DE102014221007A1 - Device and method for operating a vehicle - Google Patents

Abstract

The invention relates to a device for operating a vehicle, comprising a first processing device which is set up to determine a first standard target trajectory for an at least partially automated guidance of the vehicle based on a vehicle environment, a second processing device that is set up based on determine the same environment data and independently of the determination of the first standard target trajectory, a second standard target trajectory for an at least partially automated guidance of the vehicle, wherein the device is configured to compare the first and the second standard target trajectories and based on the comparison to select either the first or the second standard target trajectory, so that the vehicle can be guided based on the selected standard target trajectory at least partially automated.
The invention further relates to a method and a system for operating a vehicle and a computer program.

Description

The invention relates to a method, a device and a system for operating a vehicle. The invention further relates to a computer program.

State of the art

A driver assistance system is known which has a traffic jam pilot function. This means that the stowage pilot automatically travels on highways and motorway-like roads without having to intervene. This means that the congestion pilot explicitly allows sideline activities. The challenge with the stowage pilot function is in particular that the stowage pilot has the responsibility. This means that no driver can intervene in case of errors. There is therefore a need to provide a redundant and diverse "monitoring function" that checks the calculated trajectories (standard and emergency) for freedom from collision.

It is known that a main function calculates a standard trajectory and a supervisor checks the calculated standard trajectory for collision freedom. If, unlike the main function, the supervisor detects a possible collision, it is known that the main function decides what to do next. Examples would be a recalculation or a restriction of functionality.

Disclosure of the invention

The object underlying the invention can therefore be seen to provide an improved device for operating a vehicle, which extends and improves the known prior art.

The object on which the invention is based can furthermore be seen in the specification of a corresponding method for operating a vehicle.

The object underlying the invention can also be seen to provide a corresponding system for operating a vehicle.

The object underlying the invention can furthermore be seen in the specification of a corresponding computer program.

These objects are achieved by means of the subject matter of the independent claims. Advantageous embodiments of the invention are the subject of each dependent subclaims.

According to one aspect, an apparatus for operating a vehicle is provided, comprising a first processing device that is set up to determine a first standard target trajectory for an at least partially automated guidance of the vehicle based on a vehicle environment, a second processing device that is set up, determining, based on the same environment data and independently of the determination of the first standard target trajectory, a second standard target trajectory for at least partially automated guidance of the vehicle, wherein the device is set up to compare the first and second standard target trajectories and based on to select the comparison either the first or the second standard target trajectory, so that the vehicle based on the selected standard target trajectory can be performed at least partially automated.

According to a further aspect, a method for operating a vehicle is provided, wherein a first standard target trajectory for at least partially automated guidance of the vehicle based on a vehicle environment corresponding environment data is determined, wherein independently of the determination of the first standard target trajectory, a second standard target trajectory is determined for the at least partially automated guidance of the vehicle based on the same environment data, wherein the first and the second standard target trajectory are compared with each other, depending on the comparison either the first or the second standard target trajectory is selected, so that the vehicle based is performed at least partially automated on the selected standard target trajectory.

In yet another aspect, there is provided a system for operating a vehicle, comprising environment sensing for detecting a vehicle environment and providing environment data corresponding to the sensed vehicle environment, a device for operating a vehicle, vehicle actuation configured in response to one of the selected desired trajectory based control to lead the vehicle at least partially automated.

In yet another aspect, there is provided a computer program comprising program code for performing the method of operating a vehicle when the computer program is run on a computer.

The invention thus encompasses, in particular, the idea that a first standard target trajectory and a second standard target trajectory are determined independently of one another based on the same environment data. These become one with each other is compared, wherein depending on the comparison, either the first or the second standard target trajectory is selected. The then selected standard target trajectory is used for the guidance of the vehicle. The fact that two standard target trajectories are determined independently of one another based on the same environment data, in particular the technical advantage is caused that a redundancy in terms of the determination of the standard target trajectory is given. It is thus also advantageously possible to check the first standard target trajectory by means of or based on the second standard target trajectory. The first processing device is thus advantageously monitored for possible errors or malfunctions. Because in the normal case, the two standard target trajectories should be approximately identical or at least very similar. Significant deviations indicate a possible miscalculation. In such a case, it is then provided in particular that the standard target trajectory is recalculated by means of the first processing device. All in all, vehicle safety is thus advantageously increased.

