EP2144215A2 - Method for determining a vehicle route - Google Patents

Method for determining a vehicle route Download PDF

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Publication number
EP2144215A2
EP2144215A2 EP09159843A EP09159843A EP2144215A2 EP 2144215 A2 EP2144215 A2 EP 2144215A2 EP 09159843 A EP09159843 A EP 09159843A EP 09159843 A EP09159843 A EP 09159843A EP 2144215 A2 EP2144215 A2 EP 2144215A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
route
special
special vehicle
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09159843A
Other languages
German (de)
French (fr)
Other versions
EP2144215A3 (en
EP2144215B1 (en
Inventor
Joerg Moennich
Gunther Schaaf
Matthias Haug
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2144215A2 publication Critical patent/EP2144215A2/en
Publication of EP2144215A3 publication Critical patent/EP2144215A3/en
Application granted granted Critical
Publication of EP2144215B1 publication Critical patent/EP2144215B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
    • G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
    • G08G1/096861—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map

Definitions

  • the invention relates to a method and an arrangement for determining a vehicle route. Moreover, the invention relates to a computer program and a computer program product.
  • Special vehicles which are in emergency operation, indicate this by means of blue light and siren to other road users and thus vehicles in the vicinity.
  • the desired route is the remaining road users usually only indicated by the direction indicator or turn signal.
  • systems are known in which the current position and a desired route are transmitted by fixed waypoints of the special vehicle, starting from the probe vehicle and other vehicles only check whether the routes are approaching critical.
  • This device comprises a device for determining the current position of the vehicle.
  • the device also includes a receiving device for receiving position data of the special vehicle and an evaluation device that calculates a distance between the vehicle and the special vehicle based on the current position of the vehicle and the transmitted position data of the special vehicle and falls below a predetermined distance, an optical and / or acoustic Send message.
  • this communication system it is possible to secure a travel route of an emergency vehicle by providing a planned route of the emergency vehicle to a conventional vehicle.
  • a planned route of the emergency vehicle to a conventional vehicle.
  • the part of the emergency vehicle on the conventional vehicle completely provided planned route is compared with a current position of the conventional vehicle. In such a comparison, if it turns out that a collision between the conventional vehicle and the emergency vehicle might be imminent, the driver of the conventional vehicle is provided with a warning informing the driver that an on-duty emergency vehicle is approaching.
  • a method and system for securing operation of an emergency vehicle as it travels on-highway during a mission using a route calculation is disclosed in the document US 6,700,504 known. Also in this case, it is provided that data including a route calculated for the emergency vehicle is provided to other vehicles located along the calculated route. Based on the route of the emergency vehicle provided to the vehicles, warnings may be displayed for the vehicles that an on-duty emergency vehicle is traveling and along which route it is traveling.
  • the publication DE 102 24 872 A1 relates to a method for use in a navigation system provided for determining at least one of at least one stop and / or start location to at least one destination leading route of a means of transport, in particular a motor vehicle, based on traffic routes describing traffic route information.
  • At least one indication or signal for example a warning or warning signal, is generated by the navigation system as a function of at least one event concerning the determined route or of at least one particular situation concerning the determined route. This can take place as a function of at least one approaching emergency vehicle which potentially crosses the ascertained route of the means of transportation.
  • the invention relates to a method for determining a vehicle route or vehicle route for a vehicle.
  • information about a known position and a destination of at least one special vehicle is made available to a module of the vehicle designed for determining the vehicle route.
  • a module of the vehicle designed for determining the vehicle route By means of the module in the vehicle, at least one special vehicle route or special vehicle route running between the known position and the destination and to be covered by the at least one special vehicle is determined.
  • the vehicle route for the vehicle is determined taking into account the at least one special vehicle route calculated for the at least one special vehicle.
  • a distance to be traveled can be calculated in advance and thus determined.
  • the vehicle route for the conventional vehicle is determined by calculation, taking into account the special vehicle route of the at least one special vehicle or emergency vehicle, for example a police vehicle, fire truck or ambulance vehicle, which is typically calculated by the module of the conventional vehicle.
  • Special vehicles which are in use, indicate this by blue light and siren or siren.
  • special vehicles enjoy special rights that allow drivers of special vehicles to bypass legally prescribed traffic regulations. Accordingly, special vehicles during use for other road users and thus for conventional vehicles constitute a potential hazard.
  • a vehicle calculates a future vehicle route for this vehicle in such a way and thus to be able to determine that the vehicle can avoid potential special vehicle routes on which the special vehicle is traveling.
  • the driver of the vehicle may be provided with a warning or an indication by which the driver is informed that at least one special vehicle could approach or that an encounter with at least one special vehicle could be imminent.
  • a vehicle route has already been provided for the vehicle, taking into account conventional traffic conditions, the vehicle following this vehicle route when driving.
  • At least one special vehicle can come at any time surprising, the information about the known position and the destination of the special vehicle are usually provided already at the beginning of the mission by transmitting vehicles participating in the traffic.
  • the module in the vehicle first determines the at least one special-vehicle route and subsequently the new or at least partially updated vehicle route, which means that the vehicle route already provided prior to deployment can be changed.
  • the conventional vehicle typically the module in the conventional vehicle, requires only two pieces of information about the particular vehicle being used, namely the target and therefore the position that controls the particular vehicle in use, as well as a known, real position of the special vehicle it may be a starting or starting point of an insert of the at least one special vehicle.
  • the at least one special vehicle route is calculated by the module of the vehicle and thus determined. Knowing the self-calculated special vehicle route, the module of the conventional vehicle may determine the vehicle route for the conventional vehicle to reach a destination intended for the vehicle. In this case, for example, an estimate of a speed of the special vehicle can also be used to calculate when the special vehicle is staying along the special vehicle route at which point of the special vehicle route.
  • the module and / or a module for implementing at least one variant of the method according to the invention can be integrated in a navigation device for the conventional method.
  • the driver of the conventional vehicle programs a desired destination at the beginning of a trip.
  • the navigation device provides the driver at least one suggestion for a typically favorable vehicle route to reach the desired destination. It can come at any time to use a special vehicle.
  • the navigation device can react immediately with the integrated module and spontaneously change an already preprogrammed vehicle route at least in sections, so that there is no potentially dangerous confrontation of the conventional vehicle with the vehicle Special vehicle is coming.
  • the vehicle route for the conventional vehicle is determined in such a way that this vehicle route has a course that deviates as far as possible from the at least one special-vehicle route and / or alternative route.
  • the vehicle route to be determined can be calculated, for example, by optimization methods when the at least one special vehicle route calculated by the module is known. In order to provide an optimal vehicle route, it can further be taken into account that the vehicle route with the at least one special-vehicle route has a minimum of similarities, ie. H. common sections and / or crossing points, has.
  • the module can also be used to determine a most probable special-vehicle route if a number of special-vehicle routes are determined during the calculations for implementing an embodiment of the method.
  • the special vehicle routes can be weighted against each other, so that the vehicle route to be calculated usually with the most likely special vehicle route has the least similarities.
  • the at least one special vehicle route can be recalculated at any time in an embodiment of the method so that the vehicle route provided for the conventional vehicle can be updated at any time.
  • the information about the at least one special vehicle, d. H. the known position and destination are typically transmitted wirelessly via electromagnetic waves. It is possible that the information about a suitable radio module of the special vehicle are transmitted starting from the special vehicle. Alternatively or additionally, the information can also be transmitted wirelessly from an operations center of the at least one special vehicle.
  • the arrangement according to the invention is intended for determining a vehicle route for a vehicle.
  • the arrangement comprises a module designed to determine the vehicle route, which is arranged in the vehicle.
  • This arranged in the vehicle module is adapted to calculate from information provided about a known position and a destination of at least one special vehicle at least one running between the known position and the destination special vehicle route, which is potentially covered by the special vehicle, and thus to determine.
  • This module is furthermore designed to determine the vehicle route for the conventional vehicle, taking into account the at least one special vehicle route calculated for the at least one special vehicle, by calculation.
  • the arrangement may have at least one receiving module for wirelessly receiving the information about the known position and the destination of the at least one special vehicle.
  • the arrangement may also include a navigation module for determining the at least one special vehicle route and the vehicle route.
  • the navigation module can be embodied, for example, as a so-called GPS module with which it is possible to determine a position of the at least one special vehicle and / or of the conventional vehicle, inter alia, satellite-supported.
  • a transmission module which is designed for wireless transmission of the information about the known position and the destination of the special vehicle, is provided as a possible component of the arrangement.
  • a transmission module can be arranged in the at least one special vehicle and / or in an operation center of the at least one special vehicle.
  • the arrangement described is designed to carry out all the steps of the presented method.
  • individual steps of this method can also be carried out by individual modules or components of the arrangement.
  • functions of the arrangement or functions of individual components of the arrangement can be implemented as steps of the method.
  • the invention further relates to a computer program with program code means in order to perform all the steps of a described method when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in an arrangement according to the invention.
  • the computer program product according to the invention with program code means which are stored on a computer-readable data carrier is designed to carry out all the steps of a described method when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in an arrangement according to the invention.
  • An implementation of the invention is based on the fact that target data or data from a destination to be approached by the at least one special vehicle is transmitted to other vehicles and thus provided.
  • the at least one special vehicle route is first calculated in the vehicle receiving the information.
  • the at least one calculated special vehicle route is then used as a default for calculating the vehicle route of a vehicle, so that the vehicle route is adapted to the at least one special vehicle route such that a Meeting the vehicle with the at least one special vehicle during use of the at least one special vehicle can be largely avoided.
  • the invention is used in an application as the basis for an assistance system that particularly effectively supports the driver when approaching in use special vehicles by knowing destinations and warns, for example. With the invention, a support of the driver can thus be realized when approaching special vehicles.
  • a navigation system which typically detects at least one module of the described arrangement, and is located in the normal vehicle, calculates at least one probable route of the emergency vehicle from the received current position and the received target of the emergency vehicle.
  • the emergency vehicles need no navigation system, thus it is not necessary in this regard to equip such special vehicles with navigation systems, so that can be saved in the equipment of special vehicles.
  • a navigation system can provide suggestions for safe passage so that the special vehicle route can be bypassed.
  • suggestions for a speed to be traveled by the vehicle may be provided.
  • C2X or car-to-car communication for the transmission of information between vehicles can be used.
  • C2X standard information about the current position of the at least one special vehicle is to be supplemented and transmitted only by the information about the destination coordinates, which is generally unchangeable, and thus the destination of the special vehicle.
  • a size of the transmission packets is smaller than if the complete special vehicle route, for example in the special vehicle and therefore outside the vehicle, is calculated, transmitted and possibly updated.
  • route calculation based on destination data transmission for. B. avoid the route of the special vehicle, even if from a direction of movement encounter is not yet obvious.
  • Special vehicles which start a journey with blue light and siren, receive the target coordinates via their control center or indicate these themselves.
  • a special vehicle may be activated while transmitting the special signal formed as flashing of the blue light and / or howling of the siren to the current position and the destination coordinates via the C2X communication to other vehicles.
  • These vehicles then calculate in each case for each probable probable special vehicle routes of the at least one special vehicle and in particular its most probable special vehicle route and give any warnings or instructions to the driver. Recommendations may also be issued, such as speed recommendations or lane recommendations, to prevent conflict with the special vehicle.
  • the o. G. Target data can also be sent directly from a control center. The information sent can be standardized in terms of format
  • FIG. 1 shows a schematic representation of a city map in which a current position of a conventional vehicle 2 and a special vehicle 4, here with blue light, is registered.
  • the special vehicle 4 is in an application in the direction of a place of deployment.
  • the conventional vehicle 2 approaches the special vehicle 4.
  • the driver of the conventional vehicle 2 can locate the special vehicle in use only acoustically via a siren of the special vehicle 4 and optically via the blue light. In such a situation, evasion of the conventional vehicle from a special vehicle route or special vehicle route of the special vehicle 4 is only possible to a limited extent since the driver of the conventional vehicle 2 only perceives the special vehicle 4 much too late.
  • Map shown schematically are also a conventional vehicle 2 and the special vehicle 4 at their current positions 6, 8 shown. Furthermore, the special vehicle 4 is in an insert, wherein in the case of special vehicle 4, starting from the current position, a destination 10 and thus its place of deployment must be reached.
  • the special vehicle 4 transmits information about its known, current position 8, here a starting point of the insert and its target 10, which must reach it during use, to other road users and thus also to this in FIG. 2 shown conventional vehicle 2 transmitted.
  • the current position information 8 and the target 10 of the emergency vehicle 4 are received by a receiving module of the conventional vehicle 2. Knowing the current position 8 and the destination 10, a module arranged in the conventional vehicle 2 calculates a most probable special vehicle route 12 for the special vehicle 4, which runs between the current, known position 8 and the destination 10.
  • the conventional vehicle 2 is equipped with a navigation device.
  • a navigation apparatus By this navigation apparatus, a vehicle route that the conventional vehicle 2 has to travel between a home position and a destination position is calculated.
  • a vehicle route 14 of the conventional vehicle 2 has already been calculated in the present embodiment before the start of the use of the special vehicle 4.
  • the vehicle route 14 By comparing the vehicle route 14 with the special vehicle route 12 calculated by the module of the conventional vehicle 2, it has been found that the vehicle route 14 and the special vehicle route 12 do not intersect. In this case, it is not necessary to recalculate the special vehicle route 14 in order to exclude a potential cruising with the special vehicle 4.
  • the city map shown schematically also shows the conventional vehicle 2 at its current position and the special vehicle 4 in its current position 8.
  • the conventional vehicle 2 travels along a first vehicle route 16, which is shown here by dashed lines.
  • the special vehicle 4 starting from its current position 8, is on a service run and has to reach its destination 18.
  • the special vehicle 4 provides at least one information about the current and thus known position 8 and the destination 18 to other road users and therefore also to the conventional vehicle 2 by position and destination data transmission. Since the module of the conventional vehicle now the current, known position 8 and the target 18 are known, the module is in the context of the method a probable special vehicle line 20, the here in FIG. 3 represented by crosses, and between the current position 8 and the target 18 is calculated. During the method, it is recognized by the module in the conventional vehicle 2 that the special vehicle route 20 calculated by the module in the conventional vehicle runs at least in sections identical to the initially provided vehicle route 16.
  • an alternative vehicle route 22 for the conventional vehicle 2 is calculated by the module in the conventional vehicle after calculation of the special vehicle route 20 based on a knowledge of the calculated special route 20.
  • This alternative vehicle route 22 is in FIG. 3 represented by small circles.

