Methods for adapting the vehicle's driving behavior

Abstract

The present invention relates to a method for adapting the driving behavior of a vehicle (1) traveling in an autonomous driving mode when an emergency vehicle (2) in the vicinity of the vehicle (1) is recognized, the method recognizing the emergency vehicle (2) based on a special acoustic signal (S) emitted by the emergency vehicle (2). According to the present invention, when the vehicle (1) recognizes the emergency vehicle (2), the vehicle (1) is braked to a stop, and based on an evaluation of the special acoustic signal (S) of the emergency vehicle (2), it is determined whether the emergency vehicle (2) is also stopped, and depending on whether the emergency vehicle (2) is stopped, the vehicle (1) is moved forward from a current stopping position to another stopping position.

Description

【Technical Field】 【0001】 The present invention relates to a method for adapting the driving behavior of a vehicle when an emergency vehicle in operation is recognized around the vehicle traveling in an automatic driving mode, and recognizing the emergency vehicle based on a special acoustic signal emitted by the emergency vehicle. 【Background Art】 【0002】 From German Patent Application Publication No. 102017009491, a method for vehicle inter-vehicle distance control is known. In this method, traffic-related information is detected from around the vehicle, and the current driving speed of the vehicle is adjusted and / or controlled according to the detected distance from the preceding vehicle. When the deployment of at least one emergency vehicle is detected around the vehicle, the driving speed of the vehicle is set to be different from the case where the deployment of the emergency vehicle is not detected. 【0003】 Furthermore, German Patent Application Publication No. 102018218973 describes a method for adapting an autonomous vehicle, an autonomous vehicle, a special emergency vehicle, and a system. This method includes a step of detecting a feature specific to the deployment of a special emergency vehicle, and / or a step of wirelessly receiving, by the autonomous vehicle, information specific to the deployment transmitted by the special emergency vehicle, and a step of analyzing the surrounding situation related to the autonomous vehicle and the special emergency vehicle based on the specific feature detected by the autonomous vehicle and / or the transmitted information specific to the deployment received. 【0004】 From German Patent Application Publication No. 1020132020307, a method for assisting a driver of a vehicle in forming a lane for emergency vehicle passage is known. In this method, during the formation of the emergency lane, an exceptional situation regarding an emergency vehicle running in the opposite direction is recognized, and the vehicle control is adapted accordingly. 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 The present invention aims to provide a method for activating a vehicle when it recognizes an emergency vehicle in operation in its vicinity. [Means for solving the problem] 【0006】 According to the present invention, this objective is achieved by a method having the features described in claim 1. 【0007】 Advantageous embodiments of the present invention are the subject matter of the dependent claims. 【0008】 According to the present invention, when a vehicle traveling in autonomous driving mode recognizes an emergency vehicle in the vicinity, the method for adapting (adjusting) the vehicle's driving behavior involves recognizing the emergency vehicle based on a special acoustic signal emitted by the emergency vehicle. When the vehicle recognizes the emergency vehicle, it is braked and brought to a stop. Based on an evaluation of the emergency vehicle's special acoustic signal, it is determined whether or not the emergency vehicle is also stopped, and depending on whether or not the emergency vehicle is stopped, the vehicle is moved forward from its current stopping position to another stopping position. 【0009】 In particular, emergency vehicles belong to either the police, fire department, or ambulance service. 【0010】 By applying this method, it is almost possible to avoid situations where an autonomous vehicle is stopped and remains there due to an emergency vehicle, especially as long as the emergency vehicle is emitting a special acoustic signal. In other words, by evaluating the special acoustic signal emitted from the emergency vehicle and received by the vehicle, it is possible to determine whether the emergency vehicle is stopped or not, or whether to continue or resume driving operations, thereby eliminating the disruption of traffic flow caused by stopped vehicles. 【0011】 Then, the vehicle will determine again at a different stopping position whether an emergency vehicle currently on a mission is stopped to move to a safe stopping position, such as a parking lot or the shoulder of the road. 【0012】 In one embodiment, when an emergency vehicle is stopped, the degree of reliability of recognizing the emergency vehicle's stop is determined. In other words, the emergency vehicle's stop may be recognized relatively well or not so well, and accordingly, the vehicle's driving behavior is adjusted so as not to obstruct other road users, especially other vehicles. 【0013】 In another embodiment of this method, the distance between the vehicle and the emergency vehicle is determined according to the determined reliability level, and the vehicle is moved forward by the determined distance from the current stopping position to another stopping position. That is, the vehicle moves toward the emergency vehicle and, based on the detected special acoustic signal, determines again whether the emergency vehicle is stopped or in operation. Depending on the status of the emergency vehicle, it is determined whether it is possible to safely stop the vehicle, i.e., whether it can be stopped in a suitable position, or whether the automatic driving mode can be resumed. 【0014】 In one advanced version, at a different stopping position for the vehicle, it is determined again whether or not the emergency vehicle is stopped, and the reliability of the recognition of the emergency vehicle's stop is determined. This process is repeated multiple times until the vehicle reaches a safe stopping position. This results in a multi-stage stop recognition of the emergency vehicle, and this multi-stage stop recognition is indicated by a signal indicating whether or not the vehicle can continue moving. 【0015】 Furthermore, in one possible advanced form of this method, the vehicle travels at a speed below a predetermined threshold until it reaches a safe stopping position from each stopping position. In this case, the threshold may be, for example, 10 km / h. In other words, by moving relatively slowly towards the emergency vehicle to perform stop recognition again, it is possible to determine whether the vehicle needs to be moved to a safe stopping position or whether the autonomous driving mode can be resumed. 【0016】 In another possible embodiment, if it is determined that an emergency vehicle is located in front of the vehicle, it is determined whether or not the emergency vehicle is stopped. For example, if it is determined that the emergency vehicle is located in the oncoming lane, the vehicle is usually not in the path of the emergency vehicle, and therefore in most cases, the vehicle does not need to be stopped. 