METHOD FOR CONTROLLING AN AUTOMATED VEHICLE

Abstract

A method for controlling an automated vehicle when driving into a crossing of equal-ranking roads involves the vehicle granting grants the further vehicles right of way at least for a pre-determined waiting time. The vehicle determines, according to a pre-determined arbitration rule, whether it should have priority over the further vehicles for passing through the crossing. After the waiting time has passed, the vehicle begins a crossing traversal maneuver to traverse the crossing if it is determined that it should have priority for passing through the crossing and if none of the further vehicles has driven on in the interim.

Claims

1-10. (canceled)

11. A method for controlling an automated vehicle when driving into a crossing of equal-ranking roads, wherein the vehicle grants further vehicles right of way at least for a pre-determined waiting time when the automated vehicle recognizes further equal-ranked vehicles at the crossing, the method comprising: determining, by the automated vehicle and according to a pre-determined arbitration rule, whether the automated vehicle should have priority over the further equal-ranked vehicles for passing through the crossing; and after the waiting time has passed, the automated vehicle begins a crossing traversal maneuver to traverse the crossing if it is determined that the automated vehicle should have priority for passing through the crossing and if none of the further equal-ranked vehicles has driven on in an interim.

12. The method of claim 11, wherein the automated vehicle proceeds slowly into the crossing when beginning the crossing traversal maneuver.

13. The method of claim 11, wherein the automated vehicle continues the crossing traversal maneuver as long as the further equal-ranked vehicles continue to wait.

14. The method of claim 11, wherein the automated vehicle interrupts the crossing traversal maneuver and stops if at least one of the further equal-ranked vehicles no longer waits.

15. The method of claim 14, wherein the automated vehicle restarts the crossing traversal maneuver after a further waiting time from the interruption if the further equal-ranked vehicles wait again.

16. The method of claim 15, wherein the waiting time or the further waiting time are randomly or pseudo-randomly predetermined.

17. The method of claim 11, wherein the arbitration rule provides that priority for passing through the crossing is determined using vehicle number plates of the automated vehicle and the further equal-ranked vehicles.

18. The method of claim 17, wherein a hashing value is respectively determined from the vehicle number plates by a hashing function and priority is determined corresponding to a sorting sequence of the hashing values determined from the vehicle number plates.

19. The method of claim 17, wherein a value is assigned to numerals or letters located on a vehicle number plate, wherein a sum of values is determined per vehicle number plate and priority for passing through the crossing is assigned to the automated vehicle and the further equal-ranked vehicles one after the other in a sequence from a smallest of the sum of values to a largest of the sum of values.

20. The method of claim 17, wherein the vehicle number plates of the further equal-ranked vehicles are determined using recorded image signals of a vehicle camera of an environment sensor of the automated vehicle, wherein the vehicle number plate of the automated vehicle is stored in a memory unit in the automated vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWING FIGURES

[0020] In the figures:

[0021] FIG. 1 schematically shows a crossing of equal-ranking roads and a corresponding number of vehicles.

[0022] FIG. 2 schematically shows a time speed diagram.

[0023] Parts corresponding to one another are provided with the same reference numerals in all figures.

DETAILED DESCRIPTION

[0024] FIG. 1 shows a crossing K, at which two equal-ranking roads S1, S2 cross, wherein a vehicle 1 to 4 is located on each portion of road leading to the crossing K.

[0025] All the vehicles 1 to 4 shown in FIG. 1 are moved in the automated driving operation, wherein no passenger is in the vehicle 1 to 4 in some circumstances.

[0026] If all the vehicles 1 to 4 are moved in the manual driving operation, then in such a traffic situation as shown in FIG. 1, the need results for the vehicle users to communicate with one another to determine which of the vehicles 1 to 4 passes through the crossing K first.

[0027] According to the present exemplary embodiment, all the vehicles 1 to 4 are driving in the automated driving operation, wherein no passenger is in the respective vehicle 1 to 4 in some instances who can communicate with a passenger of one of the vehicles 1 to 4.

[0028] One stop sign 5 is respectively located on all the portions of road leading into the crossing K in FIG. 1, in particular as is usual in the USA, such that all the vehicles 1 to 4 have to stop. A right of way regulation then applies to the effect that the vehicle 1 to 4 that stopped first can pass through the crossing K first. If several vehicles 1 to 4 stop at the crossing K at the same time, then a right before left regulation applies, and/or it is required that the vehicle users agree.

