DE102020202122A1 - Method and device for the transmission of information from a first to a second vehicle - Google Patents

Abstract

The invention relates to a method for transmitting information from a first vehicle to a second vehicle, the vehicles being connected to one another in particular via a radio link and preferably forming a vehicle platoon, with the following steps: generating a marking on a lane by an actuator of the first vehicle , especially of the vehicle platoon; and recognizing the marking on the roadway based on a sensor signal from the second vehicle, in particular the vehicle platoon.

Description

The present invention relates to a method for transmitting information from a first vehicle to a second vehicle. The invention also relates to a device for transmitting information from a first vehicle to a second vehicle.

State of the art

From the DE 10 2014 108 684 A1 a vehicle with a surroundings monitoring device is known, wherein images can be projected onto a floor area, which images are combined in order to obtain a bird's eye view of the entire surroundings of the vehicle.

In a vehicle platoon (also: vehicle group), several vehicles are connected to one another via a wireless interface. By means of a control system, the vehicles can thus be controlled at a very short distance from one another, which, in addition to relieving the burden on the vehicle driver, above all results in lower fuel consumption, since slipstream effects can be exploited. For example, in truck platooning, three or more trucks can automatically drive on a motorway, with a driver only being required in the first truck to monitor the vehicle platoon. The following trucks are driverless and are controlled automatically.

A known method for providing communication between vehicles (Car2Car communication or V2V communication) is Dedicated Short Range Communication (DSRC), which is based on WLAN communication (IEEE 802.1 1p). Cellular network-based communication systems are also known.

In such radio standards, very similar or identical radio frequencies are used. Disturbances in the radio signal, for example due to broadband jamming, therefore do not necessarily only affect one radio standard.

Situations in which the communication link between the vehicles of the vehicle platoon breaks off so that data required for navigation can no longer be transmitted by radio link from the first vehicle to the other vehicles are therefore of particular importance and safety relevance.

Disclosure of the invention

The invention provides a method for transmitting information from a first vehicle to a second vehicle having the features of claim 1 and a device for transmitting information from a first vehicle to a second vehicle having the features of claim 10.

Preferred embodiments are the subject of the respective subclaims.

According to a first aspect, the invention accordingly relates to a method for transmitting information from a first vehicle to a second vehicle, the vehicles being connected to one another in particular via a radio link and preferably forming a vehicle platoon. A trigger is determined. A marking is generated on a roadway by an actuator of a first vehicle, in particular of the vehicle platform. The marking on the roadway is recognized by means of a sensor signal from a second vehicle, in particular the vehicle platoon.

According to a second aspect, the invention relates to a device for transmitting information from a first vehicle to a further vehicle, the vehicles being connected to one another in particular via a radio link and preferably forming a vehicle platoon. The device comprises an actuator which is designed to generate a marking on a roadway for the transmission of information from the first vehicle to the further vehicle, in particular the vehicle platoon.

Advantages of the invention

In addition to a radio link, the invention enables a further redundant communication channel, which is provided by generating the marking on the roadway and then recognizing the marking on the roadway. This additional communication channel can be used permanently. The information which is transmitted between the vehicles via the radio link can then at least partially also be transmitted via the additional communication channel. By comparing the data recorded via the various communication channels, possible errors in the transmission in one of the communication channels can be detected at an early stage.

It can also be provided that the additional communication channel is only used in certain vehicle situations. For example, the marking on the lane can be generated automatically when certain events occur, such as when changing lanes, when turning, when accelerating or braking. It can also be provided activate the additional communication channel if a dangerous situation is detected.

The additional communication channel eliminates or at least reduces the likelihood of a complete failure of the communication link between the vehicles, which can significantly increase the security of the vehicle platform.

The method can be used in a subsequent journey by several vehicles, to avoid collisions or to reconstruct the route after an accident or a breakdown.

According to one embodiment of the method, the marking produced is a non-permanent marking.

According to one embodiment of the method, the actuator of the first vehicle comprises an infrared laser, the infrared laser heating the roadway to generate the marking. The second vehicle includes a thermal camera that monitors the roadway. The thermal camera of the second vehicle generates a sensor signal. The warming of the road and thus the marking are recorded on the basis of the transmission signal. The use of an infrared laser enables communication between vehicles without causing permanent markings or damage to the road.

