How to control the vehicle's autonomous driving mode

Abstract

The present invention relates to a method for controlling an autonomous driving mode of a vehicle (1) in which an autonomous driving mode is allowed according to a plurality of preset conditions. According to the present invention, - Traffic information and event information are received by the vehicle (1), - The above traffic information includes location and time referenced information regarding traffic congestion (S) in a road section (A) in front of the vehicle (1), and the above event information includes location and time referenced information regarding an event in the road section (A) in front. - When the above traffic information and the above event information are in close proximity in location and time, they are evaluated as being mutually related by the above vehicle (1), and - The autonomous driving mode of the vehicle (1) is not allowed only when there is event information and traffic information for a preset prediction range, but these information are evaluated as not being related to each other.

Description

Technology Field

[0001] The present invention relates to a method for controlling an autonomous driving mode of a vehicle in which an autonomous driving mode is allowed according to a plurality of preset conditions. Background Technology

[0002] German Patent Publication DE 10 2014 014 120 A1 discloses a method for an autonomous driving mode of a vehicle on a road section ahead. In the said document, the autonomous driving mode is permitted only when the length of a pre-set road section ahead satisfies one or more conditions. As such conditions, there is a structural separation on at least one side of the vehicle's current lane, the vehicle's lane has a minimum lane width, there are no peaks or potholes that essentially limit the reach of the surrounding sensing sensors, the number of lanes does not change, there are no tunnels, there are no buildings on the road, the radius of curvature of the vehicle's lane is greater than a pre-set limit, there are no traffic obstructions, there are no traffic messages regarding dangerous situations, and there are no traffic messages indicating the presence of a construction site. means of solving the problem

[0003] The present invention aims to provide a method for controlling the autonomous driving mode of a vehicle.

[0004] This objective is achieved by the method according to the present invention having the features set forth in claim 1.

[0005] The preferred configurations of the present invention are the subject of the dependent claims.

[0006] A method according to the present invention for controlling an autonomous driving mode of a vehicle, wherein the autonomous driving mode is permitted according to a plurality of preset conditions, provides that traffic information and event information are received by the vehicle, wherein the traffic information includes location and time-referenced information regarding traffic congestion in a road section ahead of the vehicle, and the event information includes location and time-referenced information regarding an event in the road section ahead. The event is primarily an event related to safety, such as an object on the road, specifically a broken-down vehicle or an accident vehicle that poses a potential danger to the vehicle or other road users at the location of the event. When the traffic information and the event information are spatiotemporally close, that is, considered to be in the same place and at the same time, or at least when the distance between the location corresponding to the traffic information and the location corresponding to the event information is less than at least a preset distance threshold and the time interval between the time corresponding to the traffic information and the time corresponding to the event information is less than a time interval threshold, the traffic information and the event information are evaluated by the vehicle as being related. The autonomous driving mode of the vehicle is not permitted only when the event information and the traffic information exist for a preset foresight horizon, but these information are evaluated as not being related. In other words, if existing event information and traffic information are evaluated as being related, the mere existence of such information does not lead to the disallowance of autonomous driving mode.

[0007] Preferably, autonomous driving mode is not allowed even when there is event information for a preset prediction range but no traffic information.

[0008] If the autonomous driving mode is not permitted—preferably when the autonomous driving mode is deactivated or terminated—it is blocked from being activated, and if the autonomous driving mode is already activated, such activation is blocked. Therefore, if the autonomous driving mode is not permitted, the vehicle user cannot activate the autonomous driving mode or maintain the activated state.

[0009] By applying the method of the present invention, an autonomous driving mode is provided to the vehicle user from the vehicle side only when it is expected that there will be few external obstacles, particularly in the road section ahead.

[0010] The method of the present invention provides traffic information and event information as information sources to a vehicle through a traffic information service, and the traffic event is combined with a reference criterion for location and time in the vehicle to enable, prohibit, terminate, or allow an autonomous driving mode.

