DE102022201641A1 - Method for performing an emergency stop maneuver of an at least partially assisted motor vehicle on a multi-lane road, computer program product and emergency stop assistance system - Google Patents

Abstract

The invention relates to a method for performing an emergency stop maneuver (13) of a motor vehicle (1) on the road (7), with the steps: - detecting a critical situation f using a first detection device (3); - detecting an environment (5) using a second detection device (4);- evaluating the surroundings (5), a current traffic situation (14) being determined as a function of the evaluation; and- carrying out an emergency stop maneuver (13) by means of the emergency stop assistance system (2), the emergency stop maneuver (13) from the group of brakes in an ego lane (9) of the road (7), changing lanes with brakes in an adjacent lane (8) the road (7), accelerating and braking and changing lanes to an adjacent lane (8) or braking at different deceleration rates and changing lanes to an adjacent lane (8) depending on the specific traffic situation (14) by means of the electronic computing device (6) and is carried out.Furthermore, the invention relates to a computer program product and an emergency stop assistance system (2).

Description

The invention relates to a method for performing an emergency stop maneuver of a motor vehicle that is operated at least partially with assistance on a multi-lane road using an emergency stop assistance system. Furthermore, the invention relates to a computer program product and an emergency stop assistance system.

Emergency stop assistants are already known from the prior art, which only allow an emergency stop maneuver in one's own lane. In particular, this emergency stop maneuver is included, for example, in corresponding regulations for steering systems. The aim of the emergency stop assistant is to bring the motor vehicle into a safe stopping state. This is done by minimizing the kinetic energy of the automobile. In particular, a conflict of objectives can arise between the two objectives “minimize energy” and “move to the optimum stopping position”.

The GB 2578915B discloses a control system for a host vehicle operable in an autonomous mode including one or more controllers. The control system is configured to determine that the host vehicle must stop at least partially within a lane in response to an internal hazard associated with the host vehicle, such as vehicle failure and/or occupant unconsciousness . In response to determining that the vehicle needs to stop, the control system controls a direction of the host vehicle to cause the host vehicle to stop at a position laterally offset from the center of the lane, for example at a destination stop. If an obstacle prevents a door from opening, the offset is adjusted so that the door can be opened. In some cases, the vehicle has to change lanes before it comes to a standstill.

The U.S. 2018/0362013 A1 describes a driver assistance system comprising an emergency stop function for a motor vehicle. The motor vehicle has an electric parking brake.

A parking brake actuation element is used to actuate the electric parking brake. The driver assistance system is designed to activate an emergency stop function as a function of the actuation of the parking brake activation element and to carry out an autonomous emergency stop driving maneuver to stop the vehicle in an emergency as part of the emergency stop function. The driver assistance system is characterized in that the driver assistance system is designed to activate the emergency stop function only as a function of the end of the actuation of the parking brake actuation element.

The object of the present invention is to create a method, a computer program product and an emergency stop assistance system, by means of which an improved implementation of an emergency stop maneuver can be implemented.

This object is achieved by a method, a computer program product and an emergency stop assistance system according to the independent patent claims. Advantageous embodiments are specified in the dependent claims.

One aspect of the invention relates to a method for performing an emergency stop maneuver of a motor vehicle that is operated at least partially with assistance on a multi-lane road using an emergency stop assistance system. A critical situation for driving a vehicle of a driver of the motor vehicle is detected by means of a first detection device of the emergency stop assistance system. Areas surrounding the motor vehicle and the road are detected by means of a second detection device of the emergency stop assistance system. The environment is evaluated by means of an electronic computing device of the emergency stop assistance system, with a current traffic situation being determined as a function of the evaluation.

The emergency stop maneuver of the motor vehicle is carried out by means of the emergency stop assistance system, the emergency stop maneuver being selected from the group of braking on an ego lane of the road, changing lanes with braking on an adjacent lane of the road, accelerating and braking and changing lanes on an adjacent lane, or braking with different deceleration rates and changing lanes to an adjacent lane is selected and carried out by means of the electronic computing device as a function of the determined traffic situation.

In particular, therefore, depending on the situation, a selection is made from different groups of potential emergency stopping maneuvers. The emergency stopping maneuver can then be selected in particular as a function of the determined traffic situation, for example whether there are other motor vehicles in the adjacent lanes, whether there is traffic to be taken into account or the like. In particular, for example, a first emergency stop maneuver can be braking in the ego lane. A second emergency stop maneuver can be changing lanes with braking to an adjacent lane of the road. A third maneuver may include first accelerating, which is an increase in speed, and then braking, which is a decrease in speed, and making a lane change to a neighboring lane be a trail. A fourth maneuver can be, for example, braking with different deceleration rates and changing lanes to the adjacent lane. In particular, the electronic computing device is now used to select from these different emergency stopping maneuvers as a function of the traffic situation.