According to one embodiment of the, the actuator of the first vehicle comprises a device for dispensing a liquid onto the roadway. The liquid can be, for example, water or another environmentally friendly liquid. The liquid can also be colored, which can make it easier to identify. Additionally or alternatively, the actuator of the first vehicle can comprise a trickle container for discharging solid substances onto the roadway. The solid substances can be, for example, grit, such as sand or pebbles.

According to one embodiment of the method, the actuator of the first vehicle is designed to generate the marking as a function of an operating state of the first vehicle. The operating state of the first vehicle can depend, for example, on speed, acceleration, a steering angle or the like. A distinction can also be made, for example, between a normal state and a dangerous state. Thus, according to one embodiment, the marking can only be generated if the first vehicle is in a dangerous state.

According to one embodiment of the method, the actuator of the first vehicle is designed to select a marking mode from a plurality of marking modes as a function of the operating state of the first vehicle, and to generate the marking as a function of the selected marking mode. The marking modes can differ, for example, by different patterns or lines, different line thicknesses, numbers of lines or patterns, dot-and-dash markings, different intensities or the like. The markings can also include specific information in text form or in some other encoded form, for example as a QR code or bar code. The marking modes can also differ in the type of marking. In a first marking mode the roadway can be heated with an infrared laser, while in a second marking mode a liquid or solid substance is applied. Both methods can be combined in a third marking mode.

According to one embodiment of the method, the second vehicle is designed to recognize the marking mode on the basis of the generated marking. For example, the marking can be identified in order to identify the marking mode on the basis of a lookup table. Depending on the marking mode, a recommendation for action is output to a driver of the second vehicle. For example, an acoustic, visual or optical warning signal can be output in order to warn the driver of the second vehicle. Alternatively or additionally, the second vehicle is controlled automatically, in particular if there is no driver in the second vehicle.

According to one embodiment, the actuator of the first vehicle is designed to generate the marking if a dangerous situation is recognized. The dangerous situation can be recognized with the aid of sensor devices in the first vehicle.

According to one embodiment of the method, the actuator of the first vehicle is designed to generate the marking in response to a user input by a driver of the first vehicle.

According to one embodiment of the method, the actuator of the first vehicle is designed to generate the marking if an error or an interruption in the radio connection is detected. If the radio link breaks down, communication can continue to be maintained via the additional communication link. In particular in dangerous situations, this can prevent accidents between the vehicles of the vehicle platoon due to a lack of communication and coordination. Thus, the safety of the vehicles of the Vehicle platoons as well as other road users are increased.

According to one embodiment of the method, the actuator of the first vehicle is arranged on a vehicle underbody, on a bumper and / or on a vehicle side of the first vehicle. For example, the actuator of the first vehicle can be attached to doors or side mirrors. When attached to the underbody of the vehicle, the actuator can be arranged in the center or offset to the side. When using a central actuator, a trajectory to be driven on or to be avoided can be generated. Provision can also be made to arrange at least two actuators offset, for example one actuator on the left and one on the right offset on the vehicle underbody. This allows larger structures, such as the outer areas of a track, to be marked.

According to one embodiment, the sensor signal is generated by a camera and / or a lidar system and / or a radar system of the second vehicle. With the help of the camera, liquids and solids on the road, for example, can be easily detected. With the aid of the lidar system, solid substances in particular can be detected, which result in a geometric change in the roadway. For example, grit forms a small hill that can be detected. The substance to be applied can be expanded so that the substance can be detected with the aid of the intensity measurement of the lidar.

According to a further embodiment, the device comprises a sensor for recognizing a marking on the roadway on the basis of a sensor signal from the sensor.

Figure list

• 1 ein schematisches Blockdiagramm zweier Fahrzeuge eines Fahrzeugplatoons, wobei ein erstes Fahrzeug eine Vorrichtung zur Kommunikation in dem Fahrzeugplatoon gemäß einer Ausführungsform der Erfindung umfasst;
• 2 eine schematische Draufsicht auf zwei Fahrzeuge eines Fahrzeugplatoons zur Erläuterung der erfindungsgemäßen Kommunikation in dem Fahrzeugplatoon; und
• 3 ein Flussdiagramm eines Verfahrens zur Kommunikation in einem Fahrzeugplatoon gemäß einer Ausführungsform der Erfindung.

Show it:

• 1 a schematic block diagram of two vehicles of a vehicle platoon, wherein a first vehicle comprises a device for communication in the vehicle platoon according to an embodiment of the invention;
• 2 a schematic plan view of two vehicles of a vehicle platoon to explain the communication according to the invention in the vehicle platoon; and
• 3 a flowchart of a method for communication in a vehicle platoon according to an embodiment of the invention.