Abstract

The method involves providing information about an actual position (8) and a target (10) of a specialty vehicle (4) e.g. police vehicle, by a module of a vehicle (2) i.e. motor vehicle. The module is formed for determining a vehicle route (14), and a specialty vehicle route (12), running between the position and the target and reserved by the specialty vehicle, is determined by the module. The vehicle route is determined under consideration of the specialty vehicle route that is calculated for the specialty vehicle. A starting point of the specialty vehicle is provided as the position. Independent claims are also included for the following: (1) an arrangement for determining a vehicle route for a vehicle (2) a computer program comprising instructions to perform a method for determining a vehicle route for a vehicle (3) a computer program product comprising instructions to perform a method for determining a vehicle route for a vehicle.

Description

Die Erfindung betrifft ein Verfahren sowie eine Anordnung zum Bestimmen einer Fahrzeugroute. Außerdem betrifft die Erfindung ein Computerprogramm und ein Computerprogrammprodukt.The invention relates to a method and an arrangement for determining a vehicle route. Moreover, the invention relates to a computer program and a computer program product.

Stand der TechnikState of the art

Sonderfahrzeuge, die sich im Notfalleinsatz befinden, zeigen dies mittels Blaulicht und Martinshorn anderen Verkehrsteilnehmern und somit Fahrzeugen in der Nähe an. Dabei wird die gewünschte Fahrtroute den übrigen Verkehrsteilnehmern in der Regel nur durch den Fahrtrichtungsanzeiger bzw. Blinker angezeigt. Hierbei sind Systeme bekannt, bei denen die aktuelle Position und eine gewünschte Fahrtroute durch festgelegte Wegpunkte des Sonderfahrzeugs ausgehend von dem Sondefahrzeug übermittelt werden und andere Fahrzeuge lediglich überprüfen, ob sich die Fahrtrouten kritisch annähern.Special vehicles, which are in emergency operation, indicate this by means of blue light and siren to other road users and thus vehicles in the vicinity. The desired route is the remaining road users usually only indicated by the direction indicator or turn signal. Here, systems are known in which the current position and a desired route are transmitted by fixed waypoints of the special vehicle, starting from the probe vehicle and other vehicles only check whether the routes are approaching critical.