In particular, a so-called risk mitigation driving maneuver is therefore also offered should the critical situation arise. A lane change therefore only takes place if the traffic situation around the motor vehicle also allows it. In particular, a method is therefore proposed to represent a decision path as to whether kinetic energy in the motor vehicle is to be reduced first or whether, for example, a lane change is to be carried out first.

The critical situation for driving the vehicle can be understood as meaning, for example, that the driver is asleep or fainting. For this purpose, for example, the first detection device can be provided in the form of a camera in the interior of the motor vehicle, which can determine whether the driver is sleeping or fainting, for example. Furthermore, a type of dead man's switch can also be installed in the motor vehicle, in which case the critical situation can then again be assumed if the dead man's switch is not actuated. The configurations of these detection devices are purely exemplary and by no means exhaustive. Further first detection devices can also be provided for detecting the critical situation in the motor vehicle. The second detection device for detecting the surroundings can be, for example, a radar sensor device, an ultrasonic sensor device, a lidar sensor device or a camera. In particular, a mixture of several detection devices can also be used in order to be able to reliably detect the surroundings.

In order to carry out the emergency stopping maneuver, the motor vehicle is in particular operated at least partially with assistance. For example, the motor vehicle has appropriate means for at least partially assisted intervention in a longitudinal guidance and/or transverse guidance of the motor vehicle.

In particular, it is also possible for braking, ie deceleration, to take place with different deceleration rates. In particular, this can mean, for example, that in a first time window with a first deceleration rate, which is in particular lower than a second deceleration rate in a second time window. This is to be understood purely as an example. It goes without saying that several deceleration rates can also be used in order to ensure reliable and safe braking of the motor vehicle in the critical situation.

According to an advantageous embodiment, the emergency stopping maneuver to change lanes with braking to an adjacent lane also includes delayed braking. In other words, it is provided in particular that, for example, when the critical situation is detected, the vehicle is not braked directly, but that the motor vehicle is driven on at the current speed and only when the corresponding traffic situation permits is a lane change and deceleration carried out. For example, the emergency stop assistance system can overtake another motor vehicle in the adjacent lane without braking and only when the overtaking maneuver has been completed and, in particular, a certain distance threshold value for the safety of the other motor vehicle has been exceeded, perform the braking. Braking or decelerating can also be viewed as negative acceleration. In particular, the corresponding speed differences and gap sizes between the motor vehicle and the other motor vehicle can then be taken into account, so that, for example, the other motor vehicle still has a predetermined reaction time in order to brake the motor vehicle in the same lane.

Furthermore, it has proven to be advantageous if a difference in speed between the motor vehicle and another motor vehicle in the adjacent lane is taken into account when selecting the emergency stopping maneuver. In particular, both the ego speed and the speed of the other motor vehicle in the adjacent lane, in particular in the lane in which a lane change is to be carried out, can then be determined by means of the second detection device. The difference in speed can then be determined and taken into account, so that a collision with the other motor vehicle can be prevented. Furthermore, a critical traffic situation for the other motor vehicle should also be prevented, so that, for example, reaction times of the other motor vehicle can also be taken into account.

It is also advantageous if traffic on the road behind the motor vehicle is taken into account when selecting the emergency stop maneuver. Here, both the rear traffic on the ego lane and the rear traffic on or on the adjacent lanes can be taken into account. This makes it possible for the traffic situation to be reliably entered can be estimated and, in particular, advantageously selected from the plurality of potential emergency stop maneuvers, so that a safe and improved emergency stop maneuver can be carried out using the emergency stop assistance system.

In a further advantageous embodiment, an overtaking maneuver is carried out by another motor vehicle in the adjacent lane before the lane change. If, for example, the other motor vehicle in the adjacent lane is slower than the motor vehicle, an overtaking maneuver can be initiated or carried out further. This can mean that the speed of the motor vehicle is maintained and deceleration of the motor vehicle is only initiated at a later point in time, or even that acceleration of the motor vehicle is initiated in order to be able to carry out the overtaking maneuver faster and only then a corresponding deceleration to perform. Thus, an improved response to a potentially critical situation can be realized.

