DE102023109804B3 - Performing a complex lane change under cruise control - Google Patents

Abstract

The invention provides a method for operating a vehicle (100) during a preferably cooperative journey over a route, in particular a motorway, comprising:- recognizing a complex traffic situation which preferably requires a lane change from a current lane (L2) of the vehicle (100) to a faster lane (L3) than the current lane (L2) or a reduction in the speed of the vehicle (100), in particular if the faster lane (L3) is occupied by another vehicle (102),- sending a release request (R1) to another vehicle (102) which is in a faster lane (L3) than the current lane (L2) of the vehicle (100),- receiving a response (RR1) to the release request (R1) from the other vehicle (102) in the faster lane (L3),- operating the vehicle (100) in accordance with the response (RR1) to the release request (R1).

Description

The invention relates to a method for operating a vehicle during a preferably cooperative navigation over a route, in particular a motorway. The invention further relates to a corresponding computer program product, a corresponding control unit and a corresponding vehicle.

Adaptive cruise control systems (ACC) are generally known. Adaptive cruise control systems regulate the speed of a vehicle depending on the speed or distance to a vehicle ahead. Adaptive cruise control systems are among the driver assistance systems. Adaptive cruise control works well when navigating on a highway. Complex traffic situations often cause the driver to take control. In particular, a situation such as a lane change with vehicles on all available lanes often slows down the approaching car and makes the situation even more complex. Known systems are described in the publications EN 10 2019 208 291 A1 , EN 10 2021 214 341 B3 , EN 10 2021 204 569 A1 , and EN 10 2021 207 781 A1 described.

It is therefore an object of the invention to at least partially overcome the disadvantages described above. In particular, it is an object of the invention to provide an improved method for operating a vehicle during a, preferably cooperative, navigation over a route, in particular a motorway. Preferably, it is an object of the invention to provide an improved method for operating a vehicle during a, preferably cooperative, navigation over a route, in particular a motorway, which is fast, computationally simple and/or cost-effective, enables safe and reliable operation of the vehicle, enables improved comfort for the user of the vehicle and can offer advantages for surrounding vehicles and for road safety. Furthermore, it is an object of the present invention to provide a corresponding computer program product for carrying out a corresponding method. Furthermore, it is an object of the present invention to provide a corresponding control unit for carrying out a corresponding method. Furthermore, it is an object of the present invention to provide a corresponding vehicle with a corresponding control unit.

The above object is achieved by a method for operating a vehicle during, preferably cooperative, navigation over a route, in particular a motorway, with the features of the independent method claim. The above object is further achieved by a corresponding computer program product, a corresponding control unit and a corresponding vehicle with the features of the independent subsidiary claims. Features, advantages and details that are described in connection with various aspects and/or embodiments of the invention also apply in connection with the respective other aspects and/or embodiments of the invention and vice versa, so that the disclosure of the individual aspects of the invention is or can always be referred to mutually.

• - Erkennung einer komplexen Verkehrssituation, die vorzugsweise einen Fahrspurwechsel von einer aktuellen Fahrspur des Fahrzeugs auf eine schnellere Fahrspur als die aktuelle Fahrspur oder eine Verringerung der Geschwindigkeit des Fahrzeugs erfordert, insbesondere wenn die schnellere Fahrspur von einem anderen Fahrzeug belegt ist,

zum Beispiel, wenn auf allen Fahrspuren Fahrzeuge unterwegs sind,
und/oder zum Beispiel, wenn das Fahrzeug nahe an einem vorausfahrenden Fahrzeug in (oder auf) der aktuellen Fahrspur fährt und das vorausfahrende Fahrzeug nicht in der Lage ist, auf eine langsamere Fahrspur als die aktuelle Fahrspur zu wechseln und/oder seine Geschwindigkeit zu erhöhen,

• - Senden einer Freigabeanforderung an ein anderes Fahrzeug, das sich in (oder auf) einer schnelleren Fahrspur als die aktuelle Fahrspur des Fahrzeugs befindet,
• - Empfangen einer Antwort auf die Freigabeanforderung von dem anderen Fahrzeug auf der schnelleren Fahrspur,
• - Betreiben des Fahrzeugs entsprechend der Antwort auf die Freigabeanforderung.

The invention provides a method for operating a vehicle during a, preferably cooperative, navigation over a route, in particular a motorway, comprising:

• - detection of a complex traffic situation which preferably requires a lane change from a current lane of the vehicle to a faster lane than the current lane or a reduction in the speed of the vehicle, in particular if the faster lane is occupied by another vehicle,

for example, when there are vehicles on all lanes,
and/or for example, when the vehicle is driving close to a preceding vehicle in (or on) the current lane and the preceding vehicle is unable to change to a slower lane than the current lane and/or increase its speed,

• - Sending a release request to another vehicle that is in (or on) a faster lane than the vehicle's current lane,
• - Receiving a response to the release request from the other vehicle in the faster lane,
• - Operating the vehicle in accordance with the response to the release request.

The method steps can preferably be carried out automatically, in particular by a combined cruise control system of the vehicle, for example with the aid of a control unit of the vehicle.

Each lane on the route can have its own speed limit or area. When a faster lane is mentioned, a lane with a speed limit or an area that is greater than the speed limit or the area in the current lane. When a slower lane is mentioned, it means a lane with a speed limit or an area that is lower than the speed limit or the area in the current lane.