Ein Beispiel hierzu ist die aus der Druckschrift DE 100 53 099 C2 bekannte Vorrichtung für ein Landfahrzeug zur optischen oder akustischen Anzeige eines Fahrzeugs mit Sonderrechten und somit eines Sonderfahrzeugs. Diese Vorrichtung umfasst eine Einrichtung zur Bestimmung der momentanen Position des Fahrzeugs. Die Vorrichtung umfasst auch eine Empfangseinrichtung zum Empfangen von Positionsdaten des Sonderfahrzeugs und eine Auswerteeinrichtung, die einen Abstand zwischen dem Fahrzeug und dem Sonderfahrzeug anhand der momentanen Position des Fahrzeugs und der übermittelten Positionsdaten des Sonderfahrzeugs berechnet und bei Unterschreiten eines vorgebbaren Abstands eine optische und/oder akustische Meldung abgibt.An example of this is the one from the publication DE 100 53 099 C2 known device for a land vehicle for optical or acoustic display of a vehicle with special rights and thus a special vehicle. This device comprises a device for determining the current position of the vehicle. The device also includes a receiving device for receiving position data of the special vehicle and an evaluation device that calculates a distance between the vehicle and the special vehicle based on the current position of the vehicle and the transmitted position data of the special vehicle and falls below a predetermined distance, an optical and / or acoustic Send message.

Aus der Druckschrift JP 2003/256993 ist ein Kommunikationssystem für ein Fahrzeug bekannt.From the publication JP 2003/256993 a communication system for a vehicle is known.

Mit diesem Kommunikationssystem ist es möglich, eine Fahrstrecke eines Notfall- bzw. Einsatzfahrzeugs dadurch abzusichern, dass einem herkömmlichen Fahrzeug eine geplante Fahrstrecke des Einsatzfahrzeugs bereitgestellt wird. Somit soll es ermöglicht werden, einen Zusammenstoß des herkömmlichen Fahrzeugs mit dem Einsatzfahrzeug zu vermeiden. Hierbei wird die seitens des Einsatzfahrzeugs dem herkömmlichen Fahrzeug komplett bereitgestellte geplante Fahrstrecke mit einer aktuellen Position des herkömmlichen Fahrzeugs verglichen. Falls sich bei einem derartigen Vergleich herausstellt, dass ein Zusammenstoß zwischen dem herkömmlichen Fahrzeug und dem Einsatzfahrzeug bevorstehen könnte, wird dem Fahrer des herkömmlichen Fahrzeugs diesbezüglich eine Warnung bereitgestellt, die den Fahrer darüber informiert, dass sich ein im Einsatz befindliches Einsatzfahrzeug nähert.With this communication system, it is possible to secure a travel route of an emergency vehicle by providing a planned route of the emergency vehicle to a conventional vehicle. Thus, it should be possible to avoid a collision of the conventional vehicle with the emergency vehicle. Here, the part of the emergency vehicle on the conventional vehicle completely provided planned route is compared with a current position of the conventional vehicle. In such a comparison, if it turns out that a collision between the conventional vehicle and the emergency vehicle might be imminent, the driver of the conventional vehicle is provided with a warning informing the driver that an on-duty emergency vehicle is approaching.

Ein Verfahren und ein System zur Sicherung eines Betriebs eines Einsatzfahrzeugs, wenn sich dieses während eines Einsatzes im Straßenverkehr bewegt, unter Nutzung einer Streckenberechnung ist aus der Druckschrift US 6 700 504 bekannt. Auch in diesem Fall ist vorgesehen, dass Daten, die eine für das Einsatzfahrzeug berechnete Route umfassen, anderen Fahrzeugen, die sich entlang der berechneten Route befinden, bereitgestellt werden. Auf Grundlage der für die Fahrzeuge bereitgestellten Route des Einsatzfahrzeugs können für die Fahrzeuge Warnhinweise angezeigt werden, dass ein im Einsatz befindliches Einsatzfahrzeug unterwegs ist und entlang welcher Route es fährt.A method and system for securing operation of an emergency vehicle as it travels on-highway during a mission using a route calculation is disclosed in the document US 6,700,504 known. Also in this case, it is provided that data including a route calculated for the emergency vehicle is provided to other vehicles located along the calculated route. Based on the route of the emergency vehicle provided to the vehicles, warnings may be displayed for the vehicles that an on-duty emergency vehicle is traveling and along which route it is traveling.

Die Druckschrift DE 102 24 872 A1 betrifft ein zum Einsatz in einem Navigationssystem vorgesehenes Verfahren zum Ermitteln mindestens einer von mindestens einem Stand- und/oder Startort zu mindestens einem Zielort führenden Route eines Fortbewegungsmittels, insbesondere eines Kraftfahrzeugs, auf der Grundlage von Verkehrswege beschreibenden Verkehrswegeinformationen. Dabei wird in Abhängigkeit von mindestens einem die ermittelte Route betreffenden Ereignis oder von mindestens einer die ermittelte Route betreffenden besonderen Situation durch das Navigationssystem mindestens ein Hinweis oder Signal, bspw. ein Warnhinweis oder Warnsignal, erzeugt. Dies kann in Abhängigkeit von mindestens einem herannahenden, die ermittelte Route des Fortbewegungsmittels potenziell kreuzenden Einsatzfahrzeug erfolgen.The publication DE 102 24 872 A1 relates to a method for use in a navigation system provided for determining at least one of at least one stop and / or start location to at least one destination leading route of a means of transport, in particular a motor vehicle, based on traffic routes describing traffic route information. At least one indication or signal, for example a warning or warning signal, is generated by the navigation system as a function of at least one event concerning the determined route or of at least one particular situation concerning the determined route. This can take place as a function of at least one approaching emergency vehicle which potentially crosses the ascertained route of the means of transportation.

Offenbarung der ErfindungDisclosure of the invention

Die Erfindung betrifft ein Verfahren zum Bestimmen einer Fahrzeugroute bzw. Fahrzeugstrecke für ein Fahrzeug. Dabei werden einem zum Bestimmen der Fahrzeugroute ausgebildeten Modul des Fahrzeugs Informationen über eine bekannte Position und ein Ziel mindestens eines Sonderfahrzeugs bereitgestellt. Durch das Modul in dem Fahrzeug wird mindestens eine zwischen der bekannten Position und dem Ziel verlaufende und durch das mindestens eine Sonderfahrzeug zurückzulegende Sonderfahrzeugroute bzw. Sonderfahrzeugstrecke bestimmt. Die Fahrzeugroute für das Fahrzeug wird unter Berücksichtigung der mindestens einen für das mindestens eine Sonderfahrzeug berechneten Sonderfahrzeugroute bestimmt.The invention relates to a method for determining a vehicle route or vehicle route for a vehicle. In this case, information about a known position and a destination of at least one special vehicle is made available to a module of the vehicle designed for determining the vehicle route. By means of the module in the vehicle, at least one special vehicle route or special vehicle route running between the known position and the destination and to be covered by the at least one special vehicle is determined. The vehicle route for the vehicle is determined taking into account the at least one special vehicle route calculated for the at least one special vehicle.

Durch Bestimmen der Fahrzeugroute kann üblicherweise für herkömmliche Fahrzeuge, beispielsweise Kraftfahrzeuge, eine zurückzulegende Strecke im voraus berechnet und somit bestimmt werden. Die Fahrzeugroute für das herkömmliche Fahrzeug wird unter Berücksichtigung der von dem Modul des herkömmlichen Fahrzeugs typischerweise berechneten Sonderfahrzeugstrecke des mindestens einen Sonderfahrzeugs bzw. Einsatzfahrzeugs, bspw. Polizeifahrzeug, Feuerwehrfahrzeug oder Ambulanzfahrzeug, bspw. durch Berechnung bestimmt.By determining the vehicle route, conventionally, for conventional vehicles, for example motor vehicles, a distance to be traveled can be calculated in advance and thus determined. The vehicle route for the conventional vehicle is determined by calculation, taking into account the special vehicle route of the at least one special vehicle or emergency vehicle, for example a police vehicle, fire truck or ambulance vehicle, which is typically calculated by the module of the conventional vehicle.

Sonderfahrzeuge, die sich im Einsatz befinden, zeigen dies durch Blaulicht und Sirene bzw. Martinshorn an. Während des Einsatzes genießen Sonderfahrzeuge Sonderrechte, die es Fahrern von Sonderfahrzeugen erlauben, gesetzlich vorgeschriebene Verkehrsregeln zu umgehen. Demnach stellen Sonderfahrzeuge während eines Einsatzes für andere Verkehrsteilnehmer und somit für herkömmliche Fahrzeuge ein Gefahrenpotenzial dar.Special vehicles, which are in use, indicate this by blue light and siren or siren. During the operation, special vehicles enjoy special rights that allow drivers of special vehicles to bypass legally prescribed traffic regulations. Accordingly, special vehicles during use for other road users and thus for conventional vehicles constitute a potential hazard.