The two standard target trajectories are calculated according to one embodiment on different algorithms.

According to one embodiment, the comparison comprises checking for collisions with objects and / or for comfort measures (for example acceleration yaw rate, etc.) and / or for the trajectory lying in the drivable area (according to their own environment model).

Usually, the first (of the main function) standard target trajectory is preferably selected; it should only be worse than the second standard target trajectory if there is an error in the first system (programming error, exception, SW (software) error). Detecting the (implicit) error by comparing the two trajectories. Then the second one will leave. Emergency running trajectories are also only accepted by the supervisor from this point on.

The fact that the vehicle is guided at least partially automatically includes in particular the case of a fully automated guidance. In a fully automated guidance of the vehicle, a driver no longer has to interfere with the guidance of the vehicle. The vehicle drives autonomously, ie independently and automatically.

According to another embodiment, it is provided that the first processing device is set up, based on the environment data, to determine a first emergency run target trajectory for an at least partially automated guidance of the vehicle in an emergency, wherein the second processing device is set up, based on the same environment data and independent of Determining the first emergency run-target trajectory to determine a second emergency run target trajectory for an at least partially automated guidance of the vehicle in an emergency, wherein the device is configured to compare the first and the second runflat target trajectory and based on the comparison, either the first or select the second emergency run target trajectory, so that the vehicle based on the selected emergency run target trajectory in an emergency can be performed at least partially automated.

Designs that have been made in connection with standard target trajectories apply analogously to nominal runout trajectories.

By providing a run-flat target trajectory is advantageously effected that in an emergency nor a target trajectory is available, based on which the vehicle can be performed at least partially automated. This means, in particular, that even in an emergency, the vehicle continues to drive at least partially autonomously, in particular fully autonomously, so that as a rule a driver does not have to intervene in the vehicle guidance. Here as well, the determination of the first desired trajectory by the first processing device is monitored by the second processing device for possible errors. This in particular by the second processing device likewise determining an emergency run target trajectory, the second emergency run target trajectory, so that the two emergency run target trajectories can be compared with one another. Analogous to the standard target trajectory, both determined emergency run target trajectories should also be approximately identical or at least very similar here. Larger deviations indicate errors in the determination or calculation. Accordingly, it is then provided, for example, that the emergency run target trajectories are recalculated.

In particular, an emergency in the sense of the present invention includes an occurrence or a presence of an error in one of the processing devices. In particular, an emergency includes presence or occurrence of a fault in a component of the vehicle. For example, the component is a sensor, a control unit or an actuator. This means, in particular, that there is an emergency in the event of a fault or malfunction of a component of the vehicle. In the event of an emergency, it is thus provided in particular that the standard setpoint trajectory is no longer traveled, but rather the emergency setpoint trajectory.

That the vehicle is guided based on the desired trajectory (either the standard target trajectory or the emergency run target trajectory) means in particular, that an actual trajectory of the vehicle is regulated or controlled on the basis of the corresponding desired trajectory. The corresponding guidance of the vehicle comprises in particular a longitudinal and / or transverse guidance of the vehicle.

According to a further embodiment, it is provided that the first processing device and / or the second processing device are designed to compare the respective determined target trajectories with one another and to select one of the desired target trajectories compared with one another based on the comparison.

This means, in particular, that the comparison and the decision are carried out either in the first and / or in the second processing device. In particular, it is provided that the decision is made in the second processing device, whereas the comparison is performed in the first processing device and vice versa.

According to one embodiment, a single comparator is provided. If this fails, then the other (second) trajectory is always traversed after another Auführungsform.

It is provided according to an embodiment that the first and the second processing means each comprise a communication interface. This particular communication interface is in particular configured to receive and / or transmit data via a communication network, for example a CAN bus. Thus, in an advantageous manner, the two processing devices can communicate with each other via the communication network. Data include, for example, the determined target trajectories (standard and emergency target trajectories) as well as results of the comparison and / or results of the decision.

According to a further embodiment, it is provided that the first processing device and the second processing device each include a drive device for driving a vehicle actuator based on the selected desired trajectory, so that the vehicle based on the selected desired trajectory at least partially automated, preferably fully automated, can be performed by means of the vehicle actuator ,

As a result, the technical advantage is advantageously achieved that a redundancy is given with respect to a driving possibility of the vehicle actuator. Both the first and the second processing device can advantageously control the vehicle actuator by means of the control device. That is to say, in particular, should the first processing device have a malfunction, the vehicle actuator can still be actuated by means of the second processing device, here more precisely by means of the drive device of the second processing device. As a result, vehicle safety is advantageously increased.