In a three-lane highway example, there might be a slower lane on the right side of the roadway, a current lane in the middle of the roadway, and a faster lane on the left side of the roadway. Other examples with a different orientation and/or with more than three lanes are also possible.

A clearance request can also be referred to as a request to clear a lane, especially a faster lane, or simply as a first request.

Sending a release request and/or receiving a response can be performed by vehicle-to-vehicle communication. Vehicle-to-vehicle communication can be performed via WLAN, e.g. WLAN-P, via cellular, Internet, e.g. 3G, 4G, 5G or another generation.

For example, a complex traffic situation can be defined as a traffic situation that requires a lane change from the vehicle's current lane to a faster lane than the current lane or a reduction in the vehicle's speed. For example, a complex traffic situation can exist when vehicles are traveling in all lanes. For example, a complex traffic situation can exist when the vehicle is traveling in the current lane closely behind a vehicle in front and the vehicle in front is unable to change to a slower lane than the current lane and/or increase speed, and when the vehicle is unable to change from the current lane to the faster lane occupied by another vehicle.

For the operation of the vehicle in such complex traffic situations, a combined cruise control system of the vehicle can be provided which can automatically navigate the vehicle, steer the vehicle and/or adjust the speed of the vehicle. The operation of the vehicle can include the provision of a trajectory and/or a speed profile along a trajectory. For the control of the associated actuators of the vehicle, corresponding operating parameters and/or control signals can be provided according to a trajectory and/or a speed profile along a trajectory. The combined cruise control system of the vehicle can thus be designed in particular to automatically navigate the vehicle, steer the vehicle and adjust the speed of the vehicle, provide a trajectory and/or a speed profile along a trajectory and/or provide operating parameters and/or control signals for corresponding actuators of the vehicle.

• Stufe 0: Keine Fahrautomatisierung
• Stufe 1: Assistiertes Fahren
• Stufe 2: Teilweise automatisiertes Fahren
• Stufe 3: Hochautomatisiertes Fahren
• Stufe 4: Vollständig automatisiertes Fahren

The vehicles can have different levels of autonomy:

• Level 0: No driving automation
• Level 1: Assisted driving
• Level 2: Partially automated driving
• Level 3: Highly automated driving
• Level 4: Fully automated driving

The vehicle in the sense of the present disclosure may comprise stages 1 to 4.

The method may preferably employ two strategies. First, a release request (or in other words a lane release trigger) may be issued to the vehicle in the faster lane. If the vehicle in the faster lane is able to exit the faster lane under the given traffic conditions, the lane change may be initiated. If the vehicle in the faster lane is unable or its driver (or user) is not confident to exit the faster lane, then the second strategy may be executed by the control unit, preferably comprising the combined cruise control system, where a vehicle may take control of the surrounding vehicles, requiring clarity on the road, so that the vehicles can navigate through the complex situation and continue driving. In this way, even with adaptive cruise control with complex lane change situations, it is not necessary for the user to take control.

Adaptive cruise control works by reducing or increasing the speed of the vehicle depending on the vehicle ahead.

The combined cruise control system can also navigate the vehicle.

Adaptive cruise control does not take into account the mode (manual driving or cruise control) and level of autonomy of the other vehicles on the route.

The combined cruise control system can preferably take into account the mode (manual driving or cruise control) and level of autonomy of the other vehicles on the route.

If the vehicle in the faster lane is driven manually, no response to the release request and/or no response to a take-over proposal is received. If the preceding vehicle is driven manually, no response to a take-over proposal is received. Therefore, the vehicles cannot participate. Therefore, the current mode (manual driving or cruise control) of the surrounding vehicles can be automatically taken into account.

If one of the vehicles has a higher level of autonomy, it can take over the calculations, in particular for providing a trajectory and/or a speed profile along a trajectory. Therefore, the level of autonomy of the surrounding vehicles can be taken into account.

• Auf einer dreispurigen Autobahn können drei Fahrzeuge und ein Lkw alle Fahrspuren belegen. Das Fahrzeug kann auf der mittleren Fahrspur gefahren werden, das andere Fahrzeug auf der schnelleren Fahrspur kann mit Geschwindigkeitsregelung gefahren werden und das vorausfahrende Fahrzeug kann manuell gefahren werden. Da der Fahrer des vorausfahrenden Fahrzeugs nicht von dem Lkw-Fahrer aufgefahren werden möchte, fährt er auf der mittleren Fahrspur, aber mit konstanter Geschwindigkeit. Das andere Fahrzeug auf der schnelleren Fahrspur mit Geschwindigkeitsregelung belegt die schnellere Fahrspur, so dass das herannahende Fahrzeug, das möglicherweise den höchsten Autonomiegrad aufweist, diese Situation nicht überholen kann. Nur mit ACC würde dies bedeuten, dass das Fahrzeug durch die konstante Geschwindigkeit des vorausfahrenden Fahrzeugs abgebremst wird.

A complex traffic situation can be described using an example:

• On a three-lane highway, three vehicles and a truck can occupy all lanes. The vehicle can be driven in the middle lane, the other vehicle in the faster lane can be driven with cruise control, and the vehicle in front can be driven manually. Since the driver of the vehicle in front does not want to be rear-ended by the truck driver, he drives in the middle lane but at a constant speed. The other vehicle in the faster lane with cruise control occupies the faster lane, so the approaching vehicle, which may have the highest level of autonomy, cannot overtake this situation. With only ACC, this would mean that the vehicle is slowed down by the constant speed of the vehicle in front.

