Communicating the intention of a vehicle to another road user

Abstract

A method communicates an intention of an automated vehicle to at least one road user. For a planned maneuver that may adversely impact the other road user, an intention in relation to the carrying out of the maneuver is associated with the planned maneuver and the intention is communicated to the other road user.

Claims

1. A method of communicating intention of a vehicle to at least one other road user, the method comprising: for a planned maneuver of an automated vehicle which can adversely impact the other road user, associating with the planned maneuver an intention in relation to carrying out the planned maneuver; and communicating said intention to the other road users; wherein for the planned maneuver, a danger potential and a valid right-of-way rule for the other road user and the automated vehicle are determined; the communication of the intention occurs depending on the danger potential and the valid right-of-way rule; and wherein the intention of the automated vehicle is selectively chosen based on a type of the other road user.

2. The method as claimed in claim 1, wherein the intention represents an execution of the planned maneuver of the automated vehicle, wherein the execution of the planned maneuver is to be carried out on a temporal level before a maneuver of the other road user.

3. The method as claimed in claim 1, wherein the intention represents an interruption of the planned maneuver of the automated vehicle.

4. The method as claimed in claim 1, wherein the other road user is analyzed in relation to specified criteria, and the communication of the intention takes place depending on a result of said analysis.

5. The method as claimed in claim 1, further comprising the act of: monitoring a response of the other road user to a communicated intention; and depending on said response, the intention is communicated at least one further time if no response or a not expected response of the other road user takes place.

6. The method as claimed in claim 1, wherein a planned trajectory of the automated vehicle is projected onto a road via a light strip.

7. The method as claimed in claim 1, wherein the intention of the automated vehicle is displayed via at least one light strip running around the automated vehicle.

8. The method as claimed in claim 1, wherein the intention of the automated vehicle is displayed via at least one transparent display in at least one window of the automated vehicle.

9. A device to communicate an intention of an automated vehicle to at least one other road user, comprising: a control unit operatively configured to execute processing to: for a planned maneuver of the automated vehicle which can adversely impact the other road user, associate with the planned maneuver an intention in relation to carrying out the planned maneuver; and communicate said intention to the other road user; wherein for the planned maneuver, a danger potential and a valid right-of-way rule for the other road user and the automated vehicle are determined; the communication of the intention occurs depending on the danger potential and the valid right-of-way rule; wherein the intention of the automated vehicle is selectively chosen based on a type of the other road user.

10. The method as claimed in claim 1, wherein the intention of the automated vehicle is transmitted to and displayed on an electronic communication device of the other road user.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 illustrates a first exemplary traffic situation Pedestrian crossing for the use of the method according to the invention.

(2) FIG. 2 illustrates a second exemplary traffic situation Intersection for the use of the method according to the invention.

(3) FIG. 3 illustrates a third exemplary traffic situation Passing maneuver for the use of the method according to the invention.

(4) FIG. 4 is a flow chart of an exemplary embodiment of the method according to the invention in the first traffic situation.

(5) FIG. 5 is a flow chart of an exemplary embodiment of the method according to the invention in the second traffic situation.

(6) FIG. 6 is a flow chart of an exemplary embodiment of the method according to the invention in the third traffic situation.

DETAILED DESCRIPTION OF THE DRAWINGS

(7) FIG. 1 shows a motor vehicle K in front of a pedestrian crossing Z. The automated motor vehicle K also comprises displays in the windows to show the intention in addition to a control device SV for determining and communicating the intention of the automated motor vehicle K to at least one other road user.

(8) In particular, the automated motor vehicle K comprises a display F.sub.v,z in the windshield, a display F.sub.v,l in the left anterior side window, a display F.sub.h,l in the left posterior side window, a display F.sub.h,z in the rear window, a display F.sub.h,r in the right posterior side window and a display F.sub.v,r in the right anterior side window.

(9) Another road user P, being a pedestrian, is located next to the street.

(10) FIG. 2 shows a road intersection. At the intersection, an automated vehicle A and another road user B meet each other, wherein in this situation the other road user B is a non-automated vehicle.

(11) Automated vehicle A would like to turn left using maneuver Tr.sub.A. This planned maneuver can, for example, be displayed by activating a driving direction indicator (turn signal).

(12) Non-automated vehicle B would like to turn right using maneuver Tr.sub.B. This planned maneuver can also be displayed by activating a driving direction indicator (turn signal). Both planned maneuvers Tr.sub.A and Tr.sub.B therefore overlap.

(13) FIG. 3 shows a traffic situation where automated vehicle A follows another vehicle C. Whether vehicle C is an automated vehicle or a non-automated vehicle is not relevant to the method according to the invention.

(14) Non-automated vehicle B would like to merge into the gap between vehicle C and automated vehicle A. For example, this traffic situation occurs when vehicle B performs a passing maneuver. However, the traffic situation is also typical for a narrowing of the road, where two lanes lead into the same direction and are merged into a single lane.