The two control devices differ according to one embodiment. Preferably, the driving device of the first processing device is the primary system with maximum performance, and preferably the driving device of the second processing device is a redundant secondary system with reduced performance, which is activated only in an emergency. However, it can also be reversed according to another embodiment, so that both control devices together only provide the required power for normal operation (and thus always have to run together) and can implement an emergency mode for itself in emergency mode.

According to a further embodiment, it is provided that the first processing device and the second processing device are set up to check their respective determined target trajectories for collision freedom. As a result, in particular, the technical advantage is achieved that possible collisions of the vehicle with objects or other vehicles in the environment of the vehicle can be avoided when driving off the corresponding desired trajectory. As a rule, in the normal case, ie in particular when there is no emergency, both setpoint trajectories should be collision-free. If a collision is detected at one target trajectory, whereas the other has a collision, this is an indication that there is an error or malfunction. Accordingly, it is provided, for example, that then the desired trajectories are recalculated.

If, in the context of the present invention, a setpoint trajectory is spoken of generally, then the standard and / or emergency run setpoint trajectory should always be read.

According to one embodiment, the device is designed as a traffic jam pilot. That means, in particular, that the device is set up to guide the vehicle at least partially automatically, in particular fully automatically, during a traffic jam. This especially in a traffic jam on a highway or a motorway-like road. Accordingly, according to one embodiment, provision is then made in particular for the method to be carried out only when there is a traffic jam.

• – Kolonne (mehr als zwei Fahrzeuge in eigener Fahrspur)
• – Kolonnengeschwindigkeit maximal 60 km/h
• – rechts und links befinden sich entweder • Kolonnen mit gleicher Fahrtrichtung oder • Randbebauungen
• – die Nachbarkolonnen fahren mit einer max. Differenzgeschwindigkeit von 30 km/h
• – es gibt keinen Querverkehr
• – der Freiraum um das Fahrzeug hat eine Mindestbreite von 1 m mehr als die Fahrzeugbreite

In particular, at least one of the following conditions is met, so that the stowage pilot automatically leads the vehicle at least partially automated, in particular fully automated, in a traffic jam:

• - Column (more than two vehicles in own lane)
• - Column speed maximum 60 km / h
• - Right and left are either • Columns with the same direction of travel or • Peripheral buildings
• - the neighboring columns drive with a max. Differential speed of 30 km / h
• - there is no cross traffic
• - The clearance around the vehicle has a minimum width of 1 m more than the vehicle width

In particular, it is envisaged that the stowage pilot will not drive through a trailer, drive through toll booths or across national borders.

• – soweit möglich ohne zeitliche Beschränkung
• – vorzugsweise wird im höheren Geschwindigkeitsbereich (30 km/h aufwärts. Der Geschwindigkeitsbereich ist definiert über den Bremsweg und die sichere Vorausschau des Systems. Bei 30km/h ist der Bremsweg und damit die benötigte sichere Vorausschau klein, so dass bekannte Sensoren mit sehr hoher Verfügbarkeit und Robustheit die Objektdetektion durchführen können.
• – ) ein regelmäßiges „Bestätigen“ der Funktion durch den Fahrer erfolgen (Potentialtrigger)

The congestion pilot thus advantageously allows additional ancillary activities,

• - as far as possible without time limit
• The speed range is defined over the braking distance and the safe foresight of the system.At 30 km / h the braking distance and thus the required safe foresight is small, so that known sensors with very high availability and robustness can perform the object detection.
• -) a regular "confirmation" of the function by the driver (potential trigger)

• – zu geringe Breite des eigenen Fahrkorridors
• – Wegfall der eigenen Fahrspur (Reißverschluss)
• – Stau-Ende (Geschwindigkeit > 60 km/h)
• – Erreichen von Landesgrenzen oder Mautstellen

Preferably, at least one of the following conditions result for the function end and takeover request to the driver:

• - Too narrow width of the own driving corridor
• - Elimination of own lane (zipper)
• - traffic jam end (speed> 60 km / h)
• - Reaching national borders or toll booths

The traffic jam pilot is not active at the same time as LKS (Lane Keeping Support) or ACC, but triggers this situation- and driver-triggered. Here the abbreviation "ACC" means "Automatic Cruise Control", in German adaptive speed control.

