WO2001027705A1 - Vehicle control device and method for a vehicle control device - Google Patents

Vehicle control device and method for a vehicle control device Download PDF

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Publication number
WO2001027705A1
WO2001027705A1 PCT/EP2000/009143 EP0009143W WO0127705A1 WO 2001027705 A1 WO2001027705 A1 WO 2001027705A1 EP 0009143 W EP0009143 W EP 0009143W WO 0127705 A1 WO0127705 A1 WO 0127705A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
automatic
motor vehicle
control device
detection means
Prior art date
Application number
PCT/EP2000/009143
Other languages
German (de)
French (fr)
Inventor
Andreas Bastian
Original Assignee
Volkswagen Aktiengesellschaft
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 Volkswagen Aktiengesellschaft filed Critical Volkswagen Aktiengesellschaft
Publication of WO2001027705A1 publication Critical patent/WO2001027705A1/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0058—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to externally generated signalling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

Definitions

  • the invention relates to a vehicle control device for automatic or semi-automatic driving of a motor vehicle and a method for such a vehicle control device.
  • Vehicle control devices for supporting the driver of a motor vehicle as required by an automatic or semi-automatic control are known from practice.
  • DE 197 29 613 A1 proposes a driving support system for a vehicle in which the driver is warned by a warning signal that a defined safety distance from a vehicle in front is undershot.
  • the safety distance is automatically set to be smaller in the case of high traffic density than in the case of low traffic density in order to avoid frequent output of the warning signal.
  • a signal is also output to a brake control device when the distance falls below a further specified distance.
  • a method for automatically recognizing the main directional carriageway on a multi-lane route which can be used in the context of semi-automatic driving of a motor vehicle, is described in a subsequently published patent application by the applicant. Then the speed of the vehicle and the distance of the vehicle from an obstacle are first recorded. The vector components of the relative speed of the vehicle with respect to the obstacle are then determined in a reference system, and the main directional roadway is determined from one of the detected vector components of the speed.
  • the invention has for its object to provide a vehicle control device and a method for automatic or semi-automatic control of a motor vehicle, which make it possible to automatically use a control with a special "traffic jam strategy" in the event of a traffic jam or accident and thereby safety in traffic further increase.
  • Detection means for recognizing objects in the vehicle environment and for
  • Detection means for recognizing the route by dividing the
  • Processing means for assigning the recognized objects to the different ones
  • Control means for controlling the motor vehicle depending on the standstill or
  • the object is achieved according to the invention by a method for automatic or semi-automatic driving of a motor vehicle, which has the following steps: a) detection of objects and their speed in the surroundings of the motor vehicle, b) detection of the course of the route by dividing the vehicle surroundings into areas of one of which represents the lane of the motor vehicle, c) assigning the recognized objects to the areas of the vehicle surroundings, and d) Selection and use of one of at least two strategies for automatic or semi-automatic control of the motor vehicle, one of the strategies representing a braking strategy for traffic jam / accidents, depending on the speed of the detected objects and their assignment to an area of the vehicle environment.
  • the vehicle control device according to the invention and the method according to the invention enable reliable detection of an end of a traffic jam or an accident in the lane of the motor vehicle in which the vehicle control device is integrated or for which the method is used.
  • the assignment of recognized objects to the various areas of the analyzed vehicle environment ensures that traffic jams or accidents are reliably ascertained on one's own lane, while at the same time preventing errors due to objects standing in other lanes or outside the lane.
  • the above-mentioned method for automatically recognizing the main directional roadway can be used as a basis for determining the route in this case.
  • the braking strategy for traffic jam ends / accidents should be selected and used when a stationary object has been recognized and this has been assigned to the lane of the motor vehicle.
  • a different strategy such as a "normal" driving strategy, can be selected and used.
  • the vehicle control device according to the invention and the method according to the invention are particularly suitable for interacting with a further vehicle control device integrated in the motor vehicle or with another method provided in the motor vehicle for automatic or semi-automatic driving of a motor vehicle, such as an automatic distance control (ADR) ,
  • ADR automatic distance control
  • Fig. 1 is a schematic block diagram of the invention
  • FIG. 2 shows an exemplary method sequence of the method according to the invention.
  • a vehicle control device is shown schematically in FIG.
  • the vehicle control device is installed in a motor vehicle (not shown) which is to be controlled semi-automatically to assist the driver, in particular in critical situations.
  • detection means 1 for recognizing objects and, on the other hand, detection means 2 for recognizing the route for the motor vehicle are connected to processing means 3, which in turn are connected to control means 4.