Mit der vorliegenden Erfindung ist es u. a. möglich, dass an einem Fahrzeug, eine zukünftige Fahrzeugroute für dieses Fahrzeug derart berechnet und somit bestimmt werden kann, dass das Fahrzeug nach potenziellen Sonderfahrzeugrouten, auf der das Sonderfahrzeug unterwegs ist, ausweichen kann. Außerdem kann dem Fahrer des Fahrzeugs eine Warnung oder ein Hinweis bereitgestellt werden, durch die bzw. den der Fahrer darüber informiert wird, dass sich mindestens ein Sonderfahrzeug nähern könnte, oder dass eine Begegnung mit mindestens einem Sonderfahrzeug bevorstehen könnte.With the present invention, it is u. a. It is thus possible for a vehicle to calculate a future vehicle route for this vehicle in such a way and thus to be able to determine that the vehicle can avoid potential special vehicle routes on which the special vehicle is traveling. In addition, the driver of the vehicle may be provided with a warning or an indication by which the driver is informed that at least one special vehicle could approach or that an encounter with at least one special vehicle could be imminent.

Bei einer Variante des Verfahrens kann vorgesehen sein, dass für das Fahrzeug, unter Berücksichtigung herkömmlicher Verkehrsverhältnisse bereits eine Fahrzeugroute bereitgestellt wurde, wobei das Fahrzeug bei einer Fahrt dieser Fahrzeugroute folgt. Zu einem Einsatz mindestens eines Sonderfahrzeugs kann es jederzeit überraschend kommen, wobei die Informationen über die bekannte Position und das Ziel des Sonderfahrzeugs üblicherweise bereits zu Beginn des Einsatzes durch Übermittlung verkehrsteilnehmenden Fahrzeugen bereitgestellt werden. Bei Durchführung des Verfahrens wird durch das Modul in dem Fahrzeug zunächst die mindestens eine Sonderfahrzeugroute und nachfolgend die in diesem Fall neue oder zumindest abschnittsweise aktualisierte Fahrzeugroute bestimmt, was bedeutet, das die bereits vor dem Einsatz bereitgestellte Fahrzeugroute geändert werden kann.In a variant of the method, it may be provided that a vehicle route has already been provided for the vehicle, taking into account conventional traffic conditions, the vehicle following this vehicle route when driving. For a mission At least one special vehicle can come at any time surprising, the information about the known position and the destination of the special vehicle are usually provided already at the beginning of the mission by transmitting vehicles participating in the traffic. When carrying out the method, the module in the vehicle first determines the at least one special-vehicle route and subsequently the new or at least partially updated vehicle route, which means that the vehicle route already provided prior to deployment can be changed.

Hierzu benötigt das herkömmliche Fahrzeug, typischerweise das Modul in dem herkömmlichen Fahrzeug, lediglich zwei Informationen über das im Einsatz befindliche Sonderfahrzeug, nämlich das Ziel und daher die Position, die das im Einsatz befindliche Sonderfahrzeug ansteuert, sowie eine bekannte, reale Position des Sonderfahrzeugs, wobei es sich um einen Start- oder Ausgangspunkt eines Einsatzes des mindestens einen Sonderfahrzeugs handeln kann. Auf Grundlage dessen ist es möglich, dass durch das Modul des Fahrzeugs die zumindest eine Sonderfahrzeugroute berechnet und demnach bestimmt wird. Bei Kenntnis der selbst berechneten Sonderfahrzeugroute kann das Modul des herkömmlichen Fahrzeugs die Fahrzeugroute für das herkömmliche Fahrzeug zum Erreichen eines für das Fahrzeug vorgesehenen Ziels bestimmen. Hierbei kann beispielsweise auch über eine Abschätzung einer Geschwindigkeit des Sonderfahrzeugs berechnet werden, wann sich das Sonderfahrzeug entlang der Sonderfahrzeugroute an welchem Punkt der Sonderfahrzeugroute aufhält.For this purpose, the conventional vehicle, typically the module in the conventional vehicle, requires only two pieces of information about the particular vehicle being used, namely the target and therefore the position that controls the particular vehicle in use, as well as a known, real position of the special vehicle it may be a starting or starting point of an insert of the at least one special vehicle. On the basis of this it is possible that the at least one special vehicle route is calculated by the module of the vehicle and thus determined. Knowing the self-calculated special vehicle route, the module of the conventional vehicle may determine the vehicle route for the conventional vehicle to reach a destination intended for the vehicle. In this case, for example, an estimate of a speed of the special vehicle can also be used to calculate when the special vehicle is staying along the special vehicle route at which point of the special vehicle route.

Üblicherweise kann das Modul und/oder ein Modul zur Umsetzung mindestens einer Variante des erfindungsgemäßen Verfahrens, in einem Navigationsgerät für das herkömmliche Verfahren integriert sein. Der Fahrer des herkömmlichen Fahrzeugs programmiert zu Beginn einer Fahrt ein gewünschtes Ziel ein. Während der Fahrt stellt das Navigationsgerät dem Fahrer mindestens einen Vorschlag für eine typischerweise günstige Fahrzeugroute zum Erreichen des gewünschten Ziels bereit. Zu einem Einsatz eines Sonderfahrzeuges kann es jederzeit kommen. Sobald die Information über die bekannte Position und das Ziel mindestens eines Sonderfahrzeugs dem Modul bereitgestellt werden, kann das Navigationsgerät mit dem integrierten Modul sofort reagieren und eine bereits vorprogrammierte Fahrzeugroute zumindest abschnittsweise spontan ändern, so dass es zu keiner möglicherweise gefährlichen Konfrontation des herkömmlichen Fahrzeugs mit dem Sonderfahrzeug kommt.Usually, the module and / or a module for implementing at least one variant of the method according to the invention can be integrated in a navigation device for the conventional method. The driver of the conventional vehicle programs a desired destination at the beginning of a trip. While driving, the navigation device provides the driver at least one suggestion for a typically favorable vehicle route to reach the desired destination. It can come at any time to use a special vehicle. As soon as the information about the known position and the destination of at least one special vehicle is made available to the module, the navigation device can react immediately with the integrated module and spontaneously change an already preprogrammed vehicle route at least in sections, so that there is no potentially dangerous confrontation of the conventional vehicle with the vehicle Special vehicle is coming.

Im Rahmen des Verfahrens können zeitgleich auch Sonderfahrzeugrouten bzw. -strecken für mehrere Sonderfahrzeuge, die sich gleichzeitig im Einsatz befinden, berechnet und auf Grundlage dieser Sonderfahrzeugrouten eine geeignete Fahrzeugroute bzw. -strecke für das herkömmliche Fahrzeug berechnet werden. Diese Maßnahme bietet sich bspw. bei einem Großeinsatz an, bei dem üblicherweise eine Vielzahl von Sonderfahrzeugen von Polizei, Feuerwehr und Ambulanz oder Notarzt aus unterschiedlichen Richtungen einen gemeinsamen Einsatzort und damit ein gemeinsames Ziel ansteuern.Within the scope of the method, it is also possible at the same time to calculate special vehicle routes or routes for a plurality of special vehicles which are in use at the same time, and to calculate a suitable vehicle route or route for the conventional vehicle on the basis of these special vehicle routes. This measure lends itself, for example, to a large-scale deployment in which usually a large number of special vehicles from the police, fire brigade and ambulance or ambulance driver from different directions head for a common deployment site and thus a common goal.

In Ausgestaltung des Verfahrens wird die Fahrzeugroute für das herkömmliche Fahrzeug derart bestimmt, dass diese Fahrzeugroute einen zu der mindestens einen Sonderfahrzeugroute möglichst abweichenden und/oder alternativen Verlauf aufweist. Die zu bestimmende Fahrzeugroute kann dabei bei Kenntnis der mindestens einen durch das Modul berechneten Sonderfahrzeugroute bspw. durch Optimierungsverfahren berechnet werden. Zur Bereitstellung einer optimalen Fahrzeugroute kann des weiteren berücksichtigt werden, dass die Fahrzeugroute mit der mindestens einen Sonderfahrzeugroute ein Minimum an Gemeinsamkeiten, d. h. gemeinsame Streckenabschnitte und/oder Kreuzungspunkte, aufweist. Dabei wird die Fahrzeugroute u. a. derart bestimmt, dass die Fahrzeugroute mit der mindestens einen Sonderfahrzeugroute möglichst wenig potenzielle Konfliktstellen aufweist. Dies kann auch bedeuten, dass die Fahrzeugroute derart bestimmt wird, dass die Fahrzeugroute idealerweise keinen Kreuzungspunkt mit der mindestens einen Sonderfahrzeugroute aufweist, so dass das herkömmliche Fahrzeug die mindestens eine Sonderfahrzeugroute umfährt, wenn es der berechneten Fahrzeugroute folgt.In an embodiment of the method, the vehicle route for the conventional vehicle is determined in such a way that this vehicle route has a course that deviates as far as possible from the at least one special-vehicle route and / or alternative route. The vehicle route to be determined can be calculated, for example, by optimization methods when the at least one special vehicle route calculated by the module is known. In order to provide an optimal vehicle route, it can further be taken into account that the vehicle route with the at least one special-vehicle route has a minimum of similarities, ie. H. common sections and / or crossing points, has. The vehicle route u. a. determined such that the vehicle route with the at least one special vehicle route has as few potential conflict points. This can also mean that the vehicle route is determined in such a way that the vehicle route ideally does not have a crossing point with the at least one special vehicle route, so that the conventional vehicle travels around the at least one special vehicle route if it follows the calculated vehicle route.

