DE102013103372A1 - Method for automated feeding of vehicle with environment information, involves detecting partial loss of sensor signals from sensor system or object data for maintaining current operation of vehicle in longitudinal or lateral direction - Google Patents
Method for automated feeding of vehicle with environment information, involves detecting partial loss of sensor signals from sensor system or object data for maintaining current operation of vehicle in longitudinal or lateral direction Download PDFInfo
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- DE102013103372A1 DE102013103372A1 DE201310103372 DE102013103372A DE102013103372A1 DE 102013103372 A1 DE102013103372 A1 DE 102013103372A1 DE 201310103372 DE201310103372 DE 201310103372 DE 102013103372 A DE102013103372 A DE 102013103372A DE 102013103372 A1 DE102013103372 A1 DE 102013103372A1
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- lateral direction
- object data
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000036461 convulsion Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
-
- 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
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0072—Controller asks driver to take over
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- 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
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0295—Inhibiting action of specific actuators or systems
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Fahrerassistenzsysteme, die den Fahrer beim Führen eines Fahrzeugs unterstützen (z.B. ACC, LDW, Lichtsteuerung etc.) werden seit einigen Jahren in Serienfahrzeugen umgesetzt. Die Verantwortung für die Fahrzeugführung liegt weiterhin beim Fahrer, er muss zu jeder Zeit aufmerksam sein, um ggf. die Führung des Fahrzeugs zu übernehmen. Driver assistance systems that assist the driver in driving a vehicle (for example, ACC, LDW, lighting control, etc.) have been implemented in production vehicles for several years. The responsibility for the vehicle management remains with the driver, he must be attentive at all times, if necessary, to take over the leadership of the vehicle.
Das automatisierte Führen eines Fahrzeugs, d.h. das Fahrzeug fährt autonom und der Fahrer darf seine Aufmerksamkeit auch anderen Tätigkeiten zuwenden, ist noch nicht verbreitet. Nach heutigem Stand der Technik wäre das automatisierte Führen eines Fahrzeugs vor allem auf Autobahnen und autobahnähnlichen Straßen gut umsetzbar, da es sich hier um eine weniger komplexe Fahrsituation handelt, die durch Umfeldsensoren gut erfasst werden kann. Automated driving of a vehicle, i. the vehicle drives autonomously and the driver may turn his attention to other activities is not yet widespread. According to the current state of the art, the automated driving of a vehicle, especially on motorways and motorway-like roads would be well implemented, since this is a less complex driving situation, which can be well detected by environmental sensors.
Die Funktion von Umfeldsensoren kann z.B. durch schlechtes Wetter, Verschmutzung oder einen technischen Defekt beeinträchtigt sein, so dass nicht genügend Informationen für das automatisierte Führen eines Fahrzeugs vorliegen. Weiterhin kann durch das Umfeld selbst, z.B. fehlende oder zu viele Fahrspurmarkierungen insbesondere in einem Baustellenbereich, eine Beeinträchtigung der Informationsbasis für das automatisierte Führen eines Fahrzeugs begründet sein. The function of environmental sensors may e.g. be affected by bad weather, pollution or a technical defect, so that there is not enough information for the automated driving of a vehicle. Furthermore, the environment itself, e.g. missing or too many lane markings, especially in a construction site area, an impairment of the information base for the automated driving of a vehicle to be justified.
Es ist die Aufgabe der hier vorliegenden Erfindung ein Verfahren und eine Vorrichtung zum automatisierten Führen eines Fahrzeugs für den Fall anzugeben, dass Umfeldinformationen für einen automatisierten Betrieb eines Fahrzeugs nicht ausreichend sind. It is the object of the present invention to provide a method and a device for automatically guiding a vehicle in the event that environment information for an automated operation of a vehicle is not sufficient.