  • the control means 4 are here to be part of an automatic distance control (ADR) integrated into the motor vehicle and in this context have access to the action means 5 for the vehicle functions to be controlled, such as the brakes.
  • ADR automatic distance control
  • the detection means 1 for recognizing objects have scanning laser sensors, radar sensors or other sensors as distance sensors. On the basis of the signals received by the sensors, objects in the vicinity of the motor vehicle are recognized in the detection means 1 and their speed is determined.
  • the detection means 2 for recognizing the course of the route receive digital data from a GPS-supported navigation system likewise integrated in the vehicle, from which the detection means 2 determine the current course of the route.
  • the detected vehicle environment is divided by the detection means 2 into an area that corresponds to the lane of the motor vehicle, in the case of a multi-lane lane, into areas that correspond to the other lanes, and into an area that is outside the lane.
  • the course of the route can also be determined in a known manner by evaluating the images from cameras attached to the vehicle or by evaluating the signals from distance sensors attached to the vehicle.
  • the signals of the distance sensors of the detection means 1 and possibly also parts of the evaluation results of the detection means 1 can advantageously be used to recognize objects.
  • the results of the detection means 1 and 2 are now fed to the processing means 3.
  • the processing means 3 introduce on the basis of the data obtained Assignment of the recognized objects to the different areas of the vehicle environment. The following assignments are possible: A recognized object is in the lane of the motor vehicle, a recognized object is in a specific neighboring lane, or a recognized object is completely outside the lane.
  • a strategy to be used for driving the motor vehicle is then determined in the processing means 3.
  • a normal ADR driving strategy and an ADR braking strategy for traffic jams can be used as a strategy. If a recognized object is not standing and is in the motto of the motor vehicle, then the normal ADR driving strategy is determined. If, however, a recognized object is standing and is in the driving slogan of the motor vehicle, it can be concluded that there is a traffic jam or an accident. An ADR braking strategy for traffic jam ends is defined accordingly. Finally, a recognized object can still be outside the lane of the motor vehicle. In this case, the normal ADR driving strategy is again determined.
  • the strategy determined by the processing means 3 for use is forwarded to the control unit 4 of the automatic distance control ADR.
  • the (semi) automatic control of the vehicle can now take place.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a vehicle control device and a method for automatic or semi-automatic guidance of a vehicle. In the event of traffic jam or an accident in order to enable a control device to automatically implement special 'traffic jam strategies' and thereby increase driving safety, the presence of an object and the speed of said object in the vicinity of the vehicle's surroundings are detected and the route is also detected by dividing the vehicle's surroundings into regions, one of which is the driving lane of the vehicle. Thereafter, the detected objects are assigned to the corresponding regions of the vehicle's environment and a selection of one of at least two strategies for the automatic or semi-automatic guidance of the vehicle is made. One of the strategies embodies a braking strategy for traffic jams/accidents depending on the speed of the recognized object and depending on the assignment of measure parameters to a corresponding region of the vehicle surroundings. The selected strategy is then implemented.

Description

Fahrzeugsteuerungseinrichtung und Verfahren für eine Fahrzeugsteuerungseinrichtung Vehicle control device and method for a vehicle control device
Die Erfindung betrifft eine Fahrzeugsteuerungseinrichtung zum automatischen oder halbautomatischen Führen eines Kraftfahrzeuges sowie ein Verfahren für eine solche Fahrzeugsteuerungseinrichtung.The invention relates to a vehicle control device for automatic or semi-automatic driving of a motor vehicle and a method for such a vehicle control device.
Fahrzeugsteuerungseinrichtung zur bedarfsweisen Unterstützung des Fahrers eines Kraftfahrzeuges durch eine automatische oder halbautomatische Steuerung sind aus der Praxis bekannt.Vehicle control devices for supporting the driver of a motor vehicle as required by an automatic or semi-automatic control are known from practice.
