WO2018024370A1 - Procédé de fonctionnement d'un véhicule et dispositif d'exécution du procédé - Google Patents

Procédé de fonctionnement d'un véhicule et dispositif d'exécution du procédé Download PDF

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Publication number
WO2018024370A1
WO2018024370A1 PCT/EP2017/000925 EP2017000925W WO2018024370A1 WO 2018024370 A1 WO2018024370 A1 WO 2018024370A1 EP 2017000925 W EP2017000925 W EP 2017000925W WO 2018024370 A1 WO2018024370 A1 WO 2018024370A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
route
vehicle
release information
route release
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2017/000925
Other languages
German (de)
English (en)
Inventor
Tobias Aurand
Markus Zimmer
Soeren Schoerle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Publication of WO2018024370A1 publication Critical patent/WO2018024370A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the invention relates to a method for operating a vehicle according to the features of the preamble of claim 1 and an apparatus for carrying out the
  • a lane of the vehicle has a minimum track width
  • a radius of curvature of the lane of the vehicle is greater than a predetermined limit
  • DE 10 2013 224 824 A1 describes a control and detection device for a motor vehicle and a method for detecting an image code by means of a control and detection device installed in a motor vehicle.
  • Determination of the driving speed are equipped, which cooperate with outside the vehicle in the roadway established signalers. All electronic control means and a transmitter / receiver device are housed in the vehicle. Outside the vehicle, co-operating and permissible are in the lane area with the transmitter / receiver facility
  • Driving speeds containing code structures arranged in the form of reflection surfaces.
  • the signals coming from the code structures of the reflection surfaces to the receiver can be fed to the electronic control means.
  • the driving speed of the vehicle is automatically controllable such that it does not exceed the indicated value.
  • the invention is based on the object to provide a comparison with the prior art improved method for operating a vehicle and an apparatus for performing this compared to the prior art improved method.
  • the object is achieved by a method for operating a vehicle having the features of claim 1 and an apparatus for performing the method with the features of claim 9.
  • the at least one route release information is determined by detecting and expediently decoding an off-vehicle image code containing a reference for retrieving the at least one route release information from a server and / or detecting a radio signal that is the reference for retrieval the at least one route release information from the server and which is transmitted by a transmitter, which is located in a vicinity of a road used by the vehicle, in particular on or next to the road, conveniently immediately adjacent to the road, ie in particular substantially within a usual for traffic signs or prescribed distance to the roadway.
  • the transmitter may in particular also be arranged on the roadway or in the roadway.
  • the transmitter is expediently positioned before the start or at the beginning or in the beginning region of the route section.
  • the highly automated and autonomous control operation differ, for example, in that a vehicle driver a respective traffic situation
  • the method allows a higher availability of highly automated and / or autonomous control operation, as in contrast to the prior art no
  • satellite-based localization of the vehicle is required to identify the currently traveled by the vehicle and / or route ahead.
  • the disadvantage here is that it is not possible in the case of unavailability of the satellites, for example in urban canyons and tunnels, to determine the route release information associated with this route section.
  • Track clearance information is provided via facilities at or on the respective
  • inventive solution allows this highly automated and / or autonomous control operation, so that a number of sections with highly automated and / or autonomous control operation and thus its availability by means of the
  • the server on which the route release information can be retrieved is, in particular, an off-board server which can be accessed via a wireless communication connection, for example via a mobile radio connection and / or Internet connection.
  • a wireless communication connection for example via a mobile radio connection and / or Internet connection.
  • the route share is retrieved based on this reference from the particular external vehicle server, the call is made via the wireless communication connection, in particular via the wireless Internet connection and / or mobile connection.
  • d. H. when retrieving the at least one route release information from the server, it is possible that changes can be accepted in real time and, for example, the image code does not have to be exchanged if changes are made in the respective route section. The changes are then set on the server and can be retrieved.
  • this method is less susceptible to tampering because the route release information, for example, is provided only by a particular, well-secured server. Thus, erroneous information can be detected quickly. Furthermore, a picture code is on
  • Route sharing information only needs to be updated on the server.
  • the image code is located outside the vehicle.
  • the image code is arranged on or next to the road traveled by the vehicle, for example on a sign which is, for example, a traffic sign or similarly formed and on the road, d. H. for example, next to or above the roadway, is positioned.