Die Aufgabe wird durch die Merkmale der unabhängigen Patentansprüche gelöst. Erfindungsgemäß wird ein Verfahren zum automatisierten Führen eines Fahrzeugs beansprucht, wobei zumindest ein Sensorsystem zur Erfassung des Fahrzeugumfelds vorgesehen ist. Bei einem zumindest teilweisen Ausfall von Sensorsignalen des Sensorsystems oder Objektdaten wird eine aktuelle Führung des Fahrzeugs in einer longitudinalen oder lateralen Fahrtrichtung bis zu einer Übernahme durch den Fahrer beibehalten oder zurückgenommen. Die Rücknahme erfolgt kontinuierlich oder in mehreren Stufen. Es ist also gerade keine abrupte Rücknahme der automatisierten Führung bei einem zumindest teilweisen Ausfall von Sensorsignalen vorgesehen, sondern eine langsame Rücknahme. Die aktuelle Führung kann durch einen Fahrer selbst, eine Fahrerassistenzsystem oder eine System zum automatisierten Führen ausgelöst worden sein. The object is solved by the features of the independent claims. According to the invention, a method for the automated guidance of a vehicle is claimed, wherein at least one sensor system is provided for detecting the vehicle surroundings. In the case of an at least partial failure of sensor signals of the sensor system or object data, a current guidance of the vehicle in a longitudinal or lateral direction of travel is retained or withdrawn until acceptance by the driver. The redemption takes place continuously or in several stages. Thus, there is currently no abrupt withdrawal of the automated guidance with at least partial failure of sensor signals provided, but a slow return. The current guidance may have been triggered by a driver himself, a driver assistance system or an automated guidance system.
In einer bevorzugten Ausgestaltung der Erfindung wird ein Fahrer über die Rücknahme der automatisierten Führung durch eine Warnung informiert. Diese Warnung ist insbesondere ein haptisches Signal, das beispielsweise als Ruck in einer longitudinalen, z.B. ein Bremsruck, oder lateralen Fahrtrichtung, z. B. als ruckartige Änderung des Lenkmoments oder des Lenkrads, ausgestaltet. Insbesondere, wenn eine Übernahme durch den Fahrer länger als eine vorgegebene Zeitspanne andauert, kann der Ruck auch öfters, ggf. auch mit ansteigender Wiederholfrequenz ausgeführt werden. In einer bevorzugten Ausgestaltung der Erfindung ist der Ruck während einer Kurvenfahrt so ausgelegt, dass durch ein Hin- und Zurücklenken der gefahrende Kurvenradius nicht oder nur wenig verändert wird. In a preferred embodiment of the invention, a driver is informed about the withdrawal of the automated guidance by a warning. In particular, this warning is a haptic signal, which may for example be jerked in a longitudinal, e.g. a brake pressure, or lateral direction of travel, z. B. as a sudden change in the steering torque or the steering wheel, designed. In particular, if a takeover by the driver lasts longer than a predetermined period of time, the jolt can also be executed more often, possibly also with increasing repetition frequency. In a preferred embodiment of the invention, the jerk during cornering is designed so that the driving curve radius is not or only slightly changed by a back and forth steering.
Eine besondere Ausgestaltung der Erfindung sieht vor, dass während einer Kurvenfahrt, falls Informationen über einen Fahrspurverlauf ganz oder teilweise fehlen, die Führung des Fahrzeugs in lateraler Richtung kontinuierlich oder in mehreren Stufen zurückgenommen wird. Informationen über den Fahrspurverlauf können insbesondere durch Markierungen auf einer Fahrbahn, Baken, Leitwände, -planken oder den Kurs anderer Fahrzeuge gewonnen werden. Fallen diese Informationen weg, wird ein aktuelles Lenkmoment nicht sofort schlagartig zurückgenommen. Vielmehr kann es stückweise oder linear zurückgenommen (ausgerampt) werden. Insbesondere erfolgt dies nach einem zuvor auf das Lenkmoment beaufschlagten kleineren Ruck, um den Fahrer über den Wegfall der Lenkfunktionalität auch haptisch zu informieren. A particular embodiment of the invention provides that during cornering, if information about a lane course completely or partially missing, the leadership of the vehicle in the lateral direction is withdrawn continuously or in several stages. Information about the lane course can be obtained in particular by markings on a road, beacons, baffles, planks or the course of other vehicles. If this information disappears, a current steering torque is not immediately canceled immediately. Rather, it can be piecewise or linearly withdrawn. In particular, this is done after a previously applied to the steering torque smaller jerk to inform the driver about the elimination of the steering functionality and haptic.