So wird in der DE 197 29 613 A1 ein Fahrtunterstützungssystem für ein Fahrzeug vorgeschlagen, bei dem der Fahrer durch ein Warnsignal darauf aufmerksam gemacht wird, daß ein festgelegter Sicherheitsabstand zu einem vorausfahrendes Fahrzeug unterschritten wird. Der Sicherheitsabstand wird dabei bei hoher Verkehrsdichte automatisch kleiner festgelegt als bei geringer Verkehrsdichte, um eine häufige Ausgabe des Warnsignals zu vermeiden. Zur Kollisionsvermeidung wird bei Unterschreiten eines weiteren festgelegten Abstands ferner ein Signal an eine Bremssteuereinrichtung ausgegeben.For example, DE 197 29 613 A1 proposes a driving support system for a vehicle in which the driver is warned by a warning signal that a defined safety distance from a vehicle in front is undershot. The safety distance is automatically set to be smaller in the case of high traffic density than in the case of low traffic density in order to avoid frequent output of the warning signal. To avoid a collision, a signal is also output to a brake control device when the distance falls below a further specified distance.
Ein Verfahren zum automatischen Erkennen der Hauptrichtungsfahrbahn bei einer mehrspurigen Strecke, das im Rahmen eines halbautomatischen Führens eines Kraftfahrzeugs einsetzbar ist, wird in einer nachveröffentlichten Patentanmeldung der Anmelderin beschrieben. Danach wird zunächst die Geschwindigkeit des Fahrzeugs sowie der Abstand des Fahrzeugs von einem Hindernis erfaßt. Anschließend werden die Vektorkomponenten der Relativgeschwindigkeit des Fahrzeugs gegenüber dem Hindernis in einem Bezugssystem ermittelt, und aus einer der erfaßten Vektorkomponenten der Geschwindigkeit wird die Hauptrichtungsfahrbahn ermittelt.A method for automatically recognizing the main directional carriageway on a multi-lane route, which can be used in the context of semi-automatic driving of a motor vehicle, is described in a subsequently published patent application by the applicant. Then the speed of the vehicle and the distance of the vehicle from an obstacle are first recorded. The vector components of the relative speed of the vehicle with respect to the obstacle are then determined in a reference system, and the main directional roadway is determined from one of the detected vector components of the speed.
Bei den bekannten Einrichtungen und Verfahren wird jedoch nicht berücksichtigt, daß es beim Zufahren auf ein Stauende oder bei einem Unfall auf der Fahrspur eines Kraftfahrzeugs sinnvoll sein kann, für das automatische oder halbautomatische Führen des Kraftfahrzeugs eine spezielle, auf derartige Situationen abgestimmte Strategie einzusetzen.In the known devices and methods, however, it is not taken into account that when approaching an end of a traffic jam or in the event of an accident, a Motor vehicle can be useful to use a special strategy tailored to such situations for the automatic or semi-automatic driving of the motor vehicle.
Der Erfindung liegt die Aufgabe zugrunde, eine Fahrzeugsteuerungseinrichtung sowie ein Verfahren zum automatischen oder halbautomatischen Führen eines Kraftfahrzeugs zur Verfügung zu stellen, die es ermöglichen, im Falle eines Staus oder eines Unfalls automatisch eine Steuerung mit spezieller "Staustrategie" einzusetzen und hierdurch die Sicherheit im Verkehr weiter zu erhöhen.The invention has for its object to provide a vehicle control device and a method for automatic or semi-automatic control of a motor vehicle, which make it possible to automatically use a control with a special "traffic jam strategy" in the event of a traffic jam or accident and thereby safety in traffic further increase.
Diese Aufgabe wird erfindungsgemäß zum einen gelöst durch eine Fahrzeugsteuerungseinrichtung zum automatischen oder halbautomatischen Führen eines Kraftfahrzeuges, mitThis object is achieved on the one hand by a vehicle control device for automatic or semi-automatic driving of a motor vehicle, with
Detektionsmitteln zum Erkennen von Objekten in der Fahrzeugumgebung und zumDetection means for recognizing objects in the vehicle environment and for
Feststellen, ob sich die erkannten Objekte bewegen oder ob sie stillstehen,Determining whether the detected objects are moving or whether they are stationary,
Detektionsmitteln zum Erkennen des Streckenverlaufs durch Einteilung derDetection means for recognizing the route by dividing the
Fahrzeugumgebung in verschiedene Bereiche, von denen ein Bereich die Fahrspur des Kraftfahrzeuges ist,Vehicle surroundings into different areas, one area of which is the lane of the motor vehicle,
Verarbeitungsmittel zum Zuordnen der erkannten Objekte in die verschiedenenProcessing means for assigning the recognized objects to the different ones
Bereiche der Fahrzeugumgebung undAreas of the vehicle environment and
Steuermittel zur Steuerung des Kraftfahrzeugs in Abhängigkeit vom Stillstehen oderControl means for controlling the motor vehicle depending on the standstill or
Bewegen erkannter Objekte und von deren Zuordnung zu einem Bereich derMoving recognized objects and their assignment to an area of the
Fahrzeugumgebung.Vehicle environment.