In such a complex situation, the method can preferably offer two different approaches based on the traffic situation and the level of autonomy of the vehicles.

Release request/trigger:

The vehicle approaching this situation can, before slowing down, communicate with the other vehicle in the faster lane and request that it vacate the faster lane so that it can begin the lane change. If the other vehicle or its driver in the faster lane is safe enough to increase speed and move into the middle lane in the current traffic situation, the vehicle can also communicate to the vehicle in front that it has begun the lane change so that the vehicle in front does not move into the faster lane. This way, the vehicle is finally free to begin the lane change.

Combined cruise control:

This approach can be applied when the other vehicle in the faster lane or its driver is not confident about increasing speed and moving to the middle lane. If the traffic situation in front of the other vehicle in the faster lane is complex, the other vehicle in the faster lane can reject the request to trigger the right of way. After knowing this, the vehicle with the highest level of autonomy can request control of all surrounding required vehicles that need to navigate through this complex traffic situation. If this is answered in the affirmative, the vehicle can collect the information from all sensors and actuators present in the vehicles and process the data to develop a strategy to safely navigate all vehicles in this situation. In doing so, the vehicle can take control of both the other vehicle in the faster lane and the vehicle in front. The vehicle can predict the trajectory and lane change of the other vehicle from the faster lane to the current lane. Then the vehicle can finally start the lane change. Finally, the vehicle can return control to the other vehicles once the complex traffic situation is overtaken. When returning control, the vehicle can, for example, reset the vehicles' cruise control to the settings previously used, so that the drivers of the vehicles do not feel any change in their ride.

Of course, it may happen that some surrounding vehicles refuse the request to take control for various reasons. In this case, the control can be carried out using the available cars and their sensor data. For this purpose, trajectory prediction may be performed. Preferably, the confidence level for the predicted trajectory may be calculated. If the confidence level reaches a certain threshold, the combined cruise control may still be activated.

In the example described, the approaching vehicle had a higher level of autonomy than other vehicles. If another vehicle had a higher level of autonomy than the approaching vehicle, that other vehicle would take over the processing part and navigate all vehicles through the complex traffic situation.

Furthermore, it can be provided that the release request is sent to the other vehicle in the faster lane before the adjustment, in particular the reduction, of the speed of the vehicle. In this way, the driver of the vehicle would not feel any inconvenience. The driver would simply experience an uninterrupted lane-changing maneuver.

In addition, the response to the release request may include a confirmation or rejection of the release request. Such two different scenarios may be provided depending on the response.

Preferably, the response to the release request may include a level of autonomy and/or an operating mode of the other vehicle in the faster lane. In this way, the complex traffic situation can be better managed.

Furthermore, it can be provided that the operation of the vehicle is carried out in two modes according to the response to the clearance request. In this way, individual strategies can be provided depending on the response to the evacuation request.

• - Durchführen eines Fahrspurwechsels von der aktuellen Fahrspur auf die schnellere Fahrspur,

insbesondere automatisch, vorzugsweise durch das kombinierte Geschwindigkeitsregelungssystem des Fahrzeugs.First, the operation of the vehicle can be carried out in a first mode according to the response to the release request,
if the response of the other vehicle in the faster lane confirms the release request,
preferably if the response of the other vehicle in the faster lane confirms that the other vehicle in the faster lane can pass the third lane, in particular if the other vehicle in the faster lane can change from the faster lane to the current lane,
wherein the method in the first mode further comprises:

• - Performing a lane change from the current lane to the faster lane,

in particular automatically, preferably by the vehicle's combined cruise control system.

This allows the vehicle to begin changing lanes quickly and easily.

• - Übermitteln des Fahrspurwechsels an das vorausfahrende Fahrzeug auf der aktuellen Fahrspur, insbesondere vor der Durchführung des Fahrspurwechsels von der aktuellen Fahrspur auf die schnellere Fahrspur.

Preferably, in the first mode, the method may further comprise:

• - Communicating the lane change to the vehicle ahead in the current lane, especially before executing the lane change from the current lane to the faster lane.

This allows the vehicle to also inform the vehicle in front that it has initiated a lane change so that the vehicle in front does not initiate a lane change into the faster lane. In this way, the complex traffic situation can be handled safely.

• - Senden eines Kontrollübernahmevorschlags an die umliegenden Fahrzeuge,
• - Empfangen einer Antwort (oder mehrerer Antworten) auf den Kontrollübernahmevorschlag von den umliegenden Fahrzeugen, und/oder
• - Betreiben des Fahrzeugs entsprechend der Antwort auf den Kontrollübernahmevorschlag.

Second, the operation of the vehicle is carried out in a second mode according to the response to the release request, if the response of the other vehicle in the faster lane rejects the release request,
preferably, if the response of the other vehicle in the faster lane is negative, that the other vehicle in the faster lane can clear the third lane,
in particular, if the other vehicle in the faster lane is unable and/or if a user of the other vehicle in the faster lane is not confident of changing from the third lane to the current lane,
wherein the method in the second mode further comprises:

• - Sending a takeover proposal to the surrounding vehicles,
• - Receiving a response (or several responses) to the takeover proposal from the surrounding vehicles, and/or
• - Operating the vehicle in accordance with the response to the takeover proposal.