(15) Therein, automated vehicle A is equipped with a circumferential light strip.

(16) FIG. 4 describes an exemplary embodiment of the method according to the invention in the traffic situation that is shown in FIG. 1.

(17) At step 100, automated vehicle K determines a maneuver to drive across pedestrian crossing Z.

(18) Since the pedestrian P wants to cross the pedestrian crossing Z, this is adversely impacted by the maneuver of the automated vehicle. This adverse impact is represented in such a way that the pedestrian P would only cross the pedestrian crossing Z with caution or, if in doubt, not at all, since for him, the intention of the automated vehicle K is not clear.

(19) If, in the case of vehicle K being a conventional vehicle, the pedestrian P could, for example, make his/her intention known by establishing visual contact with the driver of vehicle K. However, since here vehicle K is an automated vehicle, this possibility does not exist.

(20) Therefore, at step 110, the automated vehicle K determines the intention Let in for the maneuver, which brings about a temporary interruption of the driving maneuver. The basis for determining this intention is, for example, that, when crossing a pedestrian crosswalk, the pedestrian P principally enjoys the right of way ahead of motorized traffic.

(21) Since only minimal danger to the pedestrian P originates from the automated vehicle K due to the temporary interruption of the maneuver, the danger potential low is assigned to the maneuver at step 120. Furthermore, the valid right-of-way situation is detected and it is determined that pedestrian P has the right of way.

(22) In the case of an analysis of the line of sight of the pedestrian P by automated vehicle K, at step 130, it is determined that pedestrian P perceives automated vehicle K.

(23) Therefore, at step 140, the intention Let in is communicated by means of the display in the front windshield. Therein, for example, the automated vehicle K can be schematically represented with a bar in front of the front end of the vehicle as a stylised stop line of the vehicle K. The low danger potential, which was determined at step 120, for example, can be displayed using a friendly color.

(24) FIG. 5 describes an exemplary embodiment of the method according to the invention in the traffic situation that is shown in FIG. 2.

(25) At step 200, the automated vehicle A determines a maneuver T.sub.rA for turning.

(26) At step 210, the vehicle B and its planned maneuver T.sub.rB is detected by the automated vehicle A.

(27) Therein, the maneuver T.sub.rA leads to an adverse impact of the maneuver T.sub.rB of vehicle B, since the rule Right before left is used, which leads to a claim to the right of way of vehicle B.

(28) Nevertheless, the automated vehicle A assigns the intention drive on to maneuver T.sub.rA at step 220 as a representative of the intention class, which comprises carrying out the planned maneuver. For example, this can be practical if a specific danger would arise due to an interruption of the maneuver T.sub.rA, for example, if the automated vehicle A blocks the way for an emergency vehicle.

(29) At step 230, the danger potential high is associated with the maneuver T.sub.rA since the automated vehicle A takes the right of way, de facto, from vehicle B due to maneuver T.sub.rA.

(30) At step 240, the intention Drive on is therefore communicated to the vehicle B by way of projecting a stop line into the trajectory of the maneuver T.sub.rB.

(31) The transmission of the intention Drive on should lead to an interruption of the maneuver Tr.sub.B of the vehicle B in order to keep a dangerous situation from occurring. Therefore, after projecting the stop line, the response of the vehicle B to the communicated intention of the automated vehicle A is monitored by the automated vehicle A at step 250.

(32) Should the vehicle B not cancel its maneuver T.sub.rB as desired, at step 260, an escalation mechanism goes into force. Therein, the intention Drive on of automated vehicle A can be re-transmitted, however by way of another more aggressive type of communication. Therein, for example, it can have to do with an acoustic warning signal.

(33) FIG. 6 describes an exemplary embodiment of the method according to the invention in the traffic situation that is shown in FIG. 3.

(34) At step 300, automated vehicle A determines a maneuver for the following of vehicle C. This maneuver can, for example, be designed in such a way that the automated vehicle A follows the trajectory of vehicle C at a fixed distance.

(35) At step 310, by means of the automated vehicle A, the desire of vehicle B to merge between automated vehicle A and vehicle C is detected. This desire and the maneuver associated therewith of vehicle B conflicts with the maneuver of automated vehicle A.

(36) Therefore, at step 320, the intention Let in is associated with the maneuver of automated vehicle A. Therein, since only a slight danger for vehicle B can arise, only a slight danger potential is additionally associated with the maneuver at step 330. In addition, the right-of-way situation is analyzed and it is detected that vehicle A has the right of way.

(37) This intention is then communicated by automated vehicle A to vehicle B at step 340. For example, for this purpose, illuminating markings can be displayed on the light strip of automated vehicle A, which move along automated vehicle A in the direction of the gap between vehicles A and C.

(38) The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.