Zum anderen wird die Aufgabe erfindungsgemäß gelöst durch ein Verfahren zum automatischen oder halbautomatischen Führen eines Kraftfahrzeugs, das die folgenden Schritte aufweist: a) Erkennen von Objekten und deren Geschwindigkeit im Umfeld des Kraftfahrzeugs, b) Erkennen des Streckenverlaufs unter Einteilung der Fahrzeugumgebung in Bereiche, von denen eine die Fahrspur des Kraftfahrzeugs darstellt, c) Zuordnen der erkannten Objekte zu den Bereichen der Fahrzeugumgebung, sowie d) Auswählen und Einsetzen einer von mindestens zwei Strategien zur automatischen oder halbautomatischen Steuerung des Kraftfahrzeugs, wobei eine der Strategien eine Bremsstrategie für Stauenden/Unfälle darstellt, in Abhängigkeit von der Geschwindigkeit der erkannten Objekte und von deren Zuordnung zu einem Bereich der Fahrzeugumgebung.On the other hand, the object is achieved according to the invention by a method for automatic or semi-automatic driving of a motor vehicle, which has the following steps: a) detection of objects and their speed in the surroundings of the motor vehicle, b) detection of the course of the route by dividing the vehicle surroundings into areas of one of which represents the lane of the motor vehicle, c) assigning the recognized objects to the areas of the vehicle surroundings, and d) Selection and use of one of at least two strategies for automatic or semi-automatic control of the motor vehicle, one of the strategies representing a braking strategy for traffic jam / accidents, depending on the speed of the detected objects and their assignment to an area of the vehicle environment.
Vorteilhafte Ausgestaltungen der erfindungsgemäßen Fahrzeugsteuerungseinrichtung und des erfindungsgemäßen Verfahrens gehen aus den Unteransprüchen hervor.Advantageous refinements of the vehicle control device according to the invention and of the method according to the invention emerge from the subclaims.
Die erfindungsgemäße Fahrzeugsteuerungseinrichtung und das erfindungsgemäße Verfahren ermöglichen eine sichere Erkennung eines Stauendes oder eines Unfalls auf der Fahrspur des Kraftfahrzeugs, in dem die Fahrzeugsteuerungseinrichtung integriert ist, bzw. für das das Verfahren eingesetzt wird. Durch die Zuordnung von erkannten Objekten zu den verschiedenen Bereichen der analysierten Fahrzeugumgebung ist nämlich ein zuverlässiges Feststellen von Staus oder Unfällen auf der eigenen Fahrbahn gewährleistet, während gleichzeitig Fehlerkennungen aufgrund stehender Objekte auf anderen Fahrspuren oder außerhalb der Fahrbahn verhindert werden.The vehicle control device according to the invention and the method according to the invention enable reliable detection of an end of a traffic jam or an accident in the lane of the motor vehicle in which the vehicle control device is integrated or for which the method is used. The assignment of recognized objects to the various areas of the analyzed vehicle environment ensures that traffic jams or accidents are reliably ascertained on one's own lane, while at the same time preventing errors due to objects standing in other lanes or outside the lane.
Sowohl für die Erkennung von Objekten in der Fahrzeugumgebung als auch für die Bestimmung des Streckenverlaufs stehen mehrere Möglichkeiten zur Verfügung.There are several options available for recognizing objects in the vehicle environment and for determining the course of the route.
Bei einem Einsatz von Abstandssensoren, wie beispielsweise von scannenden Lasersensoren oder Radarsensoren, werden Objekte durch diese Sensoren erkannt und der Streckenverlauf kann dann durch Auswertung der relativen Geschwindigkeit zwischen den erkannten Objekten untereinander und/oder zu dem Kraftfahrzeug erkannt werden. Hierbei kommen nicht nur andere Fahrzeuge, sondern beispielsweise auch der Fahrbahnrand als Objekt für die Auswertung in Frage. Für die Bestimmung des Streckenverlaufs kann in diesem Fall in einer bevorzugten Ausführung das oben aufgeführte Verfahren zum automatischen Erkennen der Hauptrichtungsfahrbahn zugrunde gelegt werden.When using distance sensors, such as scanning laser sensors or radar sensors, objects are recognized by these sensors and the course of the route can then be recognized by evaluating the relative speed between the detected objects among one another and / or to the motor vehicle. Not only other vehicles are considered here, but also, for example, the roadside as an object for evaluation. In a preferred embodiment, the above-mentioned method for automatically recognizing the main directional roadway can be used as a basis for determining the route in this case.