Therefore, a strategy can be provided on how to proceed in this case if the other vehicle in the faster lane rejects the release request. The strategy can preferably provide the vehicle and the surrounding vehicles that want to participate in the combined speed control with the function of combined cruise control. The combined cruise control can provide trajectories and/or speed profiles of the vehicles as well as corresponding operating parameters and/or control signals for all participating vehicles and their associated actuators.

In addition, the response to the takeover proposal may include a confirmation or rejection of the takeover proposal. Such individual scenarios may be provided by the combined cruise control system according to the response(s).

Preferably, it can be provided that the response to the takeover proposal includes a level of autonomy and/or an operating mode of the corresponding vehicles. For example, a vehicle with the highest level of autonomy can be determined to process the sensor data and navigate all vehicles through the complex traffic situation.

Preferably, it can be provided that the response to the takeover proposal includes sensor and/or actuator data from the corresponding vehicles that are required for the operation of the corresponding vehicle. This allows the vehicle to start processing the sensor data without interruption or time delay. The user experience can be significantly improved in this way.

• - Erfassung von Sensor- und/oder Aktuatordaten des Fahrzeugs, die für den Betrieb des Fahrzeugs erforderlich sind,
• - Empfangen von Sensor- und/oder Aktuatordaten von den umliegenden Fahrzeugen, die für den Betrieb des umliegenden Fahrzeugs erforderlich sind,
• - Verarbeiten der Sensor- und/oder Aktuatordaten des Fahrzeugs und der Sensor- und/oder Aktuatordaten der umliegenden Fahrzeuge,
• - Bereitstellen einer, vorzugsweise kooperativen, Strategie für den Betrieb des Fahrzeugs und der umliegenden Fahrzeuge gemäß der Verarbeitung, und/oder
• - Aktivieren der, vorzugsweise kooperativen, Strategie für den Betrieb des Fahrzeugs und der beteiligten Fahrzeuge entsprechend des Vertrauensgrades.

Furthermore, it is possible (in particular if all surrounding vehicles confirm the take-over proposal) that the procedure during the operation of the vehicle may continue to include at least one of the following actions/procedural steps in accordance with the response to the take-over proposal:

• - Collection of sensor and/or actuator data of the vehicle that are necessary for the operation of the vehicle,
• - Receiving sensor and/or actuator data from the surrounding vehicles that are required for the operation of the surrounding vehicle,
• - Processing the sensor and/or actuator data of the vehicle and the sensor and/or actuator data of the surrounding vehicles,
• - Providing a, preferably cooperative, strategy for the operation of the vehicle and the surrounding vehicles according to the processing, and/or
• - Activating the strategy, preferably cooperative, for the operation of the vehicle and the vehicles involved according to the level of trust.

A, preferably cooperative, strategy can provide trajectories and/or speed profiles of the vehicles as well as corresponding operating parameters and/or control signals for all surrounding and participating vehicles and the associated actuators.

• - Erfassen von Sensor- und/oder Aktuatordaten des Fahrzeugs, die für den Betrieb des Fahrzeugs erforderlich sind,
• - Empfangen verfügbarer Sensor- und/oder Aktuatordaten von teilnehmenden Fahrzeugen, die für den Betrieb des teilnehmenden Fahrzeugs erforderlich sind,
• - Verarbeiten der Sensor- und/oder Aktuatordaten des Fahrzeugs und der Sensor- und/oder Aktuatordaten der beteiligten Fahrzeuge,
• - Bereitstellen einer, vorzugsweise kooperativen, Strategie für den Betrieb des Fahrzeugs und der beteiligten Fahrzeuge entsprechend der Verarbeitung,
• - Bereitstellen eines Vertrauensgrades für die bereitgestellte, vorzugsweise kooperative Strategie für den Betrieb des Fahrzeugs und der teilnehmenden Fahrzeuge gemäß der Verarbeitung, und/oder
• - Aktivieren der, vorzugsweise kooperativen, Strategie für den Betrieb des Fahrzeugs und der beteiligten Fahrzeuge entsprechend des Vertrauensgrades.

In addition, it is possible (in particular if not all surrounding vehicles confirm the take-control proposal) that the procedure during the operation of the vehicle may continue to include at least one of the following actions/procedural steps in accordance with the response to the take-control proposal:

• - Collecting sensor and/or actuator data of the vehicle that are necessary for the operation of the vehicle,
• - Receiving available sensor and/or actuator data from participating vehicles that are required for the operation of the participating vehicle,
• - Processing the sensor and/or actuator data of the vehicle and the sensor and/or actuator data of the vehicles involved,
• - Providing a, preferably cooperative, strategy for the operation of the vehicle and the vehicles involved according to the processing,
• - providing a level of confidence in the provided, preferably cooperative, strategy for the operation of the vehicle and the participating vehicles according to the processing, and/or
• - Activating the strategy, preferably cooperative, for the operation of the vehicle and the vehicles involved according to the level of trust.