【0017】 Furthermore, in one embodiment of this method, the vehicle's autonomous driving mode is restarted when the special acoustic signal emitted by the emergency vehicle is no longer detected by the vehicle's sensor assembly. In this case, the emergency vehicle has resumed driving operations and is heading towards a different destination, particularly the scene of the incident, or the emergency vehicle's deployment has already been completed. 【0018】 In another embodiment, the vehicle is driven unmanned in autonomous driving mode. This means that there is no vehicle user in the vehicle who can take over driving tasks or who can assess the current traffic situation, including emergency vehicles, and take appropriate action. 【0019】 Furthermore, in one embodiment of this method, special acoustic signals emitted by an emergency vehicle are detected by multiple microphones placed on the vehicle as a sensor assembly. In particular, the direction and distance of the emergency vehicle relative to the vehicle can be determined based on the detected special acoustic signals of the emergency vehicle. This makes it possible to determine relatively easily whether the emergency vehicle is moving or stationary. 【0020】 Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. [Brief explanation of the drawing] 【0021】 [Figure 1] This is a schematic diagram of the road section where the vehicle and the emergency vehicle dispatched ahead are traveling. [Modes for carrying out the invention] 【0022】 The single figure shows a road section F with two lanes F1 and F2. Vehicle 1 is located in the right lane F1, and in front of it is an emergency vehicle 2 in operation, such as a police vehicle, a fire truck or an ambulance. The left lane F2 is empty and has, for example, the same driving direction as the right lane F1. 【0023】 Vehicle 1 is driving in a highly automated driving mode with an automation level of 4. That is, there is no vehicle user in vehicle 1 who can intervene in specific traffic situations. 【0024】 Normally, when vehicle 1 is driving automatically and recognizes an emergency vehicle 2 in operation, it is, for example, stopped so as not to obstruct the emergency vehicle 2. The fact that the emergency vehicle 2 is in operation is recognized particularly based on a special acoustic signal S emitted by the siren. 【0025】 When the emergency vehicle 2 arrives at its operation site and, although there may be regulations specific to each country, if the output of the special acoustic signal S is not turned off, the driverless vehicle 1 in automatic driving will remain stopped. In some cases, the stopped vehicle 1 may obstruct the passage of other road users. 【0026】 Hereinafter, a method for adapting the driving behavior of vehicle 1 during automatic driving will be described. Here, a multi-stage stop recognition is performed for the emergency vehicle 2. 【0027】 In the exemplary embodiment shown in FIG. 1, the emergency vehicle 2 is located on the right lane F1 of the road section F, and the special acoustic signal S is continuously emitted. 【0028】 The special acoustic signal S is detected by a plurality of microphones 3 arranged on and / or inside vehicle 1 as a sensor assembly. The microphone 3 is, for example, arranged on the vehicle roof 1.1. In this case, by evaluating the special acoustic signal S and / or based on the signal detected by at least one optical detection unit of vehicle 1, the direction and distance of the emergency vehicle 2 with respect to vehicle 1 can be determined. 【0029】 Emergency vehicle 2, which is currently on the scene, is recognized by vehicle 1 based at least on a special acoustic signal S emitted from emergency vehicle 2, and vehicle 1 is stopped accordingly. 【0030】 When Vehicle 1 is stopped, it determines whether or not emergency vehicle 2 is also stopped, particularly based on a special acoustic signal S detected by microphone 3. This determination of whether or not emergency vehicle 2 is also stopped is performed only when it is detected that emergency vehicle 2 is located in front of Vehicle 1, i.e., in front of Vehicle 1 in the direction of travel. 【0031】 If it is determined that emergency vehicle 2 is stopped, Emergency vehicle 2 The reliability of the recognition of the vehicle's stop is determined. Then, a distance is determined according to the reliability, and vehicle 1 moves forward by this determined distance in the direction of emergency vehicle 2 to another stopping position. 【0032】 In the first exemplary case, vehicle 1 is stopped in front of an emergency vehicle 2 that has been recognized. In this case, no wind noise generated during driving is detected. If a special acoustic signal S is detected by the microphone 3 of vehicle 1 at a certain amplitude and direction for a predetermined time, for example, 10 seconds, the reliability level of the stop recognition is, for example, 1. A reliability level of 1 indicates that the stop of emergency vehicle 2 was recognized with high reliability. 【0033】 If the reliability level is 1, vehicle 1 is moved in the direction of emergency vehicle 2 from its current stopping position to another stopping position by a determined distance, for example, 20 meters, at a speed with a maximum threshold of 10 km / h. At this other stopping position, vehicle 1 performs the stopping recognition test for emergency vehicle 2 again, and the reliability level is determined again. 【0034】 In the second exemplary case, vehicle 1 is stationary, and no wind noise caused by driving is detected by vehicle 1's microphone 3. If a special acoustic signal S emitted by emergency vehicle 2 fluctuates in amplitude and direction over a predetermined time, for example 30 seconds, and integration indicates that the special acoustic signal S, i.e., emergency vehicle 2, is not moving, i.e., remains unchanged on average, then the confidence level for recognizing the stationary state of emergency vehicle 2 is 2. In this case, a confidence level of 2 indicates that the stationary state of emergency vehicle 2 was recognized to a moderate degree. 【0035】 Such cases are particularly likely to occur when the special acoustic signal S fluctuates due to noise generated by construction sites or trucks, and / or noise caused by the reflection of the special acoustic signal S by walls or buildings. 【0036】 If the reliability level is determined to be 2, vehicle 1 moves from its current stopping position to another stopping position 10 meters away at a maximum speed of 10 km / h. At that other stopping position, stopping recognition is performed again, and the reliability level is determined accordingly. 【0037】 In the third exemplary case, the reliability rating for the recognition of emergency vehicle 2's stop was 3, which means that stop recognition is impossible, especially when the first and second cases do not apply. 【0038】 In the first and second exemplary cases, stop recognition is performed until vehicle 1 arrives at a suitable location, a so-called safe harbor, where it can move to a safe stopping position. For example, a suitable location is a parking lot or a roadside. 【0039】 Once vehicle 1 has moved to a safe stopping position at an appropriate location, it will wait there until the special acoustic signal S emitted by the dispatched emergency vehicle 2 is no longer detected by vehicle 1's microphone 3. For example, when emergency vehicle 2 stops outputting the special acoustic signal S or begins driving, it ceases to be stationary and moves away from vehicle 1. 【0040】 If vehicle 1 no longer detects the special acoustic signal S, vehicle 1 will resume autonomous driving mode to reach its destination. [Prior art documents] [Patent Documents] 【0041】 [Patent Document 1] German Patent Application Publication No. 102017009491 [Patent Document 2] German Patent Application Publication No. 102018218973 [Patent Document 3] German Patent Application Publication No. 1020132020307

