized depending on the current traffic volume. That is, if the traffic volume is relatively high, it is reasonable to initiate the lane change maneuver earlier. This can be done, for example, depending on the traffic phase, in particular according to three-phase traffic theory. For example, in free traffic, the lane change maneuver can be initiated, for example, 200 m before exit A; in synchronized traffic due to increased traffic density, the lane change maneuver can be initiated, for example, 600 m before exit A; and in the case of widespread congestion as a traffic phase, longer time gaps sometimes occur randomly, so the lane change maneuver can be initiated, for example, 400 m before exit A.

[0044] Based on the fleet data and also, for example, on lane change data, a capacity requirement (capacity demand, capacity condition, capacity requirement) for a prospective (anticipated) exit maneuver is determined specifically for each exit A. If the capacity requirement is increased in space and time, for example, during evening rush hour traffic and / or during the start and end of a holiday, the location for initiating the lane change maneuver can be shifted upstream by a parameterizable distance. Thus, a controlled traffic flow can be achieved. Furthermore, to ensure a safe and comfortable highway exit, other parameters, such as current weather conditions, visibility conditions, adjacent lane closures, and / or dynamic traffic information, can be taken into account when determining the location for initiating the lane change maneuver.

[0045] The application of this method is particularly suitable for a vehicle 1 of a fleet of vehicles, where information for performing a lane change maneuver on the highway in order to exit the highway can also be provided to other fleet vehicles, if necessary and for a fee. [Prior art documents] [Patent documents]

[0046] [Patent Document 1] German Patent No. 102019005446 [Patent Document 2] German Patent Application Publication No. 102017221104

Claims

1. 1. A method for planning a lane change maneuver from one driving lane (F1, F2) to an outer driving lane (F3) for an automated vehicle (1) in preparation for exiting a multi-lane roadway section (F), the vehicle (1) being connected or connectable in data-technical terms to a central computing unit (3), - said central computing unit (3) receives traffic data representative of local traffic volumes on said multi-lane roadway section (F); - receiving, by said central computing unit (3), lane change data relating to a planned and successfully executed automated lane change maneuver from another autonomous vehicle of the fleet; - the central computing unit (3) determines the probability that an automated lane change maneuver of the vehicle (1) can be performed at a specific position in the current traffic flow based on the received traffic data and the received lane change data; A method characterized by:

2. The lane change data transmitted from the other autonomous vehicles of the fleet to the central computing unit (3) includes lane change position information and lane change success information.

2. The method of claim 1.

3. The lane change position information is used to identify a position where the lane change operation of the other autonomous vehicle in the fleet was initiated.

3. The method according to claim 2.

4. The lane change success information is used to indicate whether the lane change maneuver of each of the other autonomous vehicles in the fleet was successful or had to be aborted.

4. The method according to claim 2 or 3.

5. The start of the lane change operation is identified based on the activation of a turn signal of the autonomous vehicle (1). The method according to any one of claims 1 to 3, characterized in that

6. The current position of the autonomous vehicle (1) at the time of activation of the turn signal is detected and transmitted to the central computing unit (3).

6. The method according to claim 5.

7. The traffic data is transmitted to the central computing unit (3) by a traffic service and / or a navigation service (4). The method according to any one of claims 1 to 3, characterized in that

8. When determining whether the automated lane change maneuver of the vehicle (1) can be performed at a particular location in the current traffic volume, - weather conditions around the vehicle, visibility conditions around the vehicle, - a seal around the vehicle, and / or - Dynamic traffic information is taken into consideration The method according to any one of claims 1 to 3, characterized in that

9. Based on the fleet data, capacity requirements for the expected exit process specific to each exit (A) are determined. The method according to any one of claims 1 to 3, characterized in that

10. A position for the lane change maneuver is adapted in response to the determined capacity requirement.

10. The method according to claim 9.

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