Eine bevorzugte Ausgestaltung der Erfindung sieht vor, dass das automatisierte Führen eines Fahrzeugs eingeschaltet werden kann, wenn ein Fahrer die Hände vom Lenkrad nimmt. Lässt nun der Fahrer in einer Kurvensituation die Hände von Lenkrad, z.B. um das automatisierte Führen einzuschalten, wird ggf. nach einem kurzen Ruck der Lenkradwinkel zunächst beigehalten. Das Lenkmoment wird verringert, während der Fahrer wieder zur Übernahme aufgefordert wird. Dauert die Übernahme durch den Fahrer länger, kann der Ruck auch öfters, ggf. auch mit steigender Frequenz ausgeführt werden. Dabei kann der Ruck auch so ausgelegt werden, dass durch ein Hin- und Zurücklenken der gefahrende Kurvenradius nicht oder nur wenig verändert wird. A preferred embodiment of the invention provides that the automated driving of a vehicle can be switched on when a driver takes his hands off the steering wheel. Now leaves the driver in a curve situation, the hands of steering wheel, e.g. To turn on automated steering, the steering wheel angle may be maintained after a brief jolt. The steering torque is reduced while the driver is asked to take over again. If the takeover by the driver lasts longer, the jolt can also be executed more often, possibly also with increasing frequency. In this case, the jerk can also be designed so that is not or only slightly changed by a back and forth of the driving curve radius.
In einer weiteren Ausgestaltung der Erfindung wird während einer automatisierten Bremsung eine Verzögerung beibehalten oder zurückgenommen, wobei die Rücknahme kontinuierlich oder in mehreren Stufen erfolgt. Insbesondere in dem Fall, wenn die Abstandsinformation zu einem Objekt vor dem eigenen Fahrzeug wegfällt, da z.B. das Sensorsystem nicht mehr oder nur noch eingeschränkt verfügbar ist, wird die automatisierte Bremsung bis zur Fahrerübernahme mit der aktuelle Verzögerungsanforderung beibehalten oder langsam reduziert (ausgerampt). Um den Fahrer gezielt in dieser Situation zu informieren, kann zusätzlich ein Bremsruck ausgeführt werden. In a further embodiment of the invention, a deceleration is maintained or withdrawn during an automated braking, wherein the redemption takes place continuously or in several stages. In particular, in the case where the distance information about an object in front of the own vehicle is omitted since e.g. the sensor system is no longer or only partially available, the automated braking until the driver transfer with the current delay request is maintained or slowly reduced (canceled). In order to inform the driver specifically in this situation, in addition a brake pressure can be executed.
In einer weiteren Ausgestaltung der Erfindung wird die automatisierte Führung des Fahrzeugs in einer longitudinalen oder lateralen Fahrtrichtung bis zu einer Übernahme durch den Fahrer zurückgenommen, wobei die Rücknahme in Abhängigkeit von einer Konfidenz des Sensorsignals bzw. der Objektdaten erfolgt. Die Konfidenz ist insbesondere ein Maß für die Sicherheit mit der ein Umgebungsobjekt richtig erkannt wurde. In a further embodiment of the invention, the automated guidance of the vehicle in a longitudinal or lateral direction of travel is withdrawn until it is taken over by the driver, whereby the withdrawal takes place as a function of a confidence of the sensor signal or the object data. The confidence is in particular a measure of the security with which an environment object was correctly recognized.