Weiterhin kann durch das Modul auch eine wahrscheinlichste Sonderfahrzeugstrecke ermittelt werden, falls während der Berechnungen zur Umsetzung einer Ausführungsform des Verfahrens mehrere Sonderfahrzeugrouten bestimmt werden. Hierbei können die Sonderfahrzeugrouten gegeneinander gewichtet werden, so dass die zu berechnende Fahrzeugroute üblicherweise mit der wahrscheinlichsten Sonderfahrzeugroute am wenigsten Gemeinsamkeiten aufweist.Furthermore, the module can also be used to determine a most probable special-vehicle route if a number of special-vehicle routes are determined during the calculations for implementing an embodiment of the method. Here, the special vehicle routes can be weighted against each other, so that the vehicle route to be calculated usually with the most likely special vehicle route has the least similarities.

Als bekannte Position des Sonderfahrzeugs, die herkömmlichen Fahrzeugen bereitgestellt wird, wird üblicherweise ein Ausgangs- bzw. Startpunkt eines Einsatzes des Sonder- bzw. Einsatzfahrzeugs bereitgestellt. Es ist jedoch auch möglich, dass das Sonderfahrzeug während des Einsatzes eine aktuelle und somit bekannte Position herkömmlichen Fahrzeugen im Abstand regelmäßiger Zeitintervalle oder gegebenenfalls kontinuierlich bereitstellt.As a known position of the special vehicle provided to conventional vehicles, a starting point of an insert of the special vehicle is usually provided. However, it is also possible for the special vehicle during use to provide a current and thus known position to conventional vehicles at intervals of regular time intervals or, if appropriate, continuously.

Bei Kenntnis des Ziels des Sonderfahrzeugs und der gegebenenfalls aktuellen, bekannten Position des Sonderfahrzeugs kann in Ausgestaltung des Verfahrens die mindestens eine Sonderfahrzeugroute jederzeit neu berechnet werden, so dass die Fahrzeugroute, die für das herkömmliche Fahrzeug vorgesehen ist, jederzeit aktualisiert werden kann.With knowledge of the destination of the special vehicle and possibly current, known position of the special vehicle, the at least one special vehicle route can be recalculated at any time in an embodiment of the method so that the vehicle route provided for the conventional vehicle can be updated at any time.

Die Informationen über das mindestens eine Sonderfahrzeug, d. h. die bekannte Position und das Ziel, werden typischerweise drahtlos über elektromagnetische Wellen übermittelt. Dabei ist es möglich, dass die Informationen über ein geeignetes Funkmodul des Sonderfahrzeugs ausgehend von dem Sonderfahrzeug übermittelt werden. Alternativ oder ergänzend können die Informationen ebenfalls drahtlos von einer Einsatzzentrale des mindestens einen Sonderfahrzeugs übermittelt werden.The information about the at least one special vehicle, d. H. the known position and destination are typically transmitted wirelessly via electromagnetic waves. It is possible that the information about a suitable radio module of the special vehicle are transmitted starting from the special vehicle. Alternatively or additionally, the information can also be transmitted wirelessly from an operations center of the at least one special vehicle.

Die erfindungsgemäße Anordnung ist zum Bestimmen einer Fahrzeugroute für ein Fahrzeug vorgesehen. Dabei umfasst die Anordnung ein zum Bestimmen der Fahrzeugroute ausgebildetes Modul, das in dem Fahrzeug angeordnet ist. Dieses in dem Fahrzeug angeordnete Modul ist dazu ausgebildet, aus bereitgestellten Informationen über eine bekannte Position und ein Ziel mindestens eines Sonderfahrzeugs mindestens eine zwischen der bekannten Position und dem Ziel verlaufende Sonderfahrzeugroute, die von dem Sonderfahrzeug potenziell zurückzulegen ist, zu berechnen und somit zu bestimmen. Dieses Modul ist weiterhin dazu ausgebildet, die Fahrzeugroute für das herkömmliche Fahrzeug unter Berücksichtigung der mindestens einen für das mindestens eine Sonderfahrzeug berechneten Sonderfahrzeugroute durch Berechnung zu bestimmen.The arrangement according to the invention is intended for determining a vehicle route for a vehicle. In this case, the arrangement comprises a module designed to determine the vehicle route, which is arranged in the vehicle. This arranged in the vehicle module is adapted to calculate from information provided about a known position and a destination of at least one special vehicle at least one running between the known position and the destination special vehicle route, which is potentially covered by the special vehicle, and thus to determine. This module is furthermore designed to determine the vehicle route for the conventional vehicle, taking into account the at least one special vehicle route calculated for the at least one special vehicle, by calculation.

In einer Ausgestaltung kann die Anordnung mindestens ein Empfangsmodul zum drahtlosen Empfangen der Informationen über die bekannte Position und das Ziel des mindestens einen Sonderfahrzeugs aufweisen. Die Anordnung kann außerdem ein Navigationsmodul zur Bestimmung der mindestens einen Sonderfahrzeugroute und der Fahrzeugroute aufweisen. Hierbei kann das Navigationsmodul bspw. als ein sogenanntes GPS-Modul ausgebildet sein, mit dem es möglich ist, eine Position des mindestens einen Sonderfahrzeugs und/oder des herkömmlichen Fahrzeugs u. a. satellitengestützt zu bestimmen.In one embodiment, the arrangement may have at least one receiving module for wirelessly receiving the information about the known position and the destination of the at least one special vehicle. The arrangement may also include a navigation module for determining the at least one special vehicle route and the vehicle route. In this case, the navigation module can be embodied, for example, as a so-called GPS module with which it is possible to determine a position of the at least one special vehicle and / or of the conventional vehicle, inter alia, satellite-supported.

Es kann ebenfalls vorgesehen sein, dass ein Sendemodul, das zum drahtlosen Übertragen der Information über die bekannte Position und des Ziel des Sonderfahrzeugs ausgebildet ist, als eine mögliche Komponente der Anordnung vorgesehen ist. Ein derartiges Sendemodul kann in dem mindestens einen Sonderfahrzeug und/oder in einer Einsatzzentrale des mindestens einen Sonderfahrzeugs angeordnet sein.It can also be provided that a transmission module, which is designed for wireless transmission of the information about the known position and the destination of the special vehicle, is provided as a possible component of the arrangement. Such a transmission module can be arranged in the at least one special vehicle and / or in an operation center of the at least one special vehicle.

Die beschriebene Anordnung ist dazu ausgebildet, sämtliche Schritte des vorgestellten Verfahrens durchzuführen. Dabei können einzelne Schritte dieses Verfahrens auch von einzelnen Modulen bzw. Komponenten der Anordnung durchgeführt werden. Weiterhin können Funktionen der Anordnung oder Funktionen von einzelnen Komponenten der Anordnung als Schritte des Verfahrens umgesetzt werden.The arrangement described is designed to carry out all the steps of the presented method. In this case, individual steps of this method can also be carried out by individual modules or components of the arrangement. Furthermore, functions of the arrangement or functions of individual components of the arrangement can be implemented as steps of the method.

Die Erfindung betrifft weiterhin ein Computerprogramm mit Programmcodemitteln, um alle Schritte eines beschriebenen Verfahrens durchzuführen, wenn das Computerprogramm auf einem Computer oder einer entsprechenden Recheneinheit, insbesondere in einer erfindungsgemäßen Anordnung, ausgeführt wird.The invention further relates to a computer program with program code means in order to perform all the steps of a described method when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in an arrangement according to the invention.

Das erfindungsgemäße Computerprogrammprodukt mit Programmcodemitteln, die auf einem computerlesbaren Datenträger gespeichert sind, ist zum Durchführen aller Schritte eines beschriebenen Verfahrens ausgebildet, wenn das Computerprogramm auf einem Computer oder einer entsprechenden Recheneinheit, insbesondere in einer erfindungsgemäßen Anordnung, ausgeführt wird.The computer program product according to the invention with program code means which are stored on a computer-readable data carrier is designed to carry out all the steps of a described method when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in an arrangement according to the invention.

Eine Umsetzung der Erfindung beruht darauf, dass Zieldaten bzw. Daten von einem durch das mindestens eine Sonderfahrzeug anzufahrenden Ziels anderen Fahrzeugen übermittelt und somit bereitgestellt werden.An implementation of the invention is based on the fact that target data or data from a destination to be approached by the at least one special vehicle is transmitted to other vehicles and thus provided.