A strategy, preferably cooperative, can provide trajectories and/or speed profiles of the vehicles as well as corresponding operating parameters and/or control signals for all participating vehicles and their associated actuators. The confidence level can be used to determine whether the strategy is safe enough, even for the situation in which not all surrounding vehicles can participate.

• - Übermitteln der, vorzugsweise kooperativen, Strategie an die entsprechenden Fahrzeuge,
• - Übermitteln des Endes der, vorzugsweise kooperativen, Strategie an die entsprechenden Fahrzeuge,
• - Rückstellen eines Geschwindigkeitsregelungssystems der entsprechenden Fahrzeuge auf vorherige Einstellungen.

Preferably, for many possible situations, during the operation of the vehicle according to the response to the takeover proposal, the procedure continues to include:

• - Transmitting the, preferably cooperative, strategy to the relevant vehicles,
• - Transmitting the end of the, preferably cooperative, strategy to the relevant vehicles,
• - Resetting the cruise control system of the relevant vehicles to previous settings.

The settings may include operating parameters and/or control signals for associated actuators of the vehicles, with control being returned to them.

Furthermore, it can be provided that the processing of sensor and/or actuator data of the vehicle and the corresponding vehicles and/or the provision of a, preferably cooperative, strategy for the operation of the vehicle and the corresponding vehicles can be offered by a vehicle with the highest degree of autonomy. This allows fast processing to be realized. In this way, results with a high degree of accuracy can also be provided.

Furthermore, the invention provides a corresponding computer program product containing instructions which, when the computer program product is executed by a computer, cause the computer to carry out a method as described above. With the aid of the corresponding computer program, the same advantages can be provided as described above with respect to the method.

The invention further provides: a corresponding control unit, in particular for a combined cruise control system of the vehicle, comprising a memory unit in which a code is stored, and a computing unit, wherein when the code is executed by the computing unit, the method according to one of the preceding claims is carried out. With the aid of the corresponding control unit, the same advantages can be provided as described above in relation to the method.

The invention also provides a vehicle with a corresponding control unit. With the help of the vehicle, the same advantages can be achieved as described above with regard to the method.

• 1 ein Beispiel für eine komplexe Verkehrssituation,
• 2 ein Fahrspurwechsel, ausgelöst durch die Ankündigung des Auslösers für freie Fahrt, und
• 3 ein Fahrspurwechsel durchgeführt durch eine kombinierte Geschwindigkeitsregelung.

The invention is explained in more detail below with reference to the accompanying drawings, in which:

• 1 an example of a complex traffic situation,
• 2 a lane change triggered by the announcement of the clear lane trigger, and
• 3 a lane change carried out by a combined cruise control.

• - Erkennen einer komplexen Verkehrssituation, die vorzugsweise einen Fahrspurwechsel von einer aktuellen Fahrspur L2 des Fahrzeugs 100 auf eine schnellere Fahrspur L3 als die aktuelle Fahrspur L2 oder eine Verringerung der Geschwindigkeit des Fahrzeugs 100 erfordert, insbesondere wenn die schnellere Fahrspur L3 von einem anderen Fahrzeug 102 belegt ist, zum Beispiel mit Fahrzeugen, die auf allen Fahrspuren unterwegs sind, und/oder zum Beispiel, wenn das Fahrzeug 100 nahe an einem vorausfahrenden Fahrzeug 101 in oder auf der aktuellen Fahrspur L2 fährt und das vorausfahrende Fahrzeug 101 nicht in der Lage ist, auf eine langsamere Fahrspur L1 als die aktuelle Fahrspur L2 zu wechseln und/oder die Geschwindigkeit zu erhöhen,
• - Senden einer Freigabeanforderung R1 an ein anderes Fahrzeug 102, das sich auf einer schnelleren Fahrspur L3 als der aktuellen Fahrspur L2 des Fahrzeugs 100 befindet,
• - Empfangen einer Antwort RR1 auf die Freigabeanforderung R1 von dem anderen Fahrzeug 102 auf der schnelleren Fahrspur L3,
• - Betreiben des Fahrzeugs 100 entsprechend der Antwort RR1 auf die Freigabeanforderung R1.

The 1 to 3 serve to explain a method for operating a vehicle 100 during, preferably cooperative, navigation over a route, in particular a motorway, comprising:

• - Detecting a complex traffic situation that preferably requires a lane change from a current lane L2 of the vehicle 100 to a faster lane L3 than the current lane L2 or a reduction in the speed of the vehicle 100, in particular when the faster lane L3 is occupied by another vehicle 102, for example with vehicles traveling in all lanes, and/or for example when the vehicle 100 is traveling close to a preceding vehicle 101 in or on the current lane L2 and the preceding vehicle 101 is unable to change to a slower lane L1 than the current lane L2 and/or to increase the speed,
• - Sending a release request R1 to another vehicle 102 that is in a faster lane L3 than the current lane L2 of the vehicle 100,
• - receiving a response RR1 to the release request R1 from the other vehicle 102 on the faster lane L3,
• - Operating the vehicle 100 according to the response RR1 to the release request R1.

Each lane L1, L2, L3 on the route can have its own speed range. A faster lane L3 can have a speed range that is greater than the speed range on the current lane L2. A slower lane L1 can have a speed range that is lower than the speed range of the current lane L2.