[0011] Specifically, when traffic congestion on the road section ahead is received by the vehicle as traffic information, the autonomous driving mode is enabled; conversely, if there is a traffic event without traffic congestion as traffic information, the autonomous driving mode is disabled, or a request to take over driving operations is output to the vehicle user. When traffic congestion is not dominant, traffic events, such as objects on the road, can cause problems for a vehicle in autonomous driving mode. Such traffic events in the absence of traffic information are relatively dangerous to the vehicle, whereas they do not pose a problem when the vehicle is moving relatively slowly in a section of moving traffic congestion.

[0012] If the traffic information received by the vehicle is confirmed to be, in particular, traffic congestion information and not associated with known traffic events, the vehicle's autonomous driving mode is terminated.

[0013] The method of the present invention is a so-called traffic jam pilot, and therefore, if an autonomous driving mode is allowed when a vehicle is driving in a traffic jam situation, the convenience of the vehicle user can be greatly increased.

[0014] In one embodiment of the present invention, if the current driving speed of a vehicle exceeds a preset speed limit, the autonomous driving mode of the vehicle is not allowed or is terminated. The speed limit is preset in relation to the driving speed in traffic congestion conditions to ensure the safety of the vehicle, and the autonomous driving mode is not allowed if the driving speed in all lanes extending in the same direction exceeds the preset speed limit. In the case where traffic congestion is dominant in a road section, the vehicle user may use the autonomous driving mode only when the traffic flow speed in at least one lane falls below the preset speed limit, at which time the vehicle enters this lane. For example, the speed limit is 60 km / h.

[0015] An additional embodiment provides that if the vehicle's current driving speed falls below a preset speed limit but reaches this speed limit within a preset time, the vehicle's autonomous driving mode is not allowed.

[0016] If it is confirmed that the vehicle's driving speed exceeds a preset speed limit because traffic congestion has cleared and free flow has become dominant within a preset time, the autonomous driving mode is not permitted; this is because, in an autonomous driving mode where the vehicle can travel up to the preset speed limit, the vehicle becomes a traffic obstruction to vehicles following in its lane.

[0017] In a multi-lane road section, where traffic is currently flowing at a driving speed below a preset speed limit on one lane or multiple lanes, in an additional embodiment of the method of the present invention, a vehicle is incorporated into this lane or one of these lanes. That is, since the vehicle is incorporated into the lane where it is traveling at a driving speed below a preset speed limit, the vehicle is not considered a traffic obstruction to vehicles traveling faster than that.

[0018] An additional embodiment of the method of the present invention provides that a vehicle enters one of the lanes currently in traffic at a driving speed that is the smallest difference from the speed limit. That is, the vehicle does not automatically change lanes to the lane with the slowest driving speed, but rather automatically changes lanes to the lane with the fastest driving speed but below the speed limit. Therefore, even if the vehicle is moving through a wide area of ​​traffic congestion, it can be maximally guaranteed to proceed to reach the destination relatively quickly in autonomous driving mode.

[0019] In a possible additional embodiment, if a decision to disallow autonomous driving mode is made during autonomous driving mode, driving operations are handed over to the vehicle user after a driving takeover request is output. As soon as the vehicle user operates the steering wheel with both hands, for example, the autonomous driving mode is terminated, the vehicle user performs driving operations, and the vehicle moves in manual driving mode. Brief explanation of the drawing

[0020] Embodiments of the present invention will be described in more detail below with reference to the drawings. Figure 1 schematically illustrates a section of a multi-lane road with vehicles and traffic information services. Specific details for implementing the invention

[0021] This unique drawing illustrates a road section (A), specifically a highway road section including two lanes (F1, F2) extending in the same direction, and a vehicle (1) moves toward a traffic jam (S) while driving in the right lane (F1). The vehicle (1) is connected to a traffic information service (2) via a wireless data link.

[0022] The vehicle (1) is equipped with an auxiliary system for an autonomous driving mode in which driving operations are entirely performed by the vehicle (1) itself, so that the user of the vehicle (1) can, for example, perform other activities.

[0023] A method described below is provided so that the autonomous driving mode of the vehicle (1) can be provided to the vehicle user from the vehicle side only when it is expected that there will be relatively few obstacles affecting the road section (A) ahead.

[0024] In particular, this method is provided to allow, permit, disallow, terminate, or execute an autonomous driving mode by combining traffic events obtained through an information source, a traffic information service (2), with criteria that reference location and time.