  • the image code is expediently positioned before the beginning or at the beginning or in the beginning region of the route section.
  • the image code can also be mounted on a mobile support, for example on a vehicle or on a trailer, in particular on a construction vehicle or construction site trailer.
  • the image code is positioned to coincide with a
  • Picture code detection unit of the vehicle is detected.
  • the image code may be attached to a traffic sign or configured as a traffic sign. This is advantageous because vehicle cameras are already on the detection of
  • the image code contains expediently in binary coded form the route release information and / or a link, ie a link, for retrieving the route release information from a server.
  • An image code is understood to be information encoded in an image, which is decrypted by a recognition unit or a reading unit, i. can be decoded.
  • the coding takes place pictorially by a one-, two- or multi-dimensional pattern.
  • the image code is preferably designed as a machine-readable code.
  • image code for example, a QR code (Quick Response Code), d. H. a two-dimensional code, and / or a bar code and / or one with these
  • the barcode is also called a bar bar code
  • Barcode, barcode or barcode Barcode.
  • the image code may be formed, for example, two-tone, for example, black and white, or multi-colored.
  • Such machine-readable codes can be recognized very quickly and are easy to implement. Furthermore, they have a much higher distinctiveness than, for example, a traffic sign or a letter or number lettering.
  • drivers are not distracted by the sight of such a picture code, since, unlike traffic signs and labels with numbers and letters, it contains no information decodable to the human eye and brain without additional technical aids.
  • the image code may be one-dimensional, two-dimensional, three-dimensional, four-dimensional or multi-dimensional.
  • the third dimension is a coloring.
  • the fourth dimension is time, that is, time. H. they change over time.
  • one or more checksums are encoded in the image code, by means of which the unique and complete recognition of the at least one
  • the image code is expediently detected by means of an image code acquisition unit of the vehicle, which is expediently designed as an optical sensor, in particular as an image acquisition unit.
  • an image code acquisition unit of the vehicle which is expediently designed as an optical sensor, in particular as an image acquisition unit.
  • the image code acquisition unit of the vehicle which is expediently designed as an optical sensor, in particular as an image acquisition unit.
  • Picture code detection unit designed as a camera or as a laser scanner.
  • a corresponding unit of the vehicle is used as image code detection unit, which also for other functions, in particular Assistance functions, is provided and therefore already installed in the vehicle anyway, so that a cost, installation costs and additional space requirements is reduced or absent, since as many as possible already existing in the vehicle components are used to carry out the process.
  • the decoding and evaluation is carried out, for example, by the image code detection unit itself or by an evaluation unit.
  • the driver is expediently informed about the determination of the at least one route release information and / or about a change in the control operation resulting from the consideration of the at least one route release information. As a result, the driver is informed in particular that the
  • highly automated or autonomous control operation is possible on the route section, so that the driver can activate it, for example.
  • the information about changing the control mode is useful. For example, the driver then switch from highly automated to autonomous control mode or this is done automatically.
  • the driver is thereby informed, in particular, that he is supported on the section more by the highly automated and / or autonomous control operation of the vehicle performing assistance function, for example, if the highly automated control mode is possible, which was not previously possible, or autonomous control mode possible is, after previously only the highly automated control mode or no control mode was possible.
  • the driver is informed when, for example, only the highly automated control mode is possible on the route in question and is thus switched from autonomous to highly automated control mode, whereby a higher attention of the driver is required.
  • the at least one route release information expediently comprises at least information for identifying the route section, for example a start, a length and / or an end of the route section which is released for highly automated control operation or for autonomous control operation, d. H. on which the highly automated or autonomous control operation is to be permitted.
  • the route section for which the route release information applies i. H. on which the highly automated and / or autonomous control operation is possible, uniquely identified, which in particular a highly automated and / or autonomous control operation is avoided on non-approved route sections. This will be the
  • the at least one route release information preferably comprises at least information as to whether the route section is enabled for autonomous control operation or exclusively for highly automated control operation. Ie. a distinction can be made between a route clearance for highly automated control operation and a route clearance for autonomous control operation.
  • the at least one route release information comprises at least one information about a construction site on the route section.
  • the highly automated and / or autonomous control operation is also on such
  • Construction areas for example, a detection of lane markers affected by cameras or not possible, since additional markings are mounted in construction sites.