[0029] In the following, a method is described representing a solution in such a traffic situation at a crossing K having two equal-ranking roads S1, S2 and four automated vehicles 1 to 4.

[0030] In FIG. 2, a time speed diagram is depicted in which four velocity curves V.sub.1 to V.sub.4 are depicted in relation to the time t, which are assigned to the vehicles 1 to 4 located at the crossing K.

[0031] At a point in time t.sub.0, all the vehicles 1 to 4 reach the crossing K and recognize the conflict of who can pass through the crossing K first. At this point in time t.sub.0, all the vehicles 1 to 4 are waiting at a stop line, and respectively start a timer having a random or pseudo-random running time, in particular waiting time W.

[0032] In the present exemplary embodiment, the waiting time W of a vehicle 1 has elapsed at a first point in time t.sub.1, whereupon the vehicle 1 begins a bend traversal maneuver, in which it then proceeds into the crossing K. A first further vehicle 2 and a second further vehicle 3 recognize this proceeding movement of the vehicle 1 and continue to wait.

[0033] A random waiting time of a third further vehicle 4 has elapsed at a second point in time t.sub.2.

[0034] If the third further vehicle 4 recognizes the vehicle 1 proceeding, a proceeding movement of the third further vehicle 4, which proceeds into the crossing K after its random or pseudo-random waiting time W has elapsed, is interrupted.

[0035] If the further vehicle 1 and the second further vehicle 3 respectively recognize the proceeding movement of the respective other vehicle, the vehicle 1 and the second further vehicle 3 interrupt their proceeding movement and the process begins again as if at the point in time t.sub.0.

[0036] According to the exemplary embodiment, in FIG. 2, the vehicle 1 passes through and leaves the crossing at a third point t.sub.3.

[0037] If the now prevailing traffic situation with the further vehicles 2 to 4 is not resolved due to locally applicable traffic regulations, then the arbitration begins again with the remaining three further vehicles 2 to 4.

[0038] The respective proceeding movement and/or further behavior of the vehicles 1 to 4 is/are in particular recorded using recorded signals and/or recorded image signals of recording units of an environment sensor of the respective vehicle 1 to 4.

[0039] In the present method, an arbitration occurs according to a pre-determined arbitration rule, in which it is determined by evaluating unambiguous features of the vehicles, for example by evaluating their vehicle number plates, which of the vehicles 1 to 4 should have priority over the other vehicles 1 to 4 when traversing the crossing K. The vehicle 1 begins its bend traversal maneuver after the waiting time runs out only if it is determined according to the arbitration regulation that it should have priority over the further vehicles 2 to 4.

[0040] This possibly of the arbitration is based in particular on a shared arbitration regulation agreed by all manufacturers. All the vehicles 1 to 4 then use the same arbitration regulation to determine priority.

[0041] For example, the arbitration rule provides that a series of characters, for example a numerical value, is respectively assigned to the vehicle number plate of the vehicles 1 to 4, and that the priority of this series of characters is determined according to an undertaken sorting. The series of characters assigned to the respective vehicle number plate is in particular determined from the characters of the respective vehicle number plate by means of a hashing function, e.g., Message-Digest 5. The hashing values determined by means of the hashing function are compared with one another, wherein the vehicle is identified with the vehicle number plate, for example, to which the smallest hashing value is assigned, and wherein it is determined that this vehicle should have priority over the other vehicles.

[0042] The vehicle number plates of the vehicles 1 to 4 are, in particular, recorded using recorded image data of a vehicle camera of an environment sensor of the respective vehicle 1 to 4, wherein the own vehicle number plate and/or its hashing value is/are stored in the vehicle.

[0043] As an alternative to the hashing function, the assignment of a numerical value to a vehicle number plate can also occur by a value respectively being assigned to the numbers and/or letters located on the vehicle number plate, and the sum of the values per vehicle number plate being determined.

[0044] Although the invention has been illustrated and described in detail by way of preferred embodiments, the invention is not limited by the examples disclosed, and other variations can be derived from these by the person skilled in the art without leaving the scope of the invention. It is therefore clear that there is a plurality of possible variations. It is also clear that embodiments stated by way of example are only really examples that are not to be seen as limiting the scope, application possibilities or configuration of the invention in any way. In fact, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete manner, wherein, with the knowledge of the disclosed inventive concept, the person skilled in the art is able to undertake various changes, for example, with regard to the functioning or arrangement of individual elements stated in an exemplary embodiment without leaving the scope of the invention, which is defined by the claims and their legal equivalents, such as further explanations in the description.