[0025] To this end, the vehicle (1) is equipped with a control unit formed to receive traffic information and event information of a traffic information service (2), and the autonomous driving mode of the vehicle (1) can be executed even when the traffic condition ahead is traffic congestion (S).

[0026] The method described below is a so-called traffic jam pilot, i.e., a traffic jam assistance program for the vehicle (1), and the vehicle (1) can travel at a speed limit preset in autonomous driving mode, for example, 60 km / h.

[0027] The traffic information received by the vehicle (1) includes spatiotemporal information regarding traffic congestion (S) on a road section (A) ahead of the vehicle (1), and the event information includes information regarding an event on the road section (A).

[0028] The control unit receives information from a traffic information service (2), such as the navigation system of a vehicle (1), and determines whether an autonomous driving mode is possible.

[0029] These information of the traffic information service (2) may be, for example, a combination of arbitrary information on a highway, or a combination of information that differs in time. They are classified into traffic information without event information, event information without traffic information, event information close to traffic information, that is, close to traffic conditions, and event information after traffic information, that is, after traffic conditions.

[0030] In particular, when there is information about a specific traffic event, such as an object being in the lane, at a specific spatial-temporal distance from the vehicle (1), the autonomous driving mode of the vehicle (1) is not allowed.

[0031] When the vehicle (1) receives such event information, since this is a situation that the vehicle (1) cannot overcome in autonomous driving mode and is therefore dangerous to the vehicle (1), when such event information is received, the autonomous driving mode is not provided or allowed from the beginning.

[0032] On the other hand, regarding traffic information concerning traffic congestion (S), if such event information is within a parameterizable spatiotemporal distance from the vehicle (1), the autonomous driving mode of the vehicle (1) is permitted. At this time, the cause of the traffic congestion (S) is explained using the event information, and the vehicle (1) can move autonomously in the traffic congestion (S) section. In traffic congestion (S), that is, in an autonomous driving mode where the driving speed is relatively slow, the traffic event transmitted to the vehicle (1) in the form of event information is not a problem situation.

[0033] For example, if a vehicle (1) receives event information such as "object in lane" and there is no additional traffic information other than this event information, the autonomous driving mode is not allowed from the time this event information is received, and therefore the vehicle user cannot activate the autonomous driving mode.

[0034] When this traffic information is received, if the autonomous driving mode is activated, a request to take over driving is output to the vehicle user, and driving operations of the vehicle (1) are delivered to and performed by the vehicle user.

[0035] In contrast, when the control unit receives event information such as "object in lane," and, for example, traffic information related to the dominant traffic situation due to this traffic event is transmitted to the vehicle (1), the autonomous driving mode of the vehicle (1) is continuously allowed, because the traffic congestion state as traffic information can be overcome by the vehicle (1) driving in autonomous driving mode regardless of the cause of the traffic congestion, that is, regardless of the event information.

[0036] When a vehicle (1) is driving in autonomous driving mode toward an obstacle on the lane in a traffic jam (S), the traffic event that caused the traffic jam (S) may be an obstacle on the left lane (F2), or the vehicle (1) may be changing lanes from the right lane (F1) to the left lane (F2) at an appropriate driving speed to avoid the obstacle.

[0037] When applying this method, the autonomous driving mode of the vehicle (1) is always allowed when traffic congestion (S) as traffic information is unrelated to event information.

[0038] When there is no traffic congestion (S) as traffic information and the vehicle (1) receives a traffic event, a request to take over driving is output to the vehicle user and the autonomous driving mode is disabled.

[0039] Additional possible traffic events that may prevent or disable autonomous driving mode include, for example: accidents, construction sites, lane narrowing, impassable roads, slippery road surfaces, hydroplaning, road fires, animals on the road, etc.

[0040] When traffic and event information are received, the vehicle evaluates whether this information is related. In particular, by referencing location and time, if a traffic event and a traffic condition are relatively close, they are considered related.

[0041] In cases where the distance is relatively short and the latency between traffic information and event information is short so that a correlation can be recognized, the event information may be ignored in determining the reliability of the autonomous driving mode. As a result, the autonomous driving mode can be used more frequently than in cases where decisions are made based on events and a request to take over driving is output to the user of the vehicle (1) every time there is a traffic event.