Claims

[Claim 1] A method for adapting the driving behavior of a vehicle (1) when it recognizes an emergency vehicle (2) that is dispatched in the vicinity of a vehicle (1) that is driving in autonomous driving mode, the method being to recognize the emergency vehicle (2) based on a special acoustic signal (S) emitted by the emergency vehicle (2), - When the vehicle (1) recognizes the emergency vehicle (2), it is braked and brought to a stop. - Based on the evaluation of the special acoustic signal (S) of the emergency vehicle (2), it is determined whether or not the emergency vehicle (2) is also stopped. - If the emergency vehicle (2) is stopped, move the vehicle (1) forward from its current stopping position to another stopping position. A method characterized by the following features. [Claim 2] If the emergency vehicle (2) is stopped, the degree of reliability of the recognition of the emergency vehicle (2) being stopped is determined. The method according to claim 1, characterized in that [Claim 3] Based on the determined reliability level, the distance to move the vehicle (1) is determined, and the vehicle (1) is moved forward by the determined distance from the current stopping position to the other stopping position. The method according to claim 2, characterized in that [Claim 4] At the aforementioned alternative stopping position of vehicle (1), it is determined again whether or not the emergency vehicle (2) is stopped, the reliability of the recognition of the emergency vehicle (2) being stopped is determined, and this process is repeated many times until vehicle (1) reaches a safe stopping position. The method according to claim 3, characterized in that [Claim 5] The vehicle (1) travels at a speed below a predetermined threshold until it reaches the safe stopping position from each of the aforementioned stopping positions. The method according to claim 4, characterized in that [Claim 6] If it is determined that the emergency vehicle (2) is located in front of the vehicle (1), it is determined whether or not the emergency vehicle (2) is stopped. The method according to any one of claims 1 to 5, characterized in that [Claim 7] When the special acoustic signal (S) emitted by the emergency vehicle (2) is no longer detected by the sensor assembly of the vehicle (1), the automatic driving mode of the vehicle (1) is restarted. The method according to any one of claims 1 to 5, characterized in that [Claim 8] The vehicle (1) is operated unmanned in the automatic driving mode. The method according to any one of claims 1 to 5, characterized in that [Claim 9] The special acoustic signal (S) emitted by the emergency vehicle (2) is detected by a plurality of microphones (3) arranged in the vehicle (1) as the sensor assembly. The method according to claim 7, characterized in that

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