METHOD FOR SUPPORTING AN AUTOMATICALLY DRIVING VEHICLE

Abstract

A method for supporting an automatically driving vehicle is provided. In one embodiment, it is ascertained whether it is possible for the automatically driving vehicle to change lanes to a fast lane in order to pass an obstacle located in front of the automatically driving vehicle on a roadway. If not, the automatically driving vehicle stops before reaching the obstacle and transmits a support request to a vehicle-external center. The vehicle-external center detects another vehicle in the surroundings of the automatically driving vehicle and instructs same to move in the direction of the automatically driving vehicle and change to the fast lane before reaching the automatically driving vehicle.

Claims

1-10 (canceled)

11. A method for supporting an automatically driving vehicle, comprising: if it is not possible for the automatically driving vehicle to make an automatic lane change to a fast lane in order to pass an obstacle located in a roadway in front of the automatically driving vehicle, the automatically driving vehicle stops before reaching the obstacle, the automatically driving vehicle sends a support query to a center outside of the vehicle, the center outside of the vehicle designates another vehicle in the area of the automatically driving vehicle, and the center outside of the vehicle instructs the designated other vehicle to move in the direction of the automatically driving vehicle and change to the fast lane before reaching it.

12. The method as in claim 11, wherein together with the support query, the automatically driving vehicle sends the center its current position and the current range extent of its surroundings detection sensor system.

13. The method as in claim 11, wherein real-time position information is exchanged between the automatically driving vehicle and the other vehicle after it is selected by the center.

14. The method as in claim 11, wherein the automatically driving vehicle is recognized by the other vehicle and/or the other vehicle is recognized by the automatically driving vehicle using data from an onboard sensor array on each vehicle and suitable classification methods.

15. The method as in claim 11, wherein the automatically driving vehicle is recognized by the other vehicle and/or the other vehicle is recognized by the automatically driving vehicle based on the assessment of signals from light emitters on each vehicle.

16. The method as in claim 11, wherein the other vehicle reduces its speed no later than when changing to the fast lane.

17. The method as in claim 11, wherein the other vehicle is detected in surroundings data detected by a surroundings detection sensor system on the automatically driving vehicle, and the automatically driving vehicle compares a position of the other vehicle determined in that manner with received position information pertaining to the other vehicle.

18. The method as in claim 11, wherein the speed of the other vehicle is detected by the automatically driving vehicle, and based on that speed and the position of the other vehicle, a trajectory is determined for safely passing the obstacle.

19. The method as in claim 18, wherein the automatically driving vehicle makes the lane change automatically, if the determined risk of a collision with the other vehicle or another vehicle while making the lane change is within a preset limit value.

20. The method as in claim 11, wherein the automatically driving vehicle stops behind the obstacle in such a way that the distance to the obstacle is at least that needed for the required acceleration before a lane change to the fast lane.

Description

[0025] The figures show:

[0026] FIG. 1 schematic overhead view of a traffic situation and

[0027] FIG. 2 schematic overhead view of another traffic situation.

[0028] The same items are marked with the same references in all figures.

[0029] FIG. 1 is an overhead view of a traffic situation with a vehicle 1, another vehicle 2, and an obstacle 3 on a multi-lane roadway.

[0030] The vehicle 1 is configured for automated driving, in particular highly automated or autonomous driving. The vehicle 1 can be a passenger car or utility vehicle.

[0031] As the automatically driving vehicle 1 moves in a driving lane FS on the multi-lane roadway FB toward the obstacle 3, depending on the traffic situation it may occur that the vehicle has to stop before reaching the obstacle 3. In such a case, situations may exist in which a lane change to avoid the obstacle 3 is not possible. This can happen in particular if a current range extent R of a surroundings detection sensor system is insufficient for a lane changing maneuver to be made safely. The automatically driving vehicle 1 is then blocked and cannot move forward.

[0032] In order to permit continued driving of the automatically driving vehicle 1 and safe passing of the obstacle 3 in such situations, first it is determined whether, in order to pass the obstacle 3 located in front of the automatically driving vehicle 1 in the roadway FB, due to traffic density, for example, an automatic lane change of the automatically driving vehicle 1 to a fast lane US is possible.

[0033] If it is not, because, for example, the sensor system cannot with certainty detect traffic components, such as the vehicle 2, approaching at high speed due to being outside of the detection area of its range extent R, the automatically driving vehicle 1 stops before reaching the obstacle 3 in the driving lane FS and sends a support query to a center outside of the vehicle. This results in the automatically driving vehicle 1 stopping behind the obstacle 3, in particular such that there is an adequate distance A to the obstacle 3, needed for the required acceleration before a lane change to the fast lane US.

[0034] The center outside of the vehicle is, for example, a back-end server, but can also be controlled or operated by a person.

[0035] Together with the support query, the automatically driving vehicle 1 transmits its current position and the current range extent R of its surroundings detection sensor system to the center. The position includes, in particular, a lateral position, a longitudinal position, and the driving lane FS in which the vehicle 1 is located.

[0036] After the transmission of the support query, the center outside of the vehicle determines another vehicle 4 that is suitable for supporting the automatically driving vehicle 1 and is in the area of the automatically driving vehicle 1 and instructs it to move in the direction of the automatically driving vehicle 1. The other vehicle 4 is also, for example, an automated vehicle, in particular a highly automated or autonomously driving vehicle.

[0037] FIG. 2 is an overhead view of another traffic situation at a point in time after the other vehicle 4 has moved in the direction of the automatically driving vehicle 1 to provide support.

[0038] To support the automatically driving vehicle 1 in passing the obstacle 3, the goal is for the other vehicle 4 to slow or block traffic located behind it in the fast lane US, shown here as another vehicle 5, so that a safe lane change to the fast lane US and safe passing of the obstacle 3 are possible for the automatically driving vehicle 1.

[0039] For this purpose, the center additionally instructs the other vehicle 4 to change to the fast lane before reaching the waiting automatically driving vehicle 1 and to adjust its speed such that following traffic is slowed and the automatically driving vehicle 1 can safely execute the lane change to the fast lane US.

[0040] After the center selects the other vehicle, real-time position information is exchanged between the automatically driving vehicle 1 and the other vehicle 4.

[0041] Then the other vehicle 4 is detected in surroundings data detected by the surroundings detection sensor system on the automatically driving vehicle 1, and the automatically driving vehicle 1 compares a position of the other vehicle 4 determined based on the surroundings data with position information received from the other vehicle 4.

[0042] Next the automatically driving vehicle 1 detects the speed of the other vehicle 4, for example also based on the surroundings data detected by the surroundings detection sensor system, and a trajectory T for making the lane change to the fast lane US and for safely passing the obstacle 3 is determined based on that speed and the position of the other vehicle 4.

[0043] After determination of the trajectory T, the automatically driving vehicle 1 makes the lane change automatically, if the determined risk of a collision with the other vehicle 4 or another vehicle 5 while making the lane change is within a preset limit value and it can therefore be executed safely.

LIST OF REFERENCE INDICATORS

[0044] 1 Vehicle

[0045] 2 Vehicle

[0046] 3 Obstacle

[0047] 4 Vehicle

[0048] 5 Vehicle

[0049] A Distance

[0050] FB Roadway

[0051] FS Driving lane

[0052] R Range extent

[0053] T Trajectory

[0054] US Fast lane