阅读说明：本技术 无人驾驶机动车辆的操作方法 (Method for operating an unmanned motor vehicle ) 是由 安尼特·沙文斯基 于 2020-02-02 设计创作，主要内容包括：本发明涉及一种用于无人驾驶机动车辆(2)的操作方法,该方法具有以下步骤：(S100)读取表示机动车辆(2)的计划驾驶操纵的行驶方向信息(FRI),(S200)通过至少行驶方向信息(FRI)的评估,检测计划驾驶操纵的路径区域(10)中的至少一个道路使用者(8),(S300)当在路径区域(10)中检测到道路使用者(8)时,通过至少行驶方向信息(FRI)的评估来确定用于机动车辆(2)的至少一个灯(4a、4b)操作的灯操作数据集(LAD),以及(S400)根据灯操作数据集(LAD)来操作灯(4a、4b)。(The invention relates to an operating method for an unmanned motor vehicle (2), comprising the following steps: (S100) reading travel direction information (FRI) representing a planned driving maneuver of the motor vehicle (2), (S200) detecting at least one road user (8) in a route region (10) of the planned driving maneuver by an evaluation of at least the travel direction information (FRI), (S300) determining a lamp operation data set (LAD) for operation of at least one lamp (4a, 4b) of the motor vehicle (2) by the evaluation of at least the travel direction information (FRI) when a road user (8) is detected in the route region (10), and (S400) operating the lamp (4a, 4b) in accordance with the lamp operation data set (LAD).)

1. An operating method for an unmanned motor vehicle (2), the method having the steps of:

(S100) reading travel direction information (FRI) representing a planned driving maneuver of the motor vehicle (2),

(S200) detecting at least one road user (8) in a path region (10) of the planned driving manoeuvre by evaluation of at least the driving direction information (FRI),

(S300) determining a set of light operation data (LAD) for operation of at least one light (4a, 4b) of the motor vehicle (2) by evaluation of at least the driving direction information (FRI) when a road user (8) is detected in the path area (10), and

(S400) operating the lamp (4a, 4b) according to the lamp operation data set (LAD).

2. The method according to claim 1, wherein a luminous intensity is specified by the lamp operation data set (LAD).

3. The method according to claim 1 or 2, wherein a sequence of lamps is specified by the set of lamp operation data (LAD).

4. A method according to claim 1, 2 or 3, wherein an illumination direction is specified by the set of lamp operation data (LAD).

5. The method according to one of claims 1 to 4, wherein an illumination color is specified by the lamp operation data set (LAD).

6. A computer program product designed to perform the method according to one of claims 1 to 5.

7. A control device (6) for operation of an unmanned vehicle (2), wherein the control device (6) is designed to read travel direction information (FRI) representing a planned driving maneuver of the motor vehicle (2), to detect at least one road user (8) in a pathway area (10) of the planned driving maneuver by an evaluation of at least the travel direction information (FRI), to determine a light operation data set (LAD) for operation of at least one light (4a, 4b) of the motor vehicle (2) by the evaluation of at least the travel direction information (FRI) if a road user (8) is detected in the pathway area (10), and to operate the light (4a, 4b) in accordance with the light operation data set (LAD).

8. The control device (6) according to claim 7, wherein a luminous intensity is specified by the set of lamp operation data (LAD).

9. The control device (6) according to claim 7 or 8, wherein a sequence of lamps is specified by the set of lamp operation data (LAD).

10. The control device (6) according to claim 7, 8 or 9, wherein an illumination direction is specified by the set of lamp operation data (LAD).

11. The control device (6) according to one of claims 7 to 10, wherein an illumination color is specified by the lamp operation data set (LAD).

12. Motor vehicle (2) with a control device (6) according to one of claims 7 to 11.

Technical Field

The present invention relates to a method of operating an unmanned motor vehicle.

Background

Unmanned motor vehicles (also sometimes referred to as autonomous land vehicles) are motor vehicles that can be driven, steered and parked without being affected by a human driver (highly autonomous or autonomous driving). The term "robotic vehicle" will also be used in the case where no manual control by the driver is required. The driver's seat may remain empty; there may be no steering wheel, brake pedal or accelerator pedal.

By means of various sensors, the unmanned motor vehicle can acquire its environment and determine its location and the location of other road users from the acquired information, travel to a destination by communicating with navigation software through the unmanned motor vehicle, and avoid collisions in the process.

Such unmanned motor vehicles must be able to communicate with their surroundings, in particular with other road users (e.g. pedestrians). For example, a lighting system for an unmanned motor vehicle is known from WO 2018/021063 a1, in which the illumination parameters are changed upon detection of a road user, in order in this way to inform pedestrians that have been detected by the unmanned motor vehicle.

However, no information is available about the direction in which the unmanned motor vehicle will continue to travel.

Thus, there is a need to indicate the manner in which other road users (e.g., pedestrians) may be informed of the planned driving maneuvers of the unmanned motor vehicle.