[0042] In particular, when it is determined that traffic information and event information are unrelated in relation to traffic conditions, not only traffic information but also event information is considered.

[0043] The vehicle (1) can overcome traffic congestion (S) in autonomous driving mode, but cannot overcome traffic events, so the autonomous driving mode is terminated.

[0044] In other words, if it is determined that current traffic information and current event information can be considered unrelated to each other, particularly based on spatiotemporal distance, the autonomous driving mode of the vehicle (1) is terminated.

[0045] The correlation between traffic information and event information can be parameterized, for example, by the dependency on information quality.

[0046] For example, when the distance between traffic information, particularly traffic conditions and traffic events, such as an accident, is 2 km, the received traffic information and the received event information are considered to be associated.

[0047] As mentioned above, the speed limit for the autonomous driving mode of the vehicle (1) is preset to, for example, 60 km / h.

[0048] If the traffic information includes the fact that the vehicle (1) can drive at a driving speed of, for example, 0 km / h to 85 km / h in traffic congestion (S) as a traffic condition, and the vehicle drives at a maximum driving speed of 60 km / h in autonomous driving mode, this vehicle may become a traffic obstruction, especially for following vehicles.

[0049] In such a situation, so as to exclude as much as possible the vehicle (1) from forming a traffic obstruction in autonomous driving mode, when a preset speed limit is reached or is predicted to be reached within a preset time, the vehicle (1) is incorporated into one of the lanes (F1, F2) where traffic flows at a driving speed below the preset speed limit.

[0050] When a vehicle (1) is traveling on a three-lane road section (A) and traffic is flowing at a current speed of 10 km / h in the right lane (F1), 30 km / h in the middle lane (not shown), and 60 km / h in the left lane (F2), one embodiment of the method of the present invention provides that the vehicle (1) can be incorporated into the left lane (F2) because the driving speed of 60 km / h corresponds to a speed upper limit set by circumstances.

[0051] The vehicle (1) is placed into a lane (F1, F2) where the driving speed does not exceed a preset speed limit. In particular, the vehicle (1) is placed into a lane (F1, F2) with the fastest driving speed but without exceeding the speed limit, so that the time delay of the vehicle (1) caused by traffic congestion (S) can be minimized.

[0052] When the vehicle (1) is driving in a lane (F1, F2) where traffic flows at a speed exceeding a preset speed limit, the vehicle (1) changes lanes to a lane (F1, F2) with a driving speed below the preset speed limit, or when driving at such a speed is not performed, a request for driver takeover is output to the vehicle user and the autonomous driving mode is terminated.

[0053] In addition, the method of the present invention provides that when traffic congestion (S) is cleared, the so-called downward trend, the autonomous driving mode of the vehicle (1) is not allowed, and when traffic congestion (S) increases, the so-called upward trend, it is allowed.

[0054] At this time, when the driving speed of the vehicle (1) is limited by a preset speed limit, the autonomous driving mode of the vehicle (1) is not allowed.

[0055] Since the vehicle (1) must be prevented from becoming a traffic obstruction to following vehicles in autonomous driving mode due to the driving speed limited by the speed limit, the autonomous driving mode of the vehicle (1) is allowed only when traffic congestion (S) is cleared, or when the vehicle (1) is driving below a preset speed limit, for example, due to a speed limit, or when the vehicle (1) is driving behind a commercial vehicle, for example, a cargo truck, which is moving relatively slowly.

[0056] That is, as long as the driving speed is below the preset speed limit, the vehicle (1) driving in autonomous driving mode drives together in the traffic flow. If the current driving speed exceeds the preset speed limit, a request to take over driving is displayed to the vehicle user.

[0057] If traffic congestion (S) is cleared within a relatively short time, for example, within 5 minutes, the autonomous driving mode of the vehicle (1) is not allowed, because the time during which the autonomous driving mode is used, including the time for driving delivery and driving takeover, may be relatively short.

[0058] The fact that traffic congestion (S) is resolved within an appropriate time can essentially be inferred from the traffic information received by the vehicle.