  • the perception of structural features, for example by means of radar, is also faulty in construction sites.
  • the track is mostly winding, sometimes on an oncoming lane, there are additional lane markings available, lanes are narrower and there are special rules for overtaking maneuvers and a driving speed provided.
  • the method described here also enables highly automated and / or autonomous control operation under these conditions.
  • the at least one route release information expediently comprises in particular
  • the at least one route release information expediently comprises
  • At least one piece of information on at least one relevant lane boundary at least one piece of information about a lane course and / or a setpoint trajectory to be traveled, ie to a proposed setpoint trajectory which is to be traversed,
  • the information for at least one relevant lane boundary is particularly useful in construction site areas.
  • construction sites there are often different types of lane boundaries, for example, white and yellow
  • Lane markers and / or solid and broken lane markings and / or structural boundaries for example crash barriers and / or beacons.
  • the track limit to be considered is the relevant lane boundary.
  • the left and right relevant lane boundary can also be of different types. For example, it can be specified via the route release information that on a construction site no white, but only yellow lane markings
  • Lane markers and otherwise only yellow lane markers should be considered, or that only structural limitations should be considered, or that on the one hand only lane markers and on the other hand only structural
  • the minimum distances and / or the transverse offset may depend on the type of lane marking.
  • the minimum distance to a structural lane boundary for example to a guardrail or to beacons, is greater than the minimum distance to one on the roadway
  • the enumerated information is particularly advantageous in each case if there is a construction site on the route section, since in particular the latter
  • the at least one route release information is expediently used for parameterizing at least one control and / or regulating device, in particular a transverse regulator, involved in control operation, and / or for parameterizing at least one sensor used for environment detection or for parameterizing a plurality of such control and / or regulating devices or Sensors of the vehicle, so that the control and / or regulating device or the plurality of control and / or regulating devices or in this case
  • used sensors are adapted to local conditions.
  • a device according to the invention is designed to carry out the method described above.
  • the device comprises at least one
  • the device for carrying out the method comprises at least one evaluation unit. From the device according to the invention, the already described for the method advantages.
  • the device or individual components of the device can / can be part of an assistance system of the vehicle for performing the regular operation or the assistance system, in particular its at least one control and / or regulating device, for example the
  • the at least one evaluation unit can be, for example, an image evaluation unit. It can then, for example, a
  • the evaluation unit or a further evaluation unit may be provided for evaluating the radio signal.
  • the evaluation unit or a further evaluation unit can be provided for evaluating the at least one route release information.
  • the at least one Track release information to the assistance system of the vehicle for performing the control operation are supplied.
  • the device expediently also comprises a communication unit for communication with the server.
  • the image code acquisition unit is expediently designed as an optical sensor, in particular as an image acquisition unit.
  • the image code acquisition unit is expediently designed as an optical sensor, in particular as an image acquisition unit.
  • Picture code detection unit designed as a camera or as a laser scanner.
  • a corresponding unit of the vehicle is used as image code detection unit, which also for other functions, in particular
  • Assistance functions is provided and therefore already installed in the vehicle anyway, so that a cost, installation costs and additional space requirements is reduced or absent, since as many as possible already existing in the vehicle components are used to carry out the process.
  • the decoding and evaluation of the respective image code and / or of the respective radio signal is effected for example by the image code detection unit itself or by a
  • the preferably vehicle-external server and / or the respective transmitter, which transmits the respective radio signal may each be a component of the device or a separate component not belonging to the device.
  • Fig. 1 shows schematically a vehicle on a stretch section
  • Fig. 2 shows schematically a device for carrying out a method for
  • Figure 1 shows a schematic representation of a vehicle 1 on a
  • FIG. 2 shows an exemplary embodiment of a device 2 for carrying out this method.
  • the vehicle 1 is operable in a highly automated and / or autonomous control mode.
  • the highly automated and / or autonomous control operation is taking into account at least one
  • This route release information relates to the road section S. currently being traveled by the vehicle 1 and / or ahead of the vehicle 1.
  • the route release information is determined by using a picture code 3 by means of a
  • Image code detection unit 4 is detected and decoded.
  • the image code 3 is formed, for example, as a QR code or a bar code. It may be formed, for example, two-tone, for example, black and white, or multi-colored.