Identical or functionally identical elements and devices are provided with the same reference symbols in all figures.

Description of the exemplary embodiments

1 shows a schematic block diagram of two vehicles 1 , 2 of a vehicle platoon. While the invention is described in more detail below for a vehicle platoon with two vehicles, the invention is not restricted to this special case. Rather, the vehicle platoon can have any number of vehicles that communicate with one another via radio use.

The first vehicle 1 comprises a first communication interface 11 and the second vehicle 2 comprises a second communication interface 21 which are connected to each other via a wireless radio link. The radio link can in particular be a communication by means of DSRC or a cellular network-based communication. The first communication interface 11 and the second communication interface 21 include transmitters and receivers for this purpose in order to exchange the communication signals wirelessly. Here, data about the environment, for example about lanes or other vehicles, data about a planned route or trajectory, data about current driving maneuvers, in particular acceleration, braking and lateral acceleration, and status information or error messages can be exchanged via the radio link.

The first vehicle also includes 1 an actuator 12th which is used to communicate with the second vehicle 2 of the vehicle platoon can generate a marking on the roadway. The actuator 12th may for example comprise a device for dispensing a liquid onto the roadway. The liquid may be colored. It can be provided that the actuator colors the liquid itself, for example by adding a dye which is located in a separate dye container. In particular, the actuator 12th include a liquid paint gun. The actuator 12th can additionally or alternatively include a trickle tank for spreading solid matter onto the roadway.

For the installation position of the actuator 12th there are various options on the second vehicle. So can the actuator 12th are located roughly on the underbody of the vehicle, roughly in the middle or on the left and right sides. The actuator 12th can also be arranged on a bumper in the rear area or on one side of the vehicle, for example on doors or side mirrors.

There are also various options for the type of marking. For example, the thickness of the lines can vary, the marking can comprise, for example, a dash-dot pattern or the like, the marking can comprise predetermined patterns, or the intensity of the pattern can be adapted.

The actuator 12th can apply the marking when the communication interface 11 of the first vehicle 1 outputs an error signal. This can be the case if the communication link with the communication interface 21 of the second vehicle 2 breaks off. However, it can also be provided that the actuator 12th the marking continuously, after certain periods of time or as a function of a further vehicle state of the first vehicle 1 generated.

The second vehicle 2 further comprises at least one sensor 22nd , which detects the roadway and outputs a transmission signal. The at least one sensor 22nd may include, for example, a lidar sensor, a thermal camera (such as an infrared camera), a radar sensor, or the like. The at least one sensor 22nd further comprises a computing device which recognizes the marking on the road based on the sensor signal.

The second vehicle 2 further comprises an apparatus 23 which is activated when the marker is recognized. At the device 23 can be a display or some other optical, acoustic or optical output device in the second vehicle 2 act, which issues a warning signal if the marker is recognized. The type of warning signal can depend on the type of marking. At the device 23 it can also be a driver assistance system which has driving functions of the second vehicle 2 controls. For example, a braking maneuver and / or an evasive maneuver or the like can be carried out when the marking is recognized. The type of maneuver can in turn depend on the type of marking.

By means of the marking, certain information can be obtained from the first vehicle 1 to the second vehicle 2 be transmitted. The information can be, for example, a request to follow the same track or trajectory, to avoid the track or trajectory. Information can also be transmitted, for example with regard to a status or operating mode of the first vehicle, with regard to certain errors, data about the environment, for example about lanes or other vehicles, data about a planned route or trajectory, data about current driving maneuvers, in particular acceleration, braking and lateral acceleration, as well as status information or error messages via the radio link.

2 shows a schematic plan view of two vehicles 1 , 2 a vehicle platoon to explain the communication according to the invention in the vehicle platoon. The first vehicle 1 recognizes that there is a radio link between a communication interface 11 of the first vehicle and a communication interface 21 of the second vehicle 2 is interrupted and initiates a maneuver to about the first vehicle 1 to park safely on a shoulder. The first vehicle 1 marks a trajectory on the roadway 4th and / or a track 51 , 52 .

The sensor 22nd of the second vehicle 2 monitors a detection area 3 and generates a sensor signal. The trajectory is based on the sensor signal 4th or the track 51 , 52 recognized. The second vehicle 2 is then automatically along the trajectory 4th or track 51 , 52 behind the first vehicle 1 brought to a standstill.