Ebenso denkbar ist für das Erkennen von Objekten und für das Erkennen des Streckenverlaufs der Einsatz von an dem Kraftfahrzeug angebrachten Kameras, deren Bilder für den Streckenverlauf ausgewertet werden, eventuell in Kombination mit Geschwindigkeitssensoren.It is also conceivable for the detection of objects and for the detection of the route, the use of cameras attached to the motor vehicle, their Images for the route can be evaluated, possibly in combination with speed sensors.
Von Vorteil ist aber auch die Nutzung digitaler Daten eines GPS-gestützten Navigationssystems für die Erkennung des Streckenverlaufs. Die Objekte in der Fahrzeugumgebung werden dann separat erfaßt.However, it is also advantageous to use digital data from a GPS-based navigation system to recognize the course of the route. The objects in the vehicle environment are then recorded separately.
Bei der Auswahlstrategie für das automatische oder halbautomatische Führen des Kraftfahrzeugs sollte die Bremsstrategie für Stauenden/Unfälle ausgewählt und eingesetzt wird, wenn ein stehendes Objekt erkannt und dieses der Fahrspur des Kraftfahrzeuges zugeordnet wurde. In allen anderen Fällen kann eine andere Strategie, wie eine "normale" Fahrstrategie ausgewählt und eingesetzt werden.In the selection strategy for automatic or semi-automatic driving of the motor vehicle, the braking strategy for traffic jam ends / accidents should be selected and used when a stationary object has been recognized and this has been assigned to the lane of the motor vehicle. In all other cases, a different strategy, such as a "normal" driving strategy, can be selected and used.
Die erfindungsgemäße Fahrzeugsteuerungseinrichtung und das erfindungsgemäße Verfahren sind vor allem dazu geeignet, mit einer weiteren in das Kraftfahrzeug integrierten Fahrzeugsteuerungseinrichtung bzw. mit einem weiteren in dem Kraftfahrzeug vorgesehenen Verfahrens zum automatischen oder halbautomatischen Führen eines Kraftfahrzeugs, wie einer automatischen Distanzregelung (ADR), zusammen zu wirken.The vehicle control device according to the invention and the method according to the invention are particularly suitable for interacting with a further vehicle control device integrated in the motor vehicle or with another method provided in the motor vehicle for automatic or semi-automatic driving of a motor vehicle, such as an automatic distance control (ADR) ,
Die Erfindung wird nun unter Bezugnahme auf die Zeichnung anhand eines Ausführungsbeispiels näher erläutert. Dabei zeigenThe invention will now be explained in more detail with reference to the drawing using an exemplary embodiment. Show
Fig. 1 eine schematische Blockdarstellung der erfindungsgemäßenFig. 1 is a schematic block diagram of the invention
Fahrzeugsteuerungseinrichtung und Fig. 2 einen beispielhaften Verfahrensablauf des erfindungsgemäßen Verfahrens.Vehicle control device and FIG. 2 shows an exemplary method sequence of the method according to the invention.
In Figur 1 ist eine erfindungsgemäße Fahrzeugsteuerungseinrichtung schematisch dargestellt. Die Fahrzeugsteuerungseinrichtung ist dabei in ein (nicht dargestelltes) Kraftfahrzeug eingebaut, das zur Unterstützung des Fahrers insbesondere in kritischen Situationen halbautomatisch gesteuert werden soll. In der Fahrzeugsteuerungseinrichtung sind einerseits Detektionsmittel 1 zum Erkennen von Objekten und andererseits Detektionsmittel 2 zum Erkennen des Streckenverlaufs für das Kraftfahrzeug mit Verarbeitungsmitteln 3 verbunden, die ihrerseits mit Steuermitteln 4 verbunden sind. Die Steuermittel 4 sollen hier Teil einer in das Kraftfahrzeug integrierten automatischen Distanzregelung (ADR) sein und haben in diesem Rahmen Zugang zu den Aktionsmitteln 5 für die zu regelnden Fahrzeugfunktionen, wie beispielsweise zu den Bremsen.A vehicle control device according to the invention is shown schematically in FIG. The vehicle control device is installed in a motor vehicle (not shown) which is to be controlled semi-automatically to assist the driver, in particular in critical situations. In the vehicle control device, detection means 1 for recognizing objects and, on the other hand, detection means 2 for recognizing the route for the motor vehicle are connected to processing means 3, which in turn are connected to control means 4. The control means 4 are here to be part of an automatic distance control (ADR) integrated into the motor vehicle and in this context have access to the action means 5 for the vehicle functions to be controlled, such as the brakes.