Furthermore, it has proven to be advantageous if a safe speed for a lane change is set before a lane change. In particular, a speed reduction can only be carried out at which a safe lane change can be carried out at all. For example, a recommended speed can be regarded as a safe speed.

According to a further advantageous embodiment, when the emergency stop maneuver is carried out, a warning signal is generated for other road users to indicate the emergency stop maneuver. For example, this can be implemented via a so-called hazard warning flasher or direction indicator on the motor vehicle. In particular, a predetermined, unambiguous light signal can be initiated for this purpose, so that the other road users are warned when the emergency stop maneuver is being carried out. So-called alternating flashing can preferably be initiated, for example, in which the emergency stop maneuver can be displayed alternately, for example first by means of a left-hand lighting device of the motor vehicle and then by means of a right-hand lighting device of the motor vehicle. A safe traffic situation is thus created when the emergency stop maneuver is carried out.

It is also advantageous if a type of multi-lane road and/or a condition of the multi-lane road and/or current weather conditions are taken into account when selecting the emergency stopping maneuver. For example, it can be taken into account whether the multi-lane road is a country road, a motor road or a freeway. Furthermore, the condition, for example how many lanes the road has, can also be taken into account. Furthermore, it can also be taken into account whether, for example, there is a hard shoulder and, for example, the emergency stop maneuver can or should be carried out on the hard shoulder. For this purpose, for example, the width of the hard shoulder can also be taken into account. Furthermore, further, for example neighboring, possibilities can also be considered, for example whether there is a corresponding green strip next to the motor road, on which the motor vehicle can be driven in an emergency. Furthermore, legal requirements can also be taken into account, for example whether there is a ban on overtaking on the right or whether, for example, stopping on the hard shoulder is prohibited. This can be done country-specifically, for example. Furthermore, weather conditions can also be taken into account, for example whether stronger braking is possible or whether the visibility conditions permit corresponding braking with a lane change. In particular, corresponding temperatures, in particular corresponding outside temperatures, must be taken into account. For example, heavier braking maneuvers cannot be carried out in winter at cold temperatures and possible icy conditions, as a result of which another emergency maneuver can be selected from the group of potential emergency maneuvers.

The method presented is in particular a computer-implemented method. A further aspect of the invention therefore relates to a computer program product with program code means which cause an electronic computing device to carry out a method according to the preceding aspect when the program code means are processed by the electronic computing device. The computer program product can also be referred to as a computer program. Furthermore, the invention also relates to a computer-readable storage medium with the computer program product.

The invention also relates to an emergency stop assistance system for carrying out an emergency stop maneuver of an at least partially assisted motor vehicle on a multi-lane road, having at least a first detection device, a second detection device and an electronic computing device, the emergency stop assistance system being designed to carry out a method according to the preceding aspect. In particular, the method is carried out using the emergency stop assistance system.

The electronic computing device has, for example, processors, circuits, in particular integrated circuits, and other electronic components in order to be able to carry out a corresponding method.

Furthermore, the invention also relates to a motor vehicle with an emergency stop assistance system according to the preceding aspect. The motor vehicle is designed in particular to be at least partially assisted.

Advantageous configurations of the method are to be regarded as advantageous configurations of the computer program product, the computer-readable storage medium, the emergency stop assistance system and the motor vehicle. The emergency stop assistance system and the motor vehicle have specific features for this purpose in order to enable the method to be carried out.

The invention also includes developments of the motor vehicle according to the invention, which have features as have already been described in connection with the developments of the method according to the invention. For this reason, the corresponding developments of the emergency stop assistance system according to the invention and of the motor vehicle are not described again here.

The invention also includes the combinations of features of the described embodiments.

• 1 eine schematische Draufsicht auf eine Ausführungsform eines Kraftfahrzeugs mit einer Ausführungsform eines Nothalteassistenzsystems in einer Verkehrssituation; und
• 2 ein schematisches Ablaufdiagramm gemäß einer Ausführungsform eines erfindungsgemäßen Verfahrens.

Exemplary embodiments of the invention are described below. For this shows:

• 1 a schematic plan view of an embodiment of a motor vehicle with an embodiment of an emergency stop assistance system in a traffic situation; and
• 2 a schematic flowchart according to an embodiment of a method according to the invention.

The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual features of the invention to be considered independently of one another, which also develop the invention independently of one another and are therefore also to be regarded as part of the invention individually or in a combination other than that shown. Furthermore, the exemplary embodiments described can also be supplemented by further features of the invention already described.

Elements with the same function are each provided with the same reference symbols in the figures.