In an example of 1 to 3 a three-lane highway is shown schematically, where a slower lane L1 can be on the right side of the carriageway, a current lane L2 in the middle of the carriageway and a faster lane L3 on the left side of the carriageway. Other examples with a different alignment of the lanes and/or with more than three lanes on only two lanes are also possible.

A clearance request R1 can also be referred to as a request to clear a lane, in particular a faster lane, or simply as a first request. A clearance request R1 can preferably serve as a clearing trigger.

Sending a release request R1 (as well as a takeover proposal R2) and/or receiving a response RR1 (and/or RR2) can be carried out by vehicle-to-vehicle communication. The vehicle-to-vehicle communication can be carried out via WLAN, e.g. WLAN-P, via cellular network, Internet, e.g. 3G, 4G, 5G or another generation.

A complex traffic situation can be defined, for example, as a traffic situation that requires a lane change from the current lane L2 of the vehicle 100 to a faster lane L3 than the current lane L2 or a reduction in the speed of the vehicle 100. A complex traffic situation can be defined, for example, as in 1 to 3 shown when vehicles are traveling on all lanes L1, L2, L3. A complex traffic situation can occur, for example, when the vehicle 100 is traveling close to a preceding vehicle 101 in the current lane L2 and the preceding vehicle 101 is unable to change to a slower lane L1 than the current lane L2 and/or increase speed, and when the vehicle 100 is unable to change from the current lane L2 to the faster lane L3 occupied by another vehicle 102.

To operate the vehicle 100, a trajectory and/or a speed profile along a trajectory can be provided, in particular automatically, preferably by a combined cruise control system CCC of the vehicle 100. To control associated actuators of the vehicle 100, corresponding operating parameters and/or control signals corresponding to a trajectory and/or a speed profile along a trajectory of the vehicle can be provided, in particular automatically, preferably by the combined cruise control system CCC of the vehicle 100.

The combined cruise control system CCC can be implemented with the aid of a control unit cu of the vehicle 100. The control unit cu, in particular the combined cruise control system CCC, can preferably carry out the method steps automatically.

For operation of the vehicle, a combined cruise control system CCC of the vehicle 100 may be specially designed to automatically navigate the vehicle 100 (including planning the trajectory and/or a speed profile along a trajectory of the vehicle 100), steer the vehicle 100 and adjust the speed of the vehicle 100 and/or provide operating parameters and/or control signals for corresponding actuators of the vehicle 100.

• Stufe 0: Keine Fahrautomatisierung
• Stufe 1: Assistiertes Fahren
• Stufe 2: Teilweise automatisiertes Fahren
• Stufe 3: Hochautomatisiertes Fahren
• Stufe 4: Vollständig automatisiertes Fahren

In general, vehicles can have different levels of autonomy:

• Level 0: No driving automation
• Level 1: Assisted driving
• Level 2: Partially automated driving
• Level 3: Highly automated driving
• Level 4: Fully automated driving

The vehicle 100 in the sense of the present disclosure may include stages 1 to 4.

How 2 and 3 show, the method can preferably apply two strategies.

How 2 shows, the other vehicle 102 in or on the faster lane L3 can be given a clearance request R1 (or a clearance trigger). If the other vehicle 102 in the faster lane L3 can clear the faster lane L3 under the given traffic conditions, the vehicle 100 can initiate the lane change from L2 to L3. If the other vehicle 102 in the faster lane L3 or its user is unable or not safe to clear the faster lane L3, the second strategy of 3 be carried out by the control unit cu, which in particular comprises the combined cruise control system CCC, in which a vehicle (eg our vehicle 100) can take control of the surrounding vehicles 101, 102, so that the vehicles can safely and comfortably navigate through the complex traffic situation of the 1 to 3 navigate and continue driving. This means that the user does not need to take control in a complex lane change situation, even when the adaptive cruise control (ACC) is activated.

A combined cruise control system CCC can preferably take into account in which mode (manual driving or cruise control CC) and with which degree of autonomy the surrounding vehicles 101, 102 are driving on the route.

If the vehicle 102 is driven manually in the faster lane L3, no response to the release request R1 and/or no response to a takeover proposal R2 is received. If the preceding vehicle 101 is controlled manually, no response to a takeover proposal R2 is received. Manually controlled vehicles cannot therefore participate. Therefore, the current mode (manual driving or cruise control) of the surrounding vehicles 101, 102 can be automatically taken into account.

If one of the vehicles 100, 101, 102 has the highest level of autonomy, it can take over the calculations, in particular for providing a trajectory and/or a speed profile along a trajectory according to the combined cruise control. Therefore, the level of autonomy of the surrounding vehicles 100, 101, 102 can be taken into account.

• Auf einer Autobahn mit drei Fahrspuren L1, L2, L3 befinden sich drei Fahrzeuge 102, 101 und 100 sowie ein Lkw, die alle Fahrspuren belegen. Das Fahrzeug 100 kann auf der mittleren Fahrspur L2 gefahren werden, das andere Fahrzeug 102 auf der schnelleren Fahrspur L3 kann mit der Geschwindigkeitsregelung CC gefahren werden und das vorausfahrende Fahrzeug 101 kann manuell gefahren werden. Da der Fahrer des vorausfahrenden Fahrzeugs 101 nicht von dem Lkw-Fahrer aufgefahren werden möchte, fährt er auf der mittleren Fahrspur L2, aber mit konstanter Geschwindigkeit. Das andere Fahrzeug 102 auf der schnelleren Fahrspur L3 mit einer Geschwindigkeitsregelung CC belegt die schnellere Fahrspur L3, so dass das herannahende Fahrzeug 100, das den höchsten Autonomiegrad aufweisen kann, diese Situation nicht überholen kann. Nur mit ACC würde dies bedeuten, dass das Fahrzeug 100 durch die konstante Geschwindigkeit des vorausfahrenden Fahrzeugs 101 abgebremst wird.