Embodiments made in connection with the method apply analogously to the device and to the system and vice versa. This means, in particular, that features, advantages and embodiments with respect to the method result analogously from the device or system and vice versa in any combination.

The invention will be explained in more detail below with reference to preferred embodiments. Show here

1 a device for operating a vehicle,

2 a flowchart of a method for operating a vehicle,

3 a system for operating a vehicle and

4 another system for operating a vehicle.

Hereinafter, like reference numerals may be used for like features.

1 shows a device 101 for operating a vehicle (not shown).

The device 101 includes a first processing device 103 , which is set up to determine a standard target trajectory for an at least partially automated guidance of the vehicle based on a vehicle environment corresponding environment data. The device 101 further comprises a second processing device 105 , which is set up based on the same environment data and independently of the determination of the first standard target trajectory to determine a second standard target trajectory for an at least partially automated guidance of the vehicle.

Here is the device 101 arranged to compare the first and the second standard target trajectory with each other and to select based on the comparison either the first or the second standard target trajectory, so that the vehicle based at least on the selected standard target trajectory can be performed at least partially.

The comparison can be carried out, for example, by means of the first and / or second processing device. In particular, the selection of the first or the second standard target trajectory by the first or second processing device can be carried out.

2 shows a flowchart of a method for operating a vehicle. The steps according to the invention can be carried out, for example, on the device according to the invention.

In one step 201 is a first standard target trajectory for an at least partially automated guidance of the vehicle based on a Vehicle environment determined according to environmental data. At the same time, before or afterwards after the step 201 gets in one step 203 determines a second standard target trajectory. This is independent of the determination of the first standard target trajectory and based on the same environment data. In one step 205 the first and the second standard target trajectories are compared with each other. In one step 207 Depending on the comparison, either the first or the second standard target trajectory is selected, so that according to one step 209 the vehicle is at least partially automated, in particular fully automated, based on the selected standard target trajectory.

3 shows a system 301 for operating a vehicle (not shown).

The system 301 includes an environment sensor 303 for detecting a vehicle environment. The environment sensor 303 includes a radar sensor 305 and another radar sensor 307 , The two radar sensors 305 and 307 are designed for different ranges. So that means that the radar sensor 305 is designed for a radar detection from a distance of about 200 m. The radar sensor 307 is designed for radar detection at medium distance. So that means, up to a distance of about 50 m to 100 m. The environment sensor 303 further comprises a lidar sensor 309 , a video sensor 311 and an ultrasonic sensor 313 , In exemplary embodiments that are not shown, it is provided that more or less than the environmental sensors mentioned above are provided.

The system 301 further comprises an actuator 315 of the vehicle. From the actuators 315 are for example an EPS actuator 317 , an ESP actuator 319 and another actuator 321 includes. Where "ESP" stands for "Electronic Stability Program". "EPS" stands for "Electric Power Steering", that is electric power steering. The actuators 321 is for example an ABS actuator. Here "ABS" stands for "Antilock Braking System". The actuators of the vehicle assigned to the actuators are in particular designed to control and / or regulate a transverse and / or a longitudinal guidance of the vehicle.

The system 301 further comprises a first processing device 323 and a second processing device 325 , The interaction of the individual components of the system 301 will be explained in more detail below.

The environment sensor 303 provides environmental data that is provided by the environment sensors 305 . 307 . 309 . 311 and 313 covered vehicle environment. The environment sensor 303 provides this environment data to the two processing facilities 323 and 325 ready. In the two processing facilities 323 . 325 then finds a merger 327 the environment data instead. So that means that the environmental data of the individual environment sensors 305 . 307 . 309 . 311 . 313 be merged with each other. Based on the respective merger 327 will be in both processing facilities 323 and 325 an environment interpretation 329 carried out. In this case, provision is made in particular for an environmental model to be determined or calculated. For example, in the environment interpretation 329 provided that an occupancy grid is determined, which corresponds to the detected vehicle environment.

Furthermore, in both processing facilities 323 and 325 provided that based on the environment interpretation 329 a target trajectory calculation or determination 331 is carried out. In this case, provision is made in each case for a standard desired trajectory and an emergency run theoretical trajectory to be determined or calculated.