[0059] That is, since the method of the present invention includes behavior rules for the vehicle (1), in principle, the autonomous driving mode of the vehicle (1) is permitted only when there is a traffic congestion message as traffic information, without considering event information. Each behavior rule for the combination of location and time-referenced traffic information and event information with respect to the control unit is managed, stored, and coordinated by a central computing unit, not shown in detail, to which the vehicle (1), in particular the control unit, is continuously connected.

[0060] In contrast, if only event information is available as traffic information without traffic congestion messages, autonomous driving mode is not allowed.

[0061] The maximum speed limit for the autonomous driving mode in traffic congestion (S) is preset by a central computing unit, not shown in detail, to which the vehicle (1) and particularly the control unit are continuously connected, and transmitted to the vehicle (1), by reference to the location and time, on a per-vehicle basis.

[0062] The behavior rules of the vehicle (1) are adjusted according to event information present in each vehicle (1). For example, if the fact that an object is in the lane is transmitted as event information, the minimum distance to be observed between the vehicle (1) and the preceding vehicle increases.

[0063] Even when there is a water plane phenomenon or heavy rain as event information, the minimum distance increases and the driving speed of the vehicle (1) decreases.

[0064] At this time, the mapping rule determines the respective results for each traffic event, traffic congestion information, i.e., traffic congestion message, the location and time referenced distance to traffic information related particularly to traffic conditions, and the autonomous driving mode of the vehicle (1).

Claims

Claim 1 A method for controlling an autonomous driving mode of a vehicle (1) in which an autonomous driving mode is allowed according to a plurality of preset conditions, wherein traffic information and event information are received by the vehicle (1); wherein the traffic information includes real-time location and time referenced information regarding traffic congestion (S) in a road section (A) in front of the vehicle (1), and the event information includes real-time location and time referenced information regarding an event in the road section (A) in front; wherein the traffic information and the event information are evaluated as being mutually related based on the proximity of the information referenced at the time received by the vehicle (1); and wherein the autonomous driving mode of the vehicle (1) is not allowed only when the event information and traffic information exist for a preset prediction range but the information is evaluated as not being related to each other, and wherein, if the autonomous driving mode is disabled or terminated due to the non-allowing of the autonomous driving mode, the autonomous driving mode is blocked in advance so as not to be activated, and if the autonomous driving mode is already activated, the activation is immediately terminated and forcibly blocked. Claim 2 A method for controlling the autonomous driving mode of a vehicle, characterized in that, in the first aspect, if there is event information for a preset prediction range but no traffic information, the autonomous driving mode of the vehicle (1) is not allowed. Claim 3 A method for controlling an autonomous driving mode of a vehicle, characterized in that, in claim 1 or 2, if the current driving speed of the vehicle (1) exceeds a preset speed limit, the autonomous driving mode of the vehicle (1) is not allowed. Claim 4 A method for controlling an autonomous driving mode of a vehicle, characterized in that, in claim 1, if the current driving speed of the vehicle (1) falls short of a preset speed limit but reaches the speed limit within a preset time, the autonomous driving mode of the vehicle (1) is not allowed. Claim 5 A method for controlling an autonomous driving mode of a vehicle, characterized in that, in the case where traffic is currently flowing at a driving speed below a preset speed limit on one lane (F1, F2) or multiple lanes (F1, F2) in a multi-lane road section (A), the vehicle (1) is incorporated into one of the lanes (F1, F2) or the lanes (F1, F2). Claim 6 A method for controlling an autonomous driving mode of a vehicle, wherein, in claim 5, the vehicle (1) is incorporated into one of the lanes (F1, F2) where traffic is currently flowing at a driving speed that has the smallest difference from the speed limit. Claim 7 A method for controlling an autonomous driving mode of a vehicle according to claim 1, characterized in that when a decision to disallow the autonomous driving mode is made during the autonomous driving mode, the driving operation is delivered to the vehicle user after a request to take over driving is output. Claim 8 delete Claim 9 A method for controlling an autonomous driving mode of a vehicle, wherein, in claim 1, the event information is related to an event that poses a potential danger to the vehicle (1) or other road users.

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