Disclosure of Invention

The object of the invention is achieved by an operating method for an unmanned motor vehicle, having the following steps:

reading travel direction information representing a planned driving maneuver of the motor vehicle,

detecting at least one road user in a region of the path of the planned driving maneuver by means of an evaluation of at least the driving direction information,

determining a lamp operation data set for the operation of at least one lamp of the motor vehicle at least by evaluating the driving direction information when a road user is detected in the path region, and

the lamp is operated according to the lamp operation data set.

The lamp may comprise a plurality of individually operable light sources (e.g. LEDs) which may be operated individually and/or in groups and/or all at once using a lamp operation data set. Within the framework of the determination of the lamp operating data set, the acquired driving direction information is encoded according to a predetermined code. Thus, the encoded traveling direction information relating to the planned driving maneuver of the motor vehicle is reproduced by the operation of the lamp according to the lamp operation data set. Thus, other road users (e.g., pedestrians) are notified of the planned driving maneuver of the unmanned motor vehicle. Since the presence of a road user in the area of the path of the planned driving maneuver is detected and only then is the light operation data set generated, a reaction to an unrelated road user is avoided. Thus, other road users (e.g. pedestrians) may be informed of the planned driving manoeuvre of the unmanned motor vehicle as required, for which no additional lighting means (e.g. other lights) are required.

According to one form of embodiment, the luminous intensity is specified by a lamp operating data set. Therefore, the light sources such as lamps can be individually operated, so that light of different luminous intensities can be output. Warning signals can thus be generated, for example, for other road users (for example pedestrians).

According to another form of embodiment, the lamp sequence is specified by a lamp operation data set. The light sources, e.g. individually operable lamps, may be activated individually and/or in groups in a predetermined time sequence. Such time-varying light sequences may be particularly easily perceived by other road users (e.g. pedestrians).

According to another form of embodiment, the illumination direction is specified by the lamp operation data set. The light sources, e.g. individually operable lamps, may be activated individually and/or in groups in a predetermined time sequence. The individual light sources may have different directions here, i.e. they emit light in different directions. Thus, for example, the position of a detected road user (e.g. a pedestrian) may be taken into account when emitting light in the direction of the detected road user (e.g. a pedestrian). The perceptibility can thus be further improved.

According to another form of embodiment, the illumination color is specified by the lamp operation data set. Light sources, such as individually operable lamps, may be positioned behind the colored lens (in the direction of light propagation) individually and/or in groups, while other operable light sources are positioned behind the uncolored lens. The illumination color can be altered by activating an operable light source behind the colored lens. Thus, the perceptibility can be improved again.

A computer program, a control device and a motor vehicle having such a control device also belong to the invention.

Drawings

The invention will now be described with reference to the accompanying drawings. Here:

FIG. 1 shows a schematic view of a front view of a motor vehicle;

FIG. 2 shows a schematic view of a traffic scene with additional road users;

FIG. 3 shows a schematic view of another traffic scenario with another road user;

FIG. 4 shows a schematic view of a lamp of the motor vehicle shown in FIG. 1;

fig. 5 shows a schematic diagram of a process flow for the operation of the motor vehicle shown in fig. 1 to 3.

Detailed Description

Reference is first made to fig. 1.

A motor vehicle 2 is shown in the present exemplary embodiment in the form of an automobile. In the present exemplary embodiment, motor vehicle 2 is also designed as an unmanned motor vehicle which can be driven, steered and parked without human driver intervention. The motor vehicle 2 contains various environmental sensors for acquiring the environment for this purpose, and from the acquired information it is possible to determine the position of the motor vehicle 2 and the positions of other road users, to travel to the destination by the motor vehicle 2 communicating with navigation software, and to avoid collisions in the process.

The motor vehicle 2 comprises a vehicle lighting system. A vehicle lighting system refers to the lighting necessary for a motor vehicle to make it visible in dusk, darkness or inclement weather.

The vehicle lighting system comprises two lamps 4a, 4b, which in the present exemplary embodiment provide high beam, low beam, side beam and daytime running light. The vehicle lighting system may additionally comprise a stop light and/or a turn light and/or a fog light. In the illustration shown in fig. 1, the lamps 4a, 4b provide a daytime running lamp with a reduced luminous intensity.

The lamps 4a, 4b each contain a plurality of individually operable light sources 12 (see fig. 4), which can be operated individually and/or in groups and/or completely, as will be explained in more detail later. In the present case, the Light source 12 is an LED (Light Emitting Diode). In other words, in the present exemplary embodiment, the lamps 4a, 4b are each designed as electrically controlled LED headlamps (also referred to as matrix LED headlamps) operated by the control device 6. The control device 6 may contain hardware and/or software components for this purpose as well as hardware and/or software components for the tasks and/or functions described below.

Reference is now also made to fig. 2.

A traffic scenario is shown in which a road user 8 (in the present exemplary embodiment a pedestrian) passes through a path region 10 of a planned driving maneuver of the motor vehicle 2.

The control device 6 is designed to read travel direction information FRI (see fig. 5) representing a planned driving maneuver of the motor vehicle 2 and to determine the path region 10. The control device 6 is also designed to evaluate sensor data of the surroundings sensors in order to determine whether a road user 8 is located in the pathway region 10.