  • the image code detection unit 4 is expediently designed as an optical sensor, for example as a camera or as a laser scanner: the image code 3 is mounted outside the vehicle 1, expediently in front of it
  • Track section S in particular directly in front of the track section S or at the beginning of the track section S.
  • the image code 3 is mounted on or next to a driven by the vehicle 1 road FB.
  • the image code 3 may, alternatively or additionally, be mounted on a movable support, not shown here, for example on a construction vehicle or trailer.
  • the picture code is 3
  • Picture code detection unit 4 of the passing vehicle 1 is located.
  • the image code 3 is disposed on a traffic sign 7 or formed as a traffic sign 7, as shown in FIG. This is advantageous in that vehicle cameras are already designed for the detection of traffic signs. So here on already existing optimizations in the
  • the image code 3 contains in binary coded form a link, ie a link, for retrieving the route release information from a server 5.
  • the server 5 is in particular an off-board server 5, via the wireless communication link K, for example via an Internet connection , can be accessed. It is also conceivable that the image code 3 as information the
  • a radio signal F is detected, which is emitted by a transmitter 6, which is arranged in the vicinity of the roadway traveled by the vehicle 1 FB, in particular, next to or in the carriageway FB.
  • the radio signal F also contains the link as information, i. H. the reference to retrieve the
  • the link for retrieving the route release information is composed of a plurality of information which originate from different sources, namely information contained in the image code 3 and information contained in the radio signal F. This makes manipulation of the link more difficult. An unauthorized replacement of the image code 3 is thus not sufficient to the vehicle 1 wrong route release information for
  • the route release information is then retrieved from the server 5 using the determined link.
  • the route release information is thus determined using two mutually different communication paths. A first
  • Communication thread is used to capture the image code 3 and / or the radio signal F, i. from a position outside the vehicle 1 to the vehicle 1, and a second one different from the first communication path
  • Communication path is used to determine the link based on the determined link
  • the route release information expediently includes route information, for example information about a start, a length and / or an end of the route section S, on the basis of which the route section S can be identified, which is released for highly automated control operation or for autonomous control operation, ie on which the highly automated or "should be allowed autonomous control mode. It can also distinguish between a route clearance for the highly automated control mode and a route clearance for autonomous
  • Traffic situation in highly automated closed-loop control must observe more than in autonomous control mode and since he must be ready for takeover of the driving task earlier in the highly automated control mode than in autonomous control mode.
  • the route release information expediently includes information about a construction site B which is located on the current or preceding route section S.
  • the lane boundary to be considered is the relevant lane boundary SBL, SBR.
  • the left and right relevant lane boundary SBL, SBR can also from
  • route release information which includes the type of relevant lane delimiters SBL, SBR, for example, be specified that on a construction site B no white, but only yellow lane markers should be considered, or that on one side only solid white lane markers and otherwise only yellow markings should be taken into account, or that only structural limitations should be taken into account, or that on the one hand only lane markings and on the other hand only structural limitations should be considered.
  • lanes are often changed by structural measures for the duration of construction. For example, the lane course of a lane is changed so that the traffic on a hard shoulder or on a
  • Measures for changing the lane course include, in particular, the temporary installation of concrete boundaries, beacons, crash barriers, etc.
  • the provision of information about such measures is helpful because this knowledge can be used as a priori knowledge to identify the relevant lane boundary in complex and sensory difficult to detect situations.
  • Track release information may be included, depending on the nature of the respective lane marking, in particular on the nature of the relevant lane delimiter SBL, SBR.
  • the minimum distance to a structural lane boundary for example to a guardrail or to beacons, is greater than the minimum distance to a lane marking applied to the roadway FB. This leads to a transverse offset with respect to the track center.
  • the sensors used can also be parameterized and thus adapted to local conditions. This is particularly advantageous because in construction sites due to the high traffic density and the narrow and confusing situation different requirements for the sensors in terms of sensor range, sensor sensitivity, sensor selectivity or sensor accuracy be placed as on regular sections. Thus, in construction sites due to the usually limited speed a smaller sensor range is needed than with the free travel on regular sections. But in the near range a higher sensor accuracy and a higher sensor sensitivity are required than in the far range. In addition, about the adaptation of the
  • Communication connection K takes place, in particular via a wireless Internet connection.