Die Funktionsweise der Fahrzeugsteuerungseinrichtung wird nun im Zusammenhang mit dem in Figur 2 dargestellten Ablaufdiagramm beschrieben.The mode of operation of the vehicle control device will now be described in connection with the flow chart shown in FIG.
Die Detektionsmittel 1 zum Erkennen von Objekten weisen scannende Lasersensoren, Radarsensoren oder andere Sensoren als Abstandssensoren auf. Anhand der von den Sensoren empfangenen Signale werden in den Detektionsmitteln 1 Objekte in der Umgebung des Kraftfahrzeugs erkannt, und ihre Geschwindigkeit wird bestimmt.The detection means 1 for recognizing objects have scanning laser sensors, radar sensors or other sensors as distance sensors. On the basis of the signals received by the sensors, objects in the vicinity of the motor vehicle are recognized in the detection means 1 and their speed is determined.
Die Detektionsmittel 2 zum Erkennen des Streckenverlaufs erhalten von einem ebenfalls im Fahrzeug integrierten GPS-gestützten Navigationssystem digitale Daten, aus der die Detektionsmittel 2 den aktuellen Streckenverlauf bestimmen. Hierzu wird die erkannte Fahrzeugumgebung von den Detektionsmitteln 2 eingeteilt in einen Bereich, der der Fahrspur des Kraftfahrzeugs entspricht, bei einer mehrspurigen Fahrbahn in Bereiche, die den weiteren Fahrspuren entsprechen, und in einen Bereich der außerhalb der Fahrbahn liegt.The detection means 2 for recognizing the course of the route receive digital data from a GPS-supported navigation system likewise integrated in the vehicle, from which the detection means 2 determine the current course of the route. For this purpose, the detected vehicle environment is divided by the detection means 2 into an area that corresponds to the lane of the motor vehicle, in the case of a multi-lane lane, into areas that correspond to the other lanes, and into an area that is outside the lane.
Als Alternative zu der Nutzung von Daten eines GPS-Navigationssystems kann der Streckenverlauf auch auf bekannte Weise durch Auswerten der Bilder von am Fahrzeug angebrachten Kameras oder durch Auswerten der Signale von am Fahrzeug angebrachten Abstandssensoren ermittelt werden. In letzterem Fall kann vorteilhaft auf die Signale der Abstandssensoren der Detektionsmittel 1 und eventuell auch auf Teile der Auswerteergebnisse der Detektionsmittel 1 zum Erkennen von Objekten zurückgegriffen werden.As an alternative to using data from a GPS navigation system, the course of the route can also be determined in a known manner by evaluating the images from cameras attached to the vehicle or by evaluating the signals from distance sensors attached to the vehicle. In the latter case, the signals of the distance sensors of the detection means 1 and possibly also parts of the evaluation results of the detection means 1 can advantageously be used to recognize objects.
Die Ergebnisse der Detektionsmittel 1 und 2 werden nun den Verarbeitungsmitteln 3 zugeführt. Die Verarbeitungsmittel 3 führen anhand der erhaltenen Daten eine Zuordnung der erkannten Objekte zu den verschiedenen Bereichen der Fahrzeugumgebung durch. Dabei kommen folgende Zuordnungen in Frage: Ein erkanntes Objekt befindet sich in der Fahrspur des Kraftfahrzeugs, ein erkanntes Objekt befindet sich auf einer bestimmten Nachbarfahrspur, oder aber ein erkanntes Objekt befindet sich komplett außerhalb der Fahrbahn.The results of the detection means 1 and 2 are now fed to the processing means 3. The processing means 3 introduce on the basis of the data obtained Assignment of the recognized objects to the different areas of the vehicle environment. The following assignments are possible: A recognized object is in the lane of the motor vehicle, a recognized object is in a specific neighboring lane, or a recognized object is completely outside the lane.