1 shows a schematic top view of an embodiment of a motor vehicle 1 with an embodiment of an emergency stop assistance system 2. The emergency stop assistance system 2 has at least one first detection device 3, which is designed in particular in an interior of the motor vehicle 1 and is designed to detect a driver of the motor vehicle 1. Furthermore, the assistance system 2 includes a second detection device 4, which is designed in particular to detect an environment 5 of the motor vehicle 1. For example, the second detection device 4 can be embodied as a radar sensor device, lidar sensor device, ultrasonic sensor device or camera. Furthermore, the emergency stop assistance system 2 has, in particular, an electronic computing device 6 .

1 shows in particular that the motor vehicle 1 is on a road 7 . In the present case, the road 7 has three lanes 8 , 9 , 10 , with the motor vehicle 1 being located in a middle lane 9 , which can also be referred to as the ego lane 9 in the present case. The first lane 8 can also be referred to as the right lane and the third lane 10 can also be referred to as the left lane. In the present exemplary embodiment, right-hand traffic is to be assumed in particular. A first additional motor vehicle 11 and a second additional motor vehicle 12 are located in the first lane 8.

In the method according to the invention for carrying out an emergency stop maneuver 13 , it is provided here that a critical situation for the driver of the motor vehicle 1 to control the vehicle is detected by means of the first detection device 3 . The surroundings 5 with the road 7 are detected by the second detection device 4. The electronic computing device 6 is used to evaluate the surroundings 5, with a current traffic situation 14 being determined as a function of the evaluation. The emergency stop maneuver 13 of the motor vehicle 1 is carried out by means of the emergency stop assistance system 2, with the emergency stop maneuver 13 being selected from the group of braking in the ego lane 9 of the road 7, changing lanes and braking in an adjacent lane, in this case the first lane 8, the road 7, Accelerating and braking and changing lanes to the adjacent lane or braking with different deceleration rates and changing lanes to an adjacent lane is selected by means of the electronic computing device 6 as a function of the specific traffic situation 14 .

The lanes 8, 9, 10 can also be referred to as just lanes 8, 9, 10 below. Furthermore, the present example shows in particular that the emergency stopping maneuver 13 provides at least one lane change. This is shown in particular by the corresponding arrow.

In particular, it can be provided that the emergency stop maneuver 13 takes into account a speed difference between the motor vehicle 1 and another motor vehicle 11, 12 in the adjacent lane 8. Provision can also be made for rear traffic, in this example the second additional motor vehicle 12, on the road 7 behind the motor vehicle 1 to be taken into account when selecting the emergency maneuver 13. Furthermore, before the lane change, an overtaking maneuver can be carried out by another motor vehicle 11, 12, in this case for example the first further motor vehicle 11, in the adjacent lane 8.

Furthermore, a safe speed for the lane change can be set before a lane change. Furthermore, when the emergency stop maneuver 13 is carried out, a warning signal for other road users, for example in the present case the other motor vehicles 11, 12, can be generated to indicate the emergency stop maneuver 13. When selecting the emergency stopping maneuver 13, a type of multi-lane road 7 and/or a condition of multi-lane road 7 and/or current weather conditions can be taken into account.

In particular, the emergency stop assistance system 2 is therefore proposed, which also enables a lane change and also allows longer kinetic energy in the motor vehicle 1 in order to be able to carry out a safe lane change so that the motor vehicle 1 can be brought into a safe stopping position. In the extreme case, it can even choose from the emergency stop maneuver 13 by accelerating the motor vehicle 1 for a short time. In an optional specific embodiment, it is therefore proposed to accelerate motor vehicle 1 in order to achieve a sufficiently large gap for a lane change.

The second detection device 4 in the motor vehicle 1, for example using a front camera, detects that there is a suitable traffic situation for a safe lane change in the first lane 8 in front of the motor vehicle 1.

It is also possible for the motor vehicle 1 to use an actuator to communicate the intention to change lanes to other road users, so that they provide a suitable change option. This can be done, for example, by what is known as alternating flashing, which can be, in particular, alternating flashing between warning flashing and directional flashing. As soon as the other road users clear the adjacent lane, the ego vehicle can change. It can also be provided that, for example, the motor vehicle 1 communicates with the other motor vehicles 11, 12 via vehicle-to-vehicle communication to the motor vehicles that a critical situation is present and a corresponding emergency stopping maneuver 13 is to be carried out. Then, for example, the motor vehicle 1 can transmit commands to the other motor vehicles 11, 12 so that they create a correspondingly large gap, for example, so that the emergency stop maneuver 13 can be carried out. For this purpose, it can be provided in the following exemplary embodiment that commands are transmitted which allow the first further motor vehicle 11 to accelerate and the second further motor vehicle 12 to brake, so that the motor vehicle 1 can drive into the gap between the further motor vehicles 11, 12.