Insbesondere erfolgt bei einem niedrigen Konfidenzwert oder einem kompletten Sensorsignalausfall die Rücknahme schneller als bei einem hohen Konfidenzwert. In particular, with a low confidence value or a complete sensor signal failure, the return takes place more quickly than with a high confidence value.
Bevorzugt erfolgt im Falle der Nutzung von Sensorsignalen zweier unabhängiger Sensorsysteme zur automatisierte Führung des Fahrzeugs in einer longitudinalen oder lateralen Fahrtrichtung bei einem niedrigen Konfidenzwert für Sensorsignal bzw. Objektdaten beider Sensorsysteme die Rücknahme schneller als in dem Falle eines hohen Konfidenzwerts für Sensorsignal bzw. Objektdaten eines ersten Sensorsystems und einem niedrigen Konfidenzwert für Sensorsignal bzw. Objektdaten eines zweiten Sensorsystems. Preferably, in the case of the use of sensor signals of two independent sensor systems for automated guidance of the vehicle in a longitudinal or lateral direction at a low confidence value for sensor signal or object data of both sensor systems, the redemption faster than in the case of a high confidence value for sensor signal or object data of a first Sensor system and a low confidence value for sensor signal or object data of a second sensor system.
Beispielsweise werden ein Radar- und ein Kamerasystem zur Fahrspurschätzung eingesetzt. Eine automatisierte Führung wäre nur bei einem Vorliegen von Informationen beider Sensorsysteme zulässig. Fällt nun ein System aus, wird die automatisierte Führung langsamer zurückgenommen, als in dem Fall, wenn beide Sensorsysteme gleichzeitig ausfallen. For example, a radar and a camera system are used for lane estimation. Automated guidance would only be permissible if information from both sensor systems was available. If one system now fails, the automated guidance is slowed down more slowly than in the case when both sensor systems fail at the same time.
Claims (8)
Priority Applications (1)
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DE201310103372 DE102013103372A1 (en) | 2012-12-17 | 2013-04-04 | Method for automated feeding of vehicle with environment information, involves detecting partial loss of sensor signals from sensor system or object data for maintaining current operation of vehicle in longitudinal or lateral direction |
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DE102012112436 | 2012-12-17 | ||
DE102012112436.1 | 2012-12-17 | ||
DE201310103372 DE102013103372A1 (en) | 2012-12-17 | 2013-04-04 | Method for automated feeding of vehicle with environment information, involves detecting partial loss of sensor signals from sensor system or object data for maintaining current operation of vehicle in longitudinal or lateral direction |
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Cited By (5)
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AT516539A1 (en) * | 2014-12-09 | 2016-06-15 | Avl List Gmbh | Method for operating a drive train of a vehicle |
DE102015224737A1 (en) * | 2015-12-09 | 2017-06-14 | Bayerische Motoren Werke Aktiengesellschaft | Driver assistance system to assist the driver in his driving task |
EP3305620A4 (en) * | 2015-06-03 | 2018-06-20 | Nissan Motor Co., Ltd. | Vehicle control device and vehicle control method |
DE102017204938A1 (en) * | 2017-03-23 | 2018-10-11 | Volkswagen Aktiengesellschaft | Method for operating a control device of a motor vehicle and control device and motor vehicle |
CN113370996A (en) * | 2021-07-26 | 2021-09-10 | 清华大学 | Automatic driving lane changing and following decision method and system and automatic driving vehicle |
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CN113370996A (en) * | 2021-07-26 | 2021-09-10 | 清华大学 | Automatic driving lane changing and following decision method and system and automatic driving vehicle |
CN113370996B (en) * | 2021-07-26 | 2023-09-15 | 清华大学 | Automatic driving lane change following decision method and system and automatic driving vehicle |
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Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE Free format text: FORMER OWNERS: CONTINENTAL TEVES AG & CO. OHG, 60488 FRANKFURT, DE; CONTI TEMIC MICROELECTRONIC GMBH, 90411 NUERNBERG, DE |