In 1 A complex traffic situation is illustrated using an example:

• On a highway with three lanes L1, L2, L3, there are three vehicles 102, 101 and 100 and a truck, occupying all lanes. The vehicle 100 can be driven in the middle lane L2, the other vehicle 102 in the faster lane L3 can be driven with cruise control CC and the preceding vehicle 101 can be driven manually. Since the driver of the preceding vehicle 101 does not want to be rear-ended by the truck driver, he drives in the middle lane L2 but at a constant speed. The other vehicle 102 in the faster lane L3 with cruise control CC occupies the faster lane L3 so that the approaching vehicle 100, which can have the highest level of autonomy, cannot overtake this situation. Only with ACC would this mean that the vehicle 100 is slowed down by the constant speed of the preceding vehicle 101.

In such a complex situation, the method can preferably offer two different approaches based on the traffic situation and the level of autonomy of the cars, as in 2 and 3 shown.

Release request/trigger according to Fig. 2:

When approaching this situation, before slowing down, the vehicle 100 may communicate with the other vehicle 102 in the faster lane L3 and announce that it is clearing the faster lane L3 so that it can begin changing lanes from the current lane L2 to the faster lane L3. If the other vehicle 102 in the faster lane L3 or its driver is able and/or safe enough to increase speed according to the current traffic conditions ahead and change to the middle lane L2, then the vehicle 100 may additionally notify the preceding vehicle 101 that it has begun changing lanes so that the preceding vehicle 101 does not begin changing lanes to the faster lane L3 and does not interfere with the other vehicle 102 changing to the current lane L2. In this way, the vehicle 100 can finally begin its lane changing activities.

Combined speed control according to Fig. 3:

This approach may be chosen if the other vehicle 102 in the faster lane L3 is unable or its driver is not confident to increase speed and move to the middle lane L2. If the traffic situation ahead of the other vehicle 102 in the faster lane L3 is complex, the other vehicle 102 in the faster lane L3 may reject the release request R1. After knowing this, the vehicle 100, which may have the highest level of autonomy, may send a takeover proposal R2 to all surrounding required vehicles 101, 102 that need to navigate through this complex traffic situation. If the response(s) RR2 to the takeover proposal R2 is positive, the vehicle 100 can collect data from all sensors and actuators of all vehicles 100, 101, 102 and process the data to develop a strategy for the safe navigation of all vehicles 100, 101, 102 in this situation. In doing so, the vehicle 100 can take control of both the other vehicle 102 in the faster lane L3 and the vehicle 101 in front. The vehicle 100 can predict the trajectory and lane change of the other vehicle 102 from the faster lane L3 to the current lane L2. Then the vehicle 100 can finally start changing lanes. Finally, the vehicle 100 can return control to the other vehicles 101, 102 once the complex traffic situation has been overcome. When returning control, the vehicle 100 may, for example, reset the cruise control of the vehicles 101, 102 to the previously used settings so that the drivers of the vehicles 101, 102 do not notice any change in their ride.

Of course, some surrounding vehicles 101, 102 may refuse the request to take over control for various reasons. In this case, control may be performed using the available vehicles 101, 102 and their sensor data. For this purpose, trajectory prediction may be performed. Preferably, the confidence level for the predicted trajectory may be calculated. If the confidence level is high enough, the combined cruise control may still be activated.

In the example described, the approaching vehicle 100 had a higher level of autonomy compared to the other vehicles 101, 102. If another vehicle 101, 102 had a higher level of autonomy, then this vehicle 100 would take over the processing part of the other vehicle and navigate all vehicles 100, 101, 102 through the complex traffic situation.

A corresponding computer program product, a corresponding control unit CU, in particular for a combined cruise control system CCC, and a corresponding vehicle 100 form further aspects of the invention.

The above explanation of the embodiments describes the present invention exclusively within the framework of examples. Of course, individual features of the embodiments can be freely combined with one another without departing from the scope of the present invention.

Reference characters

100

vehicle

101

vehicle

102

Vehicle

ACC

Adaptive cruise control systems

CCC

Combined cruise control system

CC

Cruise control system

cu

Control unit

L1

lane

L2

lane

L3

Lane

R1

Release request

RR1

Answer

R2

Proposal for acquisition of control

RR2

Answer

Claims (14)