Anschließend wird in den Verarbeitungsmitteln 3 eine für das Führen des Kraftfahrzeugs zugrunde zu legende Strategie bestimmt. Als Strategie kommt dabei zum einen eine normale ADR Fahrstrategie und zum anderen eine ADR Bremsstrategie für Stauenden in Frage. Wenn ein erkanntes Objekt nicht steht und sich in der Fahrspruch des Kraftfahrzeugs befindet, dann wird die normale ADR Fahrstrategie festgelegt. Wenn ein erkanntes Objekt aber steht und sich in der Fahrspruch des Kraftfahrzeugs befindet, so kann auf einen Stau bzw. auf einen Unfall geschlossen werden. Dementsprechend wird eine ADR Bremsstrategie für Stauenden festgelegt. Schließlich kann sich ein erkanntes Objekt noch außerhalb der Fahrspur des Kraftfahrzeugs befinden. In dem Fall wird wiederum die normale ADR Fahrstrategie festgelegt.A strategy to be used for driving the motor vehicle is then determined in the processing means 3. A normal ADR driving strategy and an ADR braking strategy for traffic jams can be used as a strategy. If a recognized object is not standing and is in the motto of the motor vehicle, then the normal ADR driving strategy is determined. If, however, a recognized object is standing and is in the driving slogan of the motor vehicle, it can be concluded that there is a traffic jam or an accident. An ADR braking strategy for traffic jam ends is defined accordingly. Finally, a recognized object can still be outside the lane of the motor vehicle. In this case, the normal ADR driving strategy is again determined.
Die von den Verarbeitungsmitteln 3 zur Anwendung bestimmte Strategie wird an die Steuereinheit 4 der automatischen Distanzregelung ADR weitergeleitet. Je nach übermittelter Strategie kann nun die (halb-)automatische Steuerung des Fahrzeugs erfolgen. The strategy determined by the processing means 3 for use is forwarded to the control unit 4 of the automatic distance control ADR. Depending on the strategy transmitted, the (semi) automatic control of the vehicle can now take place.

Claims

PATENTANSPRUCHE PATENT CLAIMS
1. Fahrzeugsteuerungseinrichtung zum automatischen oder halbautomatischen Führen eines Kraftfahrzeuges mit Detektionsmitteln (1) zum Erkennen von Objekten in der1. Vehicle control device for automatic or semi-automatic control of a motor vehicle with detection means (1) for recognizing objects in the
Fahrzeugumgebung und zum Feststellen, ob sich die erkannten Objekte bewegen oder ob sie stillstehen, mit Detektionsmitteln (2) zum Erkennen des Streckenverlaufs unterVehicle environment and to determine whether the detected objects are moving or whether they are stationary, with detection means (2) for recognizing the route under
Einteilung der Fahrzeugumgebung in verschiedene Bereiche, von denen ein Bereich die Fahrspur des Kraftfahrzeuges ist, mit Verarbeitungsmitteln (3) zum Zuordnen der erkannten Objekte in die verschiedenen Bereiche der Fahrzeugumgebung und mit Steuermitteln (4) zum Steuern des Kraftfahrzeugs in Abhängigkeit vomClassification of the vehicle environment into different areas, one area of which is the lane of the motor vehicle, with processing means (3) for assigning the detected objects to the different areas of the vehicle environment and with control means (4) for controlling the motor vehicle as a function of
Stillstehen oder Bewegen erkannter Objekte und von deren Zuordnung zu einem Bereich der Fahrzeugumgebung.Stopping or moving recognized objects and their assignment to an area of the vehicle environment.
2. Fahrzeugsteuerungseinrichtung nach Anspruch 1 , dadurch gekennzeichnet, daß die Detektionsmittel (2) zum Erkennen des Streckenverlaufs digitale Daten eines GPS-gestützten Navigationssystems nutzen.2. Vehicle control device according to claim 1, characterized in that the detection means (2) use digital data from a GPS-based navigation system to recognize the route.
3. Fahrzeugsteuerungseinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Detektionsmittel (2) zum Erkennen des Streckenverlaufs und/oder die Detektionsmitteln (1) zum Erkennen von Objekten in der Fahrzeugumgebung Kameras zur Erfassung von Bildern der Fahrzeugumgebung umfassen.3. Vehicle control device according to claim 1 or 2, characterized in that the detection means (2) for recognizing the course of the route and / or the detection means (1) for recognizing objects in the vehicle environment include cameras for capturing images of the vehicle environment.
4. Fahrzeugsteuerungseinrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß die Detektionsmittel (2) zum Erkennen des Streckenverlaufs und/oder die Detektionsmittel (1) zum Erkennen von Objekten in der Fahrzeugumgebung mindestens einen Abstandssensor umfassen. 4. Vehicle control device according to one of claims 1 to 3, characterized in that the detection means (2) for detecting the course of the route and / or the detection means (1) for detecting objects in the vehicle environment comprise at least one distance sensor.