2 shows a schematic flow chart according to an embodiment of the method. In a first step S1, the emergency stop assistance system 2 is triggered, for example. In the second step S2, motor vehicle 1 is in a fast lane, for example in the middle lane, in particular ego lane 9 in this case S3 is shown, the fourth step S4 can be carried out, with the emergency stop assistance system 2 carrying out an automated lane change. Starting from the second step S2, if the first track 8 is not free, this can be determined in a fifth step S5. In the sixth step S6, the traffic situation is determined and the emergency stop maneuver 13 is selected. In a seventh step S7, for example, the granting of a freely applicable waiting time without delay in the ego lane 9 while there is no deceleration can be determined. In this case, for example, the other motor vehicles 11, 12 can still be overtaken or, for example, a wait is made for them to leave the lane-changing zone. In the eighth step S8, as soon as there is a possibility to change lanes, an automatic lane change is carried out. Alternatively, in the ninth step S9, if the freely obtainable time threshold does not result in a change option, or if the speed falls below the minimum lane change speed, the motor vehicle 1 is stopped in the ego lane 9, for example.

Reference List

1

motor vehicle

2

emergency stop assistance system

3

first detection device

4

second detection device

5

Vicinity

6

electronic computing device

7

Street

8th

first track

9

ego trail

10

third track

11

first other motor vehicle

12

second additional motor vehicle

13

emergency stop manoeuvre

14

traffic situation

S1 to S9

steps of the procedure

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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

• GB 2578915B [0003]
• US 2018/0362013 A1 [0004]

Claims (10)

Method for performing an emergency stop maneuver (13) of a motor vehicle (1) operated at least partially with assistance on a multi-lane road (7) using an emergency stop assistance system (2), with the steps: - Detecting a critical situation for a vehicle guidance of a driver of the motor vehicle (1) by means of a first detection device (3) of the emergency stop assistance system (2); - Detecting an environment (5) of the motor vehicle (1) with the road (7) by means of a second detection device (4) of the emergency stop assistance system (2); - Evaluation of the environment (5) by means of an electronic computing device (6) of the emergency stop assistance system (2), wherein a current traffic situation (14) is determined as a function of the evaluation; and - Carrying out an emergency stop maneuver (13) of the motor vehicle (1) by means of the emergency stop assistance system (2), the emergency stop maneuver (13) from the group of brakes on an ego lane (9) of the road (7), changing lanes with brakes on an adjacent one Lane (8) of the road (7), accelerating and braking and changing lanes to an adjacent lane (8) or braking at different deceleration rates and changing lanes to an adjacent lane (8) depending on the specific traffic situation (14) using the electronic computing device ( 6) is selected and carried out. procedure after claim 1 , characterized in that the emergency stop maneuver (13) changing lanes with braking in an adjacent lane (8) additionally comprises a time-delayed braking. procedure after claim 1 or 2 , characterized in that when selecting the emergency stopping maneuver (13), a speed difference between the motor vehicle (1) and at least one other motor vehicle (11, 12) in the adjacent lane (8) is taken into account. Method according to one of the preceding claims, characterized in that traffic on the road (7) behind the motor vehicle (1) is taken into account when selecting the emergency stopping maneuver (13). Method according to one of the preceding claims, characterized in that an overtaking maneuver is carried out by another motor vehicle (11, 12) in the adjacent lane (8) before the lane change. Method according to one of the preceding claims, characterized in that a safe speed for a lane change is set before a lane change. Method according to one of the preceding claims, characterized in that when the emergency stop maneuver (13) is carried out, a warning signal is generated for other road users to indicate the emergency stop maneuver (13). Method according to one of the preceding claims, characterized in that when selecting the emergency stopping maneuver (13) a type of multi-lane road (7) and/or a condition of the multi-lane road (7) and/or current weather conditions are taken into account. Computer program product with program code means which cause an electronic computing device (6) to do so when the program code means are processed by the electronic computing device (6), a method according to one of Claims 1 until 8th to perform. Emergency stop assistance system (2) for performing an emergency stop maneuver (13) of a motor vehicle (1) operated at least partially with assistance on a multi-lane road (7), having at least a first detection device (3), a second detection device (4) and an electronic computing device (6) , wherein the emergency stop assistance system (2) for performing a method according to one of Claims 1 until 8th is trained.

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