3 shows a flow chart of a method for communication in a vehicle platoon according to an embodiment of the invention.

In a first process step S1 a trigger for generating a marking is determined. The trigger can be, for example, the detection of a dangerous condition or the detection of an interruption in a radio link between vehicles 1 , 2 of the vehicle platoon. It can be provided that a driver of a first vehicle 1 , which leads the vehicle platoon, can manually trigger the creation of the marking.

In a second process step S2 is a marking on a road by an actuator 12th of the first vehicle 1 generated. The marking can be produced, for example, by means of an infrared laser, a paint gun, a trickle container or the like.

It can be provided as a function of the operating state of the first vehicle 1 select a marking mode from a plurality of marking modes. The marking is generated depending on the selected marking mode.

In a third process step S3 the marking on the road is based on a sensor signal from a second vehicle 2 of the vehicle platoon recognized. The sensor signal can be determined for example by means of a lidar system, radar system, a camera, in particular a thermal camera (for example an infrared camera), or the like. The marking mode can also be detected on the basis of the sensor signal.

In a third process step S4 it is recognized whether automatically in the driving behavior of the second vehicle 2 action must be taken. For this purpose, it can be taken into account, for example, whether there is still enough time for the second vehicle 2 to stop manually. If there is no need to intervene automatically, a driver of the second vehicle can do this in one process step S5 a warning or a recommendation for action can be given. If automatic intervention is required, this is done in one procedural step S6 a braking maneuver, an evasive maneuver or the like carried out.

The invention is not restricted to the embodiment described. Thus, according to further embodiments, it can be provided that the second vehicle 2 no driver is stopping. In this case, the driving behavior of the second vehicle is always automatically taken into account 2 intervened.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102014108684 A1 [0002]

Claims (11)

A method for transmitting information from a first vehicle (1) to a second vehicle (2), the vehicles (1, 2) being connected to one another in particular via a radio link (11, 21) and preferably forming a vehicle platoon, with the following steps: Determination (S1) of a trigger and generation (S2) of a marking on a roadway by an actuator (12) of the first vehicle (1), in particular of the vehicle platform; and Detection (S3) of the marking on the roadway based on a sensor signal from the second vehicle (2), in particular the vehicle platoon. Procedure according to Claim 1 wherein the actuator (12) of the first vehicle (1) comprises an infrared laser, the infrared laser heating the roadway to generate the marking; and wherein the sensor signal of the second vehicle (2) comprises a sensor signal of a thermal camera of the second vehicle (2) for detecting the heating of the roadway. Procedure according to Claim 1 or 2 , wherein the actuator (12) of the first vehicle (1) comprises at least one of: a device for applying a color marking to the roadway, a trickle container for applying solid substances to the roadway, in particular grit, and a device for applying a liquid the roadway. Method according to one of the Claims 1 until 3 , wherein the actuator (12) of the first vehicle (1) is designed to generate the marking as a function of an operating state of the first vehicle (1). Procedure according to Claim 4 , wherein the actuator (12) of the first vehicle (1) is designed to select a marking mode from a plurality of marking modes as a function of the operating state of the first vehicle (1) and to generate the marking as a function of the selected marking mode. Procedure according to Claim 5 , wherein the second vehicle (2) is designed to recognize the marking mode on the basis of the generated marking, and wherein, depending on the marking mode, a recommendation for action is output to a driver of the second vehicle (2) (S5) and / or the second vehicle (2) is controlled automatically (S6). Method according to one of the Claims 4 until 6th , wherein the actuator (12) of the first vehicle (1) is designed to generate the marking if a dangerous situation is recognized. Method according to one of the Claims 4 until 7th , wherein the actuator (12) of the first vehicle (1) is designed to generate the marking if an error or an interruption in the radio link (11, 21) is detected. Method according to one of the preceding claims, wherein the actuator (12) of the first vehicle (1) is arranged on a vehicle underbody, on a bumper and / or on a vehicle side of the first vehicle (1). Device for transmitting information from a first vehicle (1) to another vehicle (2), the vehicles (1, 2) being connected to one another in particular via a radio link and preferably forming a vehicle platoon with: an actuator (12) which is designed to generate a marking on a roadway for the transmission of information to the further vehicle (2), in particular the vehicle platoon. Device according to Claim 10 , further with a sensor (22) for recognizing a marking on the roadway on the basis of a sensor signal from the sensor (22).

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