5. Fahrzeugsteuerungseinrichtung nach Anspruch 4, dadurch gekennzeichnet, daß der Abstandssensor mindestens einen scannenden Lasersensor oder mindestens einen Radarsensor umfaßt.5. Vehicle control device according to claim 4, characterized in that the distance sensor comprises at least one scanning laser sensor or at least one radar sensor.
6. Fahrzeugsteuerungseinrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß für die Detektionsmittel (2) zum Erkennen des Streckenverlaufs und für die Detektionsmittel (1) zum Erkennen von Objekten in der Fahrzeugumgebung gemeinsam nutzbare Erfassungsmittel vorhanden sind.6. Vehicle control device according to one of claims 1 to 5, characterized in that for the detection means (2) for recognizing the course of the route and for the detection means (1) for recognizing objects in the vehicle environment are jointly available detection means.
7. Verfahren zum automatischen oder halbautomatischen Führen eines Kraftfahrzeugs, das die folgenden Schritte aufweist: a) Erkennen von Objekten und deren Geschwindigkeit im Umfeld des Kraftfahrzeugs, b) Erkennen des Streckenverlaufs unter Einteilung der Fahrzeugumgebung in Bereiche, von denen eine die Fahrspur des Kraftfahrzeugs darstellt, c) Zuordnen der erkannten Objekte zu den Bereichen der Fahrzeugumgebung, sowie d) Auswählen und Einsetzen einer von mindestens zwei Strategien zur automatischen oder halbautomatischen Steuerung des Kraftfahrzeugs in Abhängigkeit von der Geschwindigkeit der erkannten Objekte und von deren Zuordnung zu einem Bereich der Fahrzeugumgebung, wobei eine der Strategien eine Bremsstrategie für Stauenden/Unfälle darstellt.7. A method for automatic or semi-automatic driving of a motor vehicle, comprising the following steps: a) recognizing objects and their speed in the surroundings of the motor vehicle, b) recognizing the course of the route by dividing the vehicle surroundings into areas, one of which represents the lane of the motor vehicle , c) assigning the detected objects to the areas of the vehicle environment, and d) selecting and using one of at least two strategies for automatic or semi-automatic control of the motor vehicle depending on the speed of the detected objects and their assignment to an area of the vehicle environment, where one of the strategies is a braking strategy for traffic jams / accidents.
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, daß in Schritt b) die Fahrzeugumgebung eingeteilt wird in die Fahrspur des Kraftfahrzeugs, in Nebenfahrspuren und in Bereiche außerhalb der Fahrbahn.8. The method according to claim 7, characterized in that in step b) the vehicle environment is divided into the lane of the motor vehicle, in secondary lanes and in areas outside the lane.
9. Verfahren nach Anspruch 8, dadurch gekennzeichnet, daß in Schritt c) die erkannten Objekte der Fahrspur, einer bestimmten Nebenfahrspuren oder dem Bereich außerhalb der Fahrbahn zugeordnet werden. 9. The method according to claim 8, characterized in that in step c) the detected objects of the lane, a certain secondary lanes or the area outside the lane are assigned.
10. Verfahren nach einem der Ansprüche 7 bis 9, dadurch gekennzeichnet, daß die Bremsstrategie für Stauenden/Unfälle ausgewählt und eingesetzt wird, wenn ein stehendes Objekt erkannt und wenn das stehende Objekt der Fahrspur des Kraftfahrzeuges zugeordnet wurde, und daß in allen anderen Fällen eine andere Strategie ausgewählt und eingesetzt wird.10. The method according to any one of claims 7 to 9, characterized in that the braking strategy for congestion / accidents is selected and used when a stationary object is recognized and when the stationary object has been assigned to the lane of the motor vehicle, and that in all other cases a another strategy is selected and used.
11. Einsatz eines Verfahrens nach einem der Ansprüche 7 bis 10 im Rahmen eines weiteren Verfahrens zum automatischen oder halbautomatischen Führen eines Kraftfahrzeugs, insbesondere im Rahmen einer automatischen Distanzregelung (ADR). 11. Use of a method according to one of claims 7 to 10 in the context of a further method for automatic or semi-automatic driving of a motor vehicle, in particular in the context of an automatic distance control (ADR).
PCT/EP2000/009143 1999-10-14 2000-09-19 Vehicle control device and method for a vehicle control device WO2001027705A1 (en)

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