Durch die Übermittlung des Einsatzziels des mindestens einen Sonderfahrzeugs an andere Fahrzeuge sind Routenberechnungen in empfangenden Fahrzeugen möglich. Dabei kann vorgesehen sein, dass in dem die Informationen empfangenden Fahrzeug zunächst die mindestens eine Sonderfahrzeugroute berechnet wird. Die mindestens eine berechnete Sonderfahrzeugroute wird dann als Vorgabe zur Berechnung der Fahrzeugroute eines Fahrzeugs genutzt, so dass die Fahrzeugroute an die mindestens eine Sonderfahrzeugroute derart angepasst ist, dass eine Begegnung des Fahrzeugs mit dem mindestens einen Sonderfahrzeugs während eines Einsatzes des mindestens einen Sonderfahrzeugs weitgehend vermieden werden kann.By transmitting the mission goal of the at least one special vehicle to other vehicles, route calculations in receiving vehicles are possible. It can be provided that the at least one special vehicle route is first calculated in the vehicle receiving the information. The at least one calculated special vehicle route is then used as a default for calculating the vehicle route of a vehicle, so that the vehicle route is adapted to the at least one special vehicle route such that a Meeting the vehicle with the at least one special vehicle during use of the at least one special vehicle can be largely avoided.

Die Erfindung dient bei einer Anwendung als Grundlage für ein Assistenzsystem, das den Fahrer beim Annähern von im Einsatz befindlichen Sonderfahrzeugen durch Kenntnis von Fahrtzielen besonders effektiv unterstützt und bspw. warnt. Mit der Erfindung kann somit eine Unterstützung des Fahrers beim Annähern von Sonderfahrzeugen realisiert werden. Ein Navigationssystem, das typischerweise mindestens ein Modul der beschriebenen Anordnung erfasst, und im normalen Fahrzeug angeordnet ist, berechnet mindestens eine wahrscheinliche Fahrtroute des Einsatzfahrzeugs aus der empfangenen aktuellen Position und dem empfangenen Ziel des Einsatzfahrzeugs.The invention is used in an application as the basis for an assistance system that particularly effectively supports the driver when approaching in use special vehicles by knowing destinations and warns, for example. With the invention, a support of the driver can thus be realized when approaching special vehicles. A navigation system, which typically detects at least one module of the described arrangement, and is located in the normal vehicle, calculates at least one probable route of the emergency vehicle from the received current position and the received target of the emergency vehicle.

Da die Berechnung der Fahrtroute des Sonder- bzw. Einsatzfahrzeugs in Ausgestaltung der Erfindung nicht im Einsatzfahrzeug stattfindet, benötigen die Einsatzfahrzeuge kein Navigationssystem, somit ist es diesbezüglich nicht erforderlich, derartige Sonderfahrzeuge mit Navigationssystemen auszurüsten, so dass bei der Ausrüstung von Sonderfahrzeugen gespart werden kann.Since the calculation of the route of the special or emergency vehicle in the embodiment of the invention does not take place in the emergency vehicle, the emergency vehicles need no navigation system, thus it is not necessary in this regard to equip such special vehicles with navigation systems, so that can be saved in the equipment of special vehicles.

Durch die Routenberechnung der mindestens einen Sonderfahrzeugroute im empfangenden Fahrzeug ist die Auslösung von nicht notwendigen Warnungen/Empfehlungen geringer. Somit kann ein Navigationssystem Vorschläge zum sicheren Passieren bereitstellen, so dass die Sonderfahrzeugroute umfahren werden kann. Außerdem können Vorschläge für eine von dem Fahrzeug zu fahrende Geschwindigkeit bereitgestellt werden.Due to the route calculation of the at least one special vehicle route in the receiving vehicle, the triggering of unnecessary warnings / recommendations is less. Thus, a navigation system can provide suggestions for safe passage so that the special vehicle route can be bypassed. In addition, suggestions for a speed to be traveled by the vehicle may be provided.

Für eine Umsetzung der Erfindung kann die sog. C2X- bzw. Car-to-Car-Kommunikation zur Übertragung von Informationen zwischen Fahrzeugen benutzt werden. In diesem Fall ist eine C2X-Standardinformation über die aktuelle Position des mindestens einen Sonderfahrzeugs lediglich durch die in der Regel nicht veränderliche Information über die Zielkoordinaten und somit das Ziel des Sonderfahrzeugs zu ergänzen und zu übermitteln. Unabhängig davon, auf welche Weise die Informationen übermittelt und somit bereitgestellt werden, ist eine Größe der Übertragungspakete kleiner als wenn die vollständige Sonderfahrzeugroute, bspw. im Sonderfahrzeug und somit außerhalb des Fahrzeugs, berechnet, übermittelt und ggf. aktualisiert wird.For an implementation of the invention, the so-called. C2X or car-to-car communication for the transmission of information between vehicles can be used. In this case, C2X standard information about the current position of the at least one special vehicle is to be supplemented and transmitted only by the information about the destination coordinates, which is generally unchangeable, and thus the destination of the special vehicle. Regardless of the way in which the information is transmitted and thus provided, a size of the transmission packets is smaller than if the complete special vehicle route, for example in the special vehicle and therefore outside the vehicle, is calculated, transmitted and possibly updated.

Durch Routenberechnung basierend auf Zieldatenübermittlung kann z. B. eine Umfahrung der Fahrstrecke des Sonderfahrzeuges erfolgen, auch wenn aus einer Bewegungsrichtung eine Begegnung noch nicht offensichtlich ist.By route calculation based on destination data transmission, for. B. avoid the route of the special vehicle, even if from a direction of movement encounter is not yet obvious.

Sonderfahrzeuge, die eine Fahrt mit Blaulicht und Martinshorn beginnen, bekommen über ihre Leitstelle die Zielkoordinaten übermittelt bzw. geben diese selbst an. Ein Sonder- bzw. Einsatzfahrzeug kann, während das als Blinken des Blaulichts und/oder Heulen der Sirene ausgebildete Sondersignal aktiviert ist, die aktuelle Position und die Zielkoordinaten über die C2X-Kommunikation an andere Fahrzeuge senden. Diese Fahrzeuge berechnen dann jeweils für sich jeweils mit Wahrscheinlichkeiten versehene mögliche Sonderfahrzeugrouten des mindestens einen Sonderfahrzeugs und insbesondere dessen wahrscheinlichste Sonderfahrzeugroute und geben ggf. Warnungen oder Hinweise an den Fahrer aus. Es können auch Empfehlungen ausgegeben werden, bspw. Geschwindigkeitsempfehlungen oder Spurempfehlungen, um einen Konflikt mit dem Sonderfahrzeug zu verhindern. Alternativ oder ergänzend können die o. g. Zieldaten auch direkt von einer Leitstelle versendet werden. Die versendeten Informationen können hinsichtlich ihres Formats standardisiert seinSpecial vehicles, which start a journey with blue light and siren, receive the target coordinates via their control center or indicate these themselves. A special vehicle may be activated while transmitting the special signal formed as flashing of the blue light and / or howling of the siren to the current position and the destination coordinates via the C2X communication to other vehicles. These vehicles then calculate in each case for each probable probable special vehicle routes of the at least one special vehicle and in particular its most probable special vehicle route and give any warnings or instructions to the driver. Recommendations may also be issued, such as speed recommendations or lane recommendations, to prevent conflict with the special vehicle. Alternatively or additionally, the o. G. Target data can also be sent directly from a control center. The information sent can be standardized in terms of format

Weitere Vorteile und Ausgestaltungen der Erfindung ergeben sich aus der Beschreibung und der beiliegenden Zeichnung.Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.

Es versteht sich, dass die voranstehend genannten und die nachstehend noch zu erläuternden Merkmale nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Kombinationen oder in Alleinstellung verwendbar sind, ohne den Rahmen der vorliegenden Erfindung zu verlassen.It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination indicated, but also in other combinations or in isolation, without departing from the scope of the present invention.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

  • Figur 1 zeigt in schematischer Darstellung ein Diagramm zu einer aus dem Stand der Technik bekannten Vorgehensweise zur Bestimmung einer Fahrzeugroute. FIG. 1 shows a schematic representation of a diagram of a known from the prior art procedure for determining a vehicle route.
  • Figur 2 zeigt ein erstes Diagramm zu einer ersten Umsetzung einer Ausführungsform des erfindungsgemäßen Verfahren. FIG. 2 shows a first diagram for a first implementation of an embodiment of the method according to the invention.
  • Figur 3 zeit eine schematische Darstellung zu einer zweiten Ausführungsform des erfindungsgemäßen Verfahrens. FIG. 3 time is a schematic representation of a second embodiment of the method according to the invention.
Ausführungsformen der ErfindungEmbodiments of the invention

Die Erfindung ist anhand von Ausführungsformen in den Zeichnungen schematisch dargestellt und wird im folgenden unter Bezugnahme auf die Zeichnungen ausführlich beschrieben.The invention is illustrated schematically by means of embodiments in the drawings and will be described in detail below with reference to the drawings.