  • Construction sites B the highly automated and / or autonomous control operation is possible.
  • the at least one route release information is contained in the image code 3
  • a uniform coding is expediently used for these image codes 3, so that no errors occur.
  • Route release information which for example also includes information on the construction site B, is available for retrieval, the retrieval is carried out, for example, as already described, via an Internet connection.
  • the reference to the server 5, either by means of the image code 3 or by means of the radio signal F, has the advantage that changes can be made in real time and, in the case of such changes, for example a change in the track pattern SV, not the image code 3 or the radio signal F must be changed, but only the route release information on the Server 5.
  • this method is less susceptible to tampering because the
  • Route sharing information for example, only from a specific, good
  • an image code 3 which refers to information on the server 5, is reusable.
  • the described method enables the highly automated and / or autonomous control operation also on sections S on which a satellite-based position determination is possible, for example in tunnels, on sections S with buildings on both sides or on sections S, which through forest areas or avenues or narrow and deep valleys, for the implementation of the procedure and in particular for the implementation of the
  • a satellite-based position determination is not absolutely necessary, but it is in particular the determination of the at least one route release information for the respective
  • the device 2 which is designed to carry out the method described above, comprises those required for carrying out the method
  • the device 2 comprises the components which are arranged in the vehicle 1, d. H. the image code detection unit 4 for detecting the respective image code 3 and / or at least one radio signal receiving unit 9 for detecting the respective radio signal F. Furthermore, the device 2 expediently comprises an evaluation unit 10. The device 2 or individual
  • Components of the device 2 can be part of an assistance system of the vehicle 1 for carrying out the regular operation or comprise the device 2 this assistance system.
  • the at least one evaluation unit 10 can be, for example, an image evaluation unit. You can then for example, a part of
  • Route release information to be provided can be provided.
  • the at least one route release information can be supplied to the assistance system of the vehicle 1 for carrying out the control operation.
  • the device 2 expediently comprises a
  • Communication unit 11 for communication with the server 5.
  • the image code acquisition unit 4 is expediently designed as an optical sensor, in particular as an image acquisition unit.
  • the image code detection unit 4 is a camera or a camera
  • Image code detection unit 4 which is also provided for other functions, in particular assistance functions, and therefore already in the
  • Vehicle 1 is installed, so that a cost, installation costs and additional space requirements is reduced or not available, since as many of the already existing in the vehicle 1 components are used to carry out the process as possible.
  • the decoding and evaluation of the image code 3 and / or the radio signal F for example, by the image code detection unit 4 itself or by the
  • the preferably vehicle-external server 5 and / or the respective transmitter 6, which transmits the respective radio signal F, can / may each be a component of the device 2 or a separate component not belonging to the device 2.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé de fonctionnement d'un véhicule (1), une régulation extrêmement automatisée et/ou autonome étant autorisée en tenant compte d'au moins une information de libération de chaussée pour un tronçon de chaussée (S) actuellement parcouru et/ou à parcourir. Selon l'invention, la ou les informations de libération de chaussée sont déterminées par la détection d'un code imagé (3) qui se trouve à l'extérieur du véhicule (1) et qui contient une référence pour appeler la ou les informations de libération de chaussée depuis un serveur (5) et/ou par la détection d'un signal radio (F) qui contient la référence pour appeler la ou les informations de libération de chaussée depuis le serveur (5) et qui est émis par un émetteur (6) qui se trouve à proximité d'une voie (FB) parcourue par le véhicule (1). À l'aide de la référence déterminée, la ou les informations de libération de chaussée sont appelées depuis le serveur (5). L'invention concerne en outre un dispositif (2) pour l'exécution du procédé.
PCT/EP2017/000925 2016-08-03 2017-07-31 Procédé de fonctionnement d'un véhicule et dispositif d'exécution du procédé Ceased WO2018024370A1 (fr)

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DE102016009461.3A DE102016009461A1 (de) 2016-08-03 2016-08-03 Verfahren zum Betreiben eines Fahrzeugs und Vorrichtung zur Durchführung des Verfahrens

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CN111081063A (zh) * 2018-10-22 2020-04-28 罗伯特·博世有限公司 创建观察数据、求取车道数量的方法及相关的系统、服务器单元和控制器

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