If a road user 8 is detected in the path area 10, the control device 6 determines a lamp operating data set LAD (see fig. 5) for the operation of one or both lamps 4a, 4b of the motor vehicle 2 by means of an evaluation of at least the driving direction information FRI.

Within the framework of the determination of the lamp operating data set LAD, the driving direction information FRI which has been read in here is encoded according to a predetermined code. In other words, the lamp operating data set LAD contains information representing a planned driving maneuver in which the motor vehicle 2 is to be moved along the path area 10.

The control device 6 then operates the lamps 4a, 4b according to the lamp operation data set LAD. Thus, the coded driving direction information FRI relating to the planned driving manoeuvre of the motor vehicle 2 is reproduced by operation of the lamps 4a, 4b in accordance with the lamp operation data set LAD.

The coded direction of travel information FRI can be reproduced, for example, by varying the luminous intensity of the lamps 4a, 4 b. The light sources 12 of the lamps 4a, 4b, which are for example individually operable, can thus output light of different luminous intensities. As shown in fig. 2, it may be provided, for example, that when a road user 8 is detected in the road region 10, all the light sources 12 are operated together with a maximum luminous intensity in order in this way to inform the road user 8 that he is located in a danger zone. On the other hand, if there are no road users 8 in the pathway area 10, the light source 12 is operated with a reduced luminous intensity (for example as a daytime running light).

In addition or alternatively, the coded direction of travel information FRI can be reproduced, for example, by changing the lamp sequence of the lamps 4a, 4 b. For this purpose, the light sources 12 of the lamps 4a, 4b are activated individually and/or in groups in a predetermined time sequence. In this way, the direction information relating to the planned driving maneuver can be reproduced, for example, according to the travel direction information FRI. A sequence of lamps running from right to left may for example represent a turn to the left. The light sequence may also represent, for example, that the motor vehicle 2 is stationary.

In addition or alternatively, the coded direction of travel information FRI can be reproduced, for example, by changing the lamp direction of the lamps 4a, 4 b. For this purpose, the light sources 12 of the lamps 4a, 4b are activated individually and/or in groups in a predetermined time sequence. The individual light sources 12 here have different directions, i.e. they emit light in different directions. Thus, it is possible to take into account the position of the detected road user 8 by emitting light in the direction of the detected road user 8. However, the direction information relating to the planned driving maneuver may also be reproduced in this manner, for example, based on the travel direction information FRI.

Reference is now also made to fig. 3.

In addition or alternatively, the coded direction of travel information FRI can be reproduced, for example, by changing the lamp colors of the lamps 4a, 4 b.

Reference is now also made to fig. 4 in order to explain the structure of the lamps 4a, 4 b.

Lamps 4a, 4b are shown. They contain a plurality of light sources 12, which in the present exemplary embodiment are LEDs.

Reflectors 14 having the effect of diverging light and expanding the light beams emitted from the respective light sources 12 are assigned to the light sources 12.

A lens 16, made of an optically transparent but colored material, is arranged behind the reflector 14 (in the direction of light propagation). In the present exemplary embodiment, the material has a turquoise color, so that light exiting through the lens 16 has a turquoise color. The color of the light is changed by activating the light source 12 behind the colored lens 16.

A process flow for the operation of the motor vehicle 2 will now be described with additional reference to fig. 5.

In a first step S100, the control device 6 reads the travel direction information FRI representing the planned driving maneuver of the motor vehicle 2. The route region 10 is determined based on the travel direction information FRI.

In a further step S200, it is determined whether the road user 8 is located in the path region 10 through which the motor vehicle 2 is to be steered according to the planned driving, by evaluating sensor data of ambient sensors of the motor vehicle 2. If the road user 8 is located in the path area 10, a value of logic 1 is assigned to the logic variable V. Otherwise a value of logic 0 is assigned to the logic variable V.

The control device 6 reads the logical variable V and, in a further step S300, determines a lamp operating data set LAD for operating the lamps 4a, 4b of the motor vehicle 2, i.e. the logical variable V is a value of logical 1, if a road user 8 is detected in the path area 10. The control device 6 evaluates the driving direction information FRI and, if appropriate, the detected position of the road user 8 in order to determine a lamp operating data set LAD, which can specify the luminous intensity and/or the lamp sequence and/or the illumination direction and/or the illumination color of the lamps 4a, 4b or their light sources 12.

In a further step S400, the lamps 4a, 4b or the light sources 12 thereof are then operated by the control device 6 in accordance with the lamp operation data set LAD.

The order of the steps may also be different, unlike the present exemplary embodiment. Further, multiple steps may also be performed simultaneously (i.e., simultaneously).

Thus, other road users 8 (e.g. pedestrians) can be informed of the planned driving manoeuvre of the motor vehicle 2 as required, without requiring additional lighting devices (e.g. further lamps) for this purpose.

List of reference numerals

2 Motor vehicle

4a lamp

4b lamp

6 control device

8 road users

10 path region

12 light source

14 Reflector

16 lens

FRI Direction of travel information

LAD bulb operation data set

V logic variable