A method for operating a vehicle (100) during a preferably cooperative navigation over a route, in particular a motorway, comprising: - recognizing a complex traffic situation, which preferably requires a lane change from a current lane (L2) of the vehicle (100) to a faster lane (L3) than the current lane (L2) or a reduction in the speed of the vehicle (100), in particular if the faster lane (L3) is occupied by another vehicle (102), - sending a release request (R1) to another vehicle (102) that is in a faster lane (L3) than the current lane (L2) of the vehicle (100), - receiving a response (RR1) to the release request (R1) from the other vehicle (102) in the faster lane (L3), - operating the vehicle (100) in accordance with the response (RR1) to the release request (R1), wherein the operation of the Vehicle (100) according to the response (RR1) to the release request (R1) is carried out in a second mode (II), if the response (RR1) of the other vehicle (102) in the faster lane (L3) rejects the release request (R1), wherein the method in the second mode (II) further comprises: - sending a takeover proposal (R2) to the surrounding vehicles (101, 102), - receiving a response (RR2) to the takeover proposal (R2) from the surrounding vehicles (101, 102), and/or - operating the vehicle (100) depending on the response (RR2) to the takeover proposal (R2). The procedure according to Claim 1 , wherein the sending of the release request (R1) to the other vehicle (102) on the faster lane (L3) is carried out before adjusting, in particular reducing, the speed of the vehicle (100). The procedure according to Claim 1 or 2 , wherein the response (RR1) to the release request (R1) comprises a confirmation or rejection of the release request (R1), and/or wherein the response (RR1) to the release request (R1) comprises a level of autonomy and/or an operating mode of the other vehicle (102) in the faster lane (L3). The method according to any one of the preceding claims, wherein the operation of the vehicle (100) is controlled according to the response (RR1) to the free input request (R1) is carried out in two modes (I, II). The method according to one of the preceding claims, wherein the operation of the vehicle (100) according to the response (RR1) to the release request (R1) is performed in a first mode (I) if the response of the other vehicle (102) in the faster lane (L3) confirms the release request (R1), wherein the method in the first mode (I) further comprises: - performing a lane change from the current lane (L2) to the faster lane (L3). The method according to the preceding claim, wherein the method in the first mode (I) further comprises: - transmitting the lane change to the preceding vehicle (101) on the current lane (L2), in particular before the lane change is carried out. The method according to one of the preceding claims, wherein the response (RR2) to the takeover proposal (R2) comprises a confirmation or rejection of the takeover proposal (R2), and/or wherein the response (RR2) to the takeover proposal (R2) comprises a level of autonomy and/or an operating mode of the corresponding vehicles (101, 102), and/or wherein the response (RR2) to the takeover proposal (R2) comprises sensor and/or actuator data from the corresponding vehicles (101, 102) that are required for the operation of the corresponding vehicle (101, 102). The method according to one of the preceding claims, wherein the method during operation controls the vehicle (100) according to the response (RR2) to the takeover proposal (R2), in particular when all surrounding vehicles (101, 102) confirm the takeover proposal (R2), further comprises the following: - capturing sensor and/or actuator data of the vehicle (100) that are required for the operation of the vehicle (100), - receiving sensor and/or actuator data from the surrounding vehicles (101, 102) that are required for the operation of the surrounding vehicle (101, 102), - processing the sensor and/or actuator data of the vehicle (100) and the sensor and/or actuator data of the surrounding vehicles (101, 102), - providing a, preferably cooperative, strategy for the operation of the vehicle (100) and the surrounding vehicles (101, 102) according to the processing, and/or - activating the, preferably cooperative, strategy for the operation of the vehicle (100) and the participating vehicles (101, 102) according to the degree of trust. The method according to one of the preceding claims, wherein the method during operation of the vehicle (100) according to the response (RR2) to the takeover proposal (R2), in particular if not all surrounding vehicles (101, 102) confirm the takeover proposal (R2) further comprises the following: - collecting sensor and/or actuator data of the vehicle (100) that are required for the operation of the vehicle (100), - receiving available sensor and/or actuator data from participating vehicles (101, 102) that are required for the operation of the participating vehicle (101, 102), - processing the sensor and/or actuator data of the vehicle (100) and the sensor and/or actuator data of the participating vehicles (101, 102), - providing a, preferably cooperative, strategy for the operation of the vehicle (100) and the participating vehicles (101, 102) according to the processing, - providing a level of trust for the intended, preferably cooperative, strategy for the operation of the vehicle (100) and the participating vehicles (101, 102) according to the processing, and/or - activating the, preferably cooperative, strategy for the operation of the vehicle (100) and the participating vehicles (101, 102) according to the level of trust. The method according to one of the preceding claims, wherein during operation of the vehicle (100) according to the response (RR2) to the takeover proposal (R2) the method further comprises: - transmitting the, preferably cooperative, strategy to the corresponding vehicles (101, 102), - transmitting the end of the, preferably cooperative, strategy to the corresponding vehicles (101, 102), - resetting a cruise control system (CC) of the corresponding vehicles (101, 102) to previous settings. The method according to one of the preceding claims, wherein the execution of the processing of sensor and/or actuator data of the Vehicle and the corresponding vehicles (101, 102) and/or the provision of a, preferably cooperative, strategy for the operation of the vehicle (100) and the corresponding vehicles (101, 102) is offered by a vehicle with the highest degree of autonomy. A computer program product containing instructions which, when the computer program product is executed by a computer, cause the computer to perform a method according to any one of the preceding claims. A control unit (CU), in particular for a combined cruise control system (CCC) of the vehicle (100), with a memory unit in which a code is stored, and a computing unit, wherein when the code is executed by the computing unit, the method according to one of the preceding Claims 1 until 11 is executed. A vehicle with the control unit (CU) according to the preceding claim.

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