Die Figuren werden zusammenhängend und übergreifend beschrieben, gleiche Bezugszeichen bezeichnen gleiche Komponenten.The figures are described in a coherent and comprehensive manner, like reference numerals designate like components.

Figur 1 zeigt in schematischer Darstellung einen Stadtplan, in dem eine aktuelle Position eines herkömmlichen Fahrzeugs 2 sowie eines Sonderfahrzeugs 4, hier mit Blaulicht, eingetragen ist. Es ist vorgesehen, dass sich das Sonderfahrzeug 4 in einem Einsatz in Richtung eines Einsatzortes befindet. Wie durch die beiden Pfeile angedeutet ist, fährt das herkömmliche Fahrzeug 2 dem Sonderfahrzeug 4 entgegen. Üblicherweise kann der Fahrer des herkömmlichen Fahrzeugs 2 das sich im Einsatz befindliche Sonderfahrzeug nur akustisch über eine Sirene des Sonderfahrzeugs 4 sowie optisch über das Blaulicht orten. In einer derartigen Situation ist ein Ausweichen des herkömmlichen Fahrzeugs von einer Sonderfahrzeugroute bzw. Sonderfahrzeugstrecke des Sonderfahrzeugs 4 nur bedingt möglich, da der Fahrer des herkömmlichen Fahrzeugs 2 das Sonderfahrzeug 4 erst viel zu spät wahrnimmt. FIG. 1 shows a schematic representation of a city map in which a current position of a conventional vehicle 2 and a special vehicle 4, here with blue light, is registered. It is envisaged that the special vehicle 4 is in an application in the direction of a place of deployment. As indicated by the two arrows, the conventional vehicle 2 approaches the special vehicle 4. Usually, the driver of the conventional vehicle 2 can locate the special vehicle in use only acoustically via a siren of the special vehicle 4 and optically via the blue light. In such a situation, evasion of the conventional vehicle from a special vehicle route or special vehicle route of the special vehicle 4 is only possible to a limited extent since the driver of the conventional vehicle 2 only perceives the special vehicle 4 much too late.

In dem in Figur 2 schematisch gezeigten Stadtplan sind ebenfalls ein herkömmliches Fahrzeug 2 sowie das Sonderfahrzeug 4 an ihren aktuellen Positionen 6, 8 dargestellt. Weiterhin befindet sich das Sonderfahrzeug 4 in einem Einsatz, wobei bei Sonderfahrzeug 4 ausgehend von der aktuellen Position ein Ziel 10 und somit seinen Einsatzort erreichen muss.In the in FIG. 2 Map shown schematically are also a conventional vehicle 2 and the special vehicle 4 at their current positions 6, 8 shown. Furthermore, the special vehicle 4 is in an insert, wherein in the case of special vehicle 4, starting from the current position, a destination 10 and thus its place of deployment must be reached.

Zur Umsetzung der ersten Ausführungsform des erfindungsgemäßen Verfahrens ist vorgesehen, dass das Sonderfahrzeug 4 Informationen über seine bekannte, aktuelle Position 8, hier ein Ausgangsort des Einsatzes und sein Ziel 10, das es während des Einsatzes erreichen muss, drahtlos an andere Verkehrsteilnehmer und somit auch an das in Figur 2 gezeigte herkömmliche Fahrzeug 2 übermittelt.In order to implement the first embodiment of the method according to the invention, it is provided that the special vehicle 4 transmits information about its known, current position 8, here a starting point of the insert and its target 10, which must reach it during use, to other road users and thus also to this in FIG. 2 shown conventional vehicle 2 transmitted.

Die Informationen über die aktuelle Position 8 und das Ziel 10 des Einsatzfahrzeugs 4 werden von einem Empfangsmodul des herkömmlichen Fahrzeugs 2 empfangen. Bei Kenntnis der aktuellen Position 8 und des Ziels 10 berechnet ein in dem herkömmlichen Fahrzeug 2 angeordnetes Modul eine wahrscheinlichste Sonderfahrzeugroute 12 für das Sonderfahrzeug 4, die zwischen der aktuellen, bekannten Position 8 und dem Ziel 10 verläuft.The current position information 8 and the target 10 of the emergency vehicle 4 are received by a receiving module of the conventional vehicle 2. Knowing the current position 8 and the destination 10, a module arranged in the conventional vehicle 2 calculates a most probable special vehicle route 12 for the special vehicle 4, which runs between the current, known position 8 and the destination 10.

Es ist außerdem vorgesehen, dass das herkömmliche Fahrzeug 2 mit einem Navigationsgerät ausgestattet ist. Durch dieses Navigationsgerät wird eine Fahrzeugroute, die das herkömmliche Fahrzeug 2 zwischen einer Ausgangsposition und einer Zielposition zurückzulegen hat, berechnet. Eine Fahrzeugroute 14 des herkömmlichen Fahrzeugs 2 wurde in der vorliegenden Ausführungsform bereits vor einem Beginn des Einsatzes des Sonderfahrzeugs 4 berechnet. Durch Vergleich der Fahrzeugroute 14 mit der durch das Modul des herkömmlichen Fahrzeugs 2 berechneten Sonderfahrzeugroute 12 hat sich ergeben, dass sich die Fahrzeugroute 14 und die Sonderfahrzeugroute 12 nicht kreuzen. In diesem Fall ist es nicht nötig, die Sonderfahrzeugroute 14 neu zu berechnen um ein potenzielles Kreuzen mit dem Sonderfahrzeug 4 auszuschließen. Weiterhin ist vorgesehen, dass in der anhand der in Figur 2 beschriebenen Situation es auch nicht nötig ist, dem Fahrer des herkömmlichen Fahrzeugs 2 eine besondere Warnung bereitzustellen.It is also contemplated that the conventional vehicle 2 is equipped with a navigation device. By this navigation apparatus, a vehicle route that the conventional vehicle 2 has to travel between a home position and a destination position is calculated. A vehicle route 14 of the conventional vehicle 2 has already been calculated in the present embodiment before the start of the use of the special vehicle 4. By comparing the vehicle route 14 with the special vehicle route 12 calculated by the module of the conventional vehicle 2, it has been found that the vehicle route 14 and the special vehicle route 12 do not intersect. In this case, it is not necessary to recalculate the special vehicle route 14 in order to exclude a potential cruising with the special vehicle 4. Furthermore, it is provided that in the basis of in FIG. 2 described situation, it is also not necessary to provide the driver of the conventional vehicle 2, a special warning.

In dem in Figur 3 schematisch dargestellten Stadtplan ist ebenfalls das herkömmliche Fahrzeug 2 an seiner aktuellen Position sowie das Sonderfahrzeug 4 in seiner aktuellen Position 8 dargestellt. In der vorliegenden Ausführungsform des erfindungsgemäßen Verfahrens ist zunächst geplant, dass das herkömmliche Fahrzeug 2 entlang einer ersten Fahrzeugroute 16 fährt, die hier gestrichelt dargestellt ist. Des weiteren ist vorgesehen, dass das Sonderfahrzeug 4 sich ausgehend von seiner aktuellen Position 8 auf einer Einsatzfahrt befindet und dabei sein Ziel 18 erreichen muss.In the in FIG. 3 The city map shown schematically also shows the conventional vehicle 2 at its current position and the special vehicle 4 in its current position 8. In the present embodiment of the method according to the invention, it is initially planned that the conventional vehicle 2 travels along a first vehicle route 16, which is shown here by dashed lines. Furthermore, it is provided that the special vehicle 4, starting from its current position 8, is on a service run and has to reach its destination 18.

Während des Verfahrens stellt das Sonderfahrzeug 4 mindestens einmal Informationen über die aktuelle und somit bekannte Position 8 und das Ziel 18 anderen Verkehrsteilnehmern und daher auch dem herkömmlichen Fahrzeug 2 durch Positions- und Zieldatenübermittlung bereit. Da dem Modul des herkömmlichen Fahrzeugs nun die aktuelle, bekannte Position 8 sowie das Ziel 18 bekannt sind, wird durch das Modul im Rahmen des Verfahrens eine wahrscheinliche Sonderfahrzeugstrecke 20, die hier in Figur 3 durch Kreuze dargestellt ist, und zwischen der aktuellen Position 8 und dem Ziel 18 verläuft, berechnet. Während des Verfahrens wird durch das Modul in dem herkömmlichen Fahrzeug 2 erkannt, dass die durch das Modul in dem herkömmlichen Fahrzeug berechnete Sonderfahrzeugstrecke 20 die zunächst vorgesehene Fahrzeugstrecke 16 zumindest abschnittsweise identisch verlaufen. Als Reaktion auf diese Situation wird im Rahmen des Verfahrens von dem Modul in dem herkömmlichen Fahrzeug nach Berechnung der Sonderfahrzeugstrecke 20 auf Grundlage einer Kenntnis der berechneten Sonderstrecke 20 eine alternative Fahrzeugroute 22 für das herkömmliche Fahrzeug 2 berechnet. Diese alternative Fahrzeugstrecke 22 ist in Figur 3 durch kleine Kreise dargestellt. Durch diese Maßnahme, d. h. die Bereitstellung der alternativen Fahrzeugstrecke 22, die mittelbar auf Grundlage von Kenntnis der bekannten Position 8 und des Ziels 18 des Sonderfahrzeugs 4 berechnet wird, kann eine Konfrontation des herkömmlichen Fahrzeugs 2 mit dem Sonderfahrzeug 4 vermieden werden.During the procedure, the special vehicle 4 provides at least one information about the current and thus known position 8 and the destination 18 to other road users and therefore also to the conventional vehicle 2 by position and destination data transmission. Since the module of the conventional vehicle now the current, known position 8 and the target 18 are known, the module is in the context of the method a probable special vehicle line 20, the here in FIG. 3 represented by crosses, and between the current position 8 and the target 18 is calculated. During the method, it is recognized by the module in the conventional vehicle 2 that the special vehicle route 20 calculated by the module in the conventional vehicle runs at least in sections identical to the initially provided vehicle route 16. In response to this situation, an alternative vehicle route 22 for the conventional vehicle 2 is calculated by the module in the conventional vehicle after calculation of the special vehicle route 20 based on a knowledge of the calculated special route 20. This alternative vehicle route 22 is in FIG. 3 represented by small circles. By this measure, ie the provision of the alternative vehicle route 22, which is calculated indirectly on the basis of knowledge of the known position 8 and the destination 18 of the special vehicle 4, a confrontation of the conventional vehicle 2 with the special vehicle 4 can be avoided.

Claims (11)

Verfahren zum Bestimmen einer Fahrzeugroute (14, 16, 18) für ein Fahrzeug (2), bei dem einem zum Bestimmen der Fahrzeugroute (14, 16, 18) ausgebildeten Modul des Fahrzeugs (2) Informationen über eine bekannte Position (8) und ein Ziel (10, 18) mindestens eines Sonderfahrzeugs (4) bereitgestellt wird, wobei durch das Modul in dem Fahrzeug (2) mindestens eine zwischen der bekannten Position (8) und dem Ziel (10, 18) verlaufende und durch das mindestens eine Sonderfahrzeug (4) zurückzulegende Sonderfahrzeugroute (12, 20) bestimmt wird, und wobei die Fahrzeugroute (14, 16, 18) unter Berücksichtigung der mindestens einen für das mindestens Sonderfahrzeug (4) berechneten Sonderfahrzeugroute (12, 20) bestimmt wird.Method for determining a vehicle route (14, 16, 18) for a vehicle (2), in which a module of the vehicle (2) designed to determine the vehicle route (14, 16, 18) contains information about a known position (8) and Target (10, 18) of at least one special vehicle (4) is provided, wherein by the module in the vehicle (2) at least one between the known position (8) and the target (10, 18) extending through the at least one special vehicle ( 4) to be covered is determined special vehicle route (12, 20), and wherein the vehicle route (14, 16, 18) is determined taking into account the at least one for the at least one special vehicle (4) calculated special vehicle route (12, 20). Verfahren nach Anspruch 1, bei dem die Fahrzeugroute (14, 16, 18) derart bestimmt wird, dass die Fahrzeugroute (14, 16, 18) einen zu der mindestens einen Sonderfahrzeugroute (12, 20) möglichst abweichenden Verlauf aufweist.The method of claim 1, wherein the vehicle route (14, 16, 18) is determined such that the vehicle route (14, 16, 18) to the at least one special vehicle route (12, 20) as possible deviating course. Verfahren nach Anspruch 1 oder 2, bei dem als bekannte Position (8) des mindestens einen Sonderfahrzeugs (4) ein Ausgangspunkt des mindestens einen Sonderfahrzeugs (4) bereitgestellt wird.Method according to Claim 1 or 2, in which a starting point of the at least one special vehicle (4) is provided as the known position (8) of the at least one special vehicle (4). Verfahren nach einem der voranstehenden Ansprüche, bei dem die Informationen drahtlos übermittelt werden.Method according to one of the preceding claims, in which the information is transmitted wirelessly. Verfahren nach einem der voranstehenden Ansprüche, bei dem die Informationen ausgehend von dem mindestens einen Sonderfahrzeug (4) übermittelt werden.Method according to one of the preceding claims, in which the information is transmitted starting from the at least one special vehicle (4). Anordnung zum Bestimmen einer Fahrzeugroute (14, 16, 18) für ein Fahrzeug, (2) die ein zum Bestimmen der Fahrzeugroute (14,16, 18) ausgebildetes Modul, das in dem Fahrzeug (2) angeordnet ist, aufweist, wobei das Modul dazu ausgebildet ist, aus bereitgestellten Informationen über eine bekannte Position (8) und ein Ziel (10, 14) mindestens eines Sonderfahrzeugs (4) mindestens eine zwischen der bekannten Position (8) und dem Ziel (10, 14) verlaufende Sonderfahrzeugroute (12, 20), die von dem Sonderfahrzeug (4) zurückzulegen ist, zu berechnen, und wobei das Modul weiterhin dazu ausgebildet ist, die Fahrzeugroute (14, 16, 18) unter Berücksichtigung der mindestens einen für das mindestens eine Sonderfahrzeug (8) bestimmten Sonderfahrzeugroute (12, 20) zu bestimmen.An arrangement for determining a vehicle route (14, 16, 18) for a vehicle, (2) comprising a module designed to determine the vehicle route (14, 16, 18), which is arranged in the vehicle (2), wherein the module is configured to provide information about a known position (8) and a destination (10, 14) of at least one special vehicle (4) at least one special vehicle route (12, 12) between the known position (8) and the destination (10, 14). 20) to be traveled by the special vehicle (4), and wherein the module is further adapted to under the vehicle route (14, 16, 18) Considering the at least one for the at least one special vehicle (8) certain special vehicle route (12, 20) to determine. Anordnung nach Anspruch 6, die mindestens ein Empfangsmodul zum drahtlosen Empfangen der Informationen über die bekannte Position (8) und das Ziel (10, 14) des mindestens einen Sonderfahrzeugs (4) aufweist.Arrangement according to claim 6, comprising at least one receiving module for wirelessly receiving the information about the known position (8) and the destination (10, 14) of the at least one special vehicle (4). Anordnung nach Anspruch 6 oder 7, die ein Navigationsmodul zur Bestimmung der mindestens einen Sonderfahrzeugroute (12, 20) und der Fahrzeugroute (14, 16, 18) aufweist.Arrangement according to claim 6 or 7, which has a navigation module for determining the at least one special vehicle route (12, 20) and the vehicle route (14, 16, 18). Anordnung nach einem der Ansprüche 6 bis 8, die mindestens ein Sendemodul zum drahtlosen Senden der Informationen über die bekannte Position (8) und das Ziel (10, 18) des mindestens einen Sonderfahrzeugs (4) aufweist.Arrangement according to one of Claims 6 to 8, which has at least one transmission module for wireless transmission of the information about the known position (8) and the destination (10, 18) of the at least one special vehicle (4). Computerprogramm mit Programmcodemitteln, um alle Schritte eines Verfahrens nach einem der Ansprüche 1 bis 5 durchzuführen, wenn das Computerprogramm auf einem Computer oder einer entsprechenden Recheneinheit, insbesondere in einer Anordnung nach einem der Ansprüche 6 bis 8, ausgeführt wird.Computer program with program code means for carrying out all the steps of a method according to one of Claims 1 to 5, when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in an arrangement according to one of Claims 6 to 8. Computerprogrammprodukt mit Programmcodemitteln, die auf einem computerlesbaren Datenträger gespeichert sind, um alle Schritte eines Verfahrens nach einem der Ansprüche 1 bis 5 durchzuführen, wenn das Computerprogramm auf einem Computer oder einer entsprechenden Recheneinheit, insbesondere in einer Anordnung nach einem der Ansprüche 6 bis 8, ausgeführt wird.A computer program product comprising program code means stored on a computer-readable medium for carrying out all the steps of a method according to any one of claims 1 to 5, when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in an arrangement according to one of claims 6 to 8 becomes.
EP09159843.3A 2008-07-08 2009-05-11 Method for determining a vehicle route Active EP2144215B1 (en)

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