So that means that both processing facilities 323 . 325 Based on the same environment data in each case determine or calculate a standard target trajectory and a nominal runout target trajectory. It is further provided that the determined target trajectories are checked for freedom from collision. The determination of the respective environment model and the respective target trajectories takes place in the two processing devices 323 . 325 independent of each other, but as a basis but the same environment data environment sensors 303 be used.

The second processing device 325 represents their determined target trajectories of the first processing device 323 ready. This, for example, via a communication interface, not shown here. The reception of these desired trajectories is effected by means of a communication interface, likewise not shown here, of the first processing device 323 carried out.

The first processing device 323 compares the respective determined standard target trajectories and emergency run target trajectories with each other and decides which of the determined target trajectories is used for a guidance of the vehicle. This according to the function block 333 , Based on the selected target trajectory (standard target trajectory in the normal case or emergency run target trajectory in case of emergency) controls a control device 335 the first processing device 323 the individual actuators 317 . 319 and 321 individually or in any combination.

This means in particular that a redundant and diversified calculation or determination of the desired trajectories by the second processing device 325 is carried out. Furthermore, a check of the determined target trajectories for collision takes place. In particular, it is provided that in an emergency (for example in the event of a failure of a main control unit (Electronic Control Unit, ECU)) the emergency trajectory is traversed from the last calculation step (ie from the preceding cycle of the method). The comparison and the decision according to the function block 333 is in an embodiment not shown also in the second processing device 325 intended.

4 shows another system 401 for operating a vehicle (not shown).

The system 401 is essentially analogous to the system 301 of the 3 built up. As a difference here is the second processing device with the reference numeral 403 characterized. This is because as a difference to the second processing device 325 of the system 301 of the 3 the decision as to which of the determined target trajectories is to be used for the vehicle guidance in the second processing device 403 is carried out. This according to the function block 405 , The second processing device 403 further comprises a driving device 403 so that also the second processing device 403 the individual actuators 317 . 319 and 321 can control according to the selected desired trajectory. Thus, a redundancy is given with regard to the control of the individual actuators of the vehicle. For example, it is provided that the control on the part of the second processing device 403 with a reduced functionality in terms of functionality in the case of a drive on the part of the first processing device 323 is carried out.

In summary, the invention thus includes in particular the idea that target trajectories for the guidance of the vehicle are calculated both in a main function and in a monitoring function or in a monitoring branch based on the same environment data, these calculated target trajectories being compared with each other, depending on the comparison a desired trajectory for the guidance of the vehicle is selected. This means that one of the determined target trajectories is traversed. Thus, an emergency running trajectory is always advantageously available in an emergency. Furthermore, there exists in particular in the embodiment according to 4 Furthermore, a control of the actuators of the vehicle, insofar as the second processing means comprises a separate drive means. The second processing device may generally be referred to in particular as a monitoring branch (or a monitoring device) having a monitoring function. The first processing device may generally be referred to in particular as a main processing device.

Claims (10)

Contraption ( 101 ) for operating a vehicle, comprising: - a first processing device ( 103 . 323 ), which is set up, based on a vehicle environment corresponding environment data to determine a first standard target trajectory for an at least partially automated guidance of the vehicle, - a second processing device ( 105 . 325 . 403 ), which is set up, based on the same environment data and independently of the determination of the first standard target trajectory, to determine a second standard target trajectory for an at least partially automated guidance of the vehicle, wherein - the device ( 101 ) is configured to compare the first and second standard target trajectories and to select one of the first and second standard target trajectories based on the comparison such that the vehicle may be guided at least partially automated based on the selected standard target trajectory. Contraption ( 101 ) according to claim 1, wherein the first processing device ( 103 . 323 ) is set up, based on the environment data, to determine a first emergency run target trajectory for an at least partially automated guidance of the vehicle in an emergency, wherein the second processing device ( 105 . 325 . 403 ) is set up, based on the same environment data and independently of the determination of the first emergency run-target trajectory to determine a second emergency run target trajectory for an at least partially automated guidance of the vehicle in an emergency, wherein the device ( 101 ) is arranged to compare the first and the second runflat target trajectory with each other and to select either the first or the second runflat target trajectory based on the comparison so that the vehicle can be guided based on the selected runflat target trajectory in an emergency at least partially automated. Contraption ( 101 ) according to claim 1 or 2, wherein the first processing device ( 103 . 323 ) and / or the second processing device ( 105 . 325 . 403 ) are adapted to compare the respective determined target trajectories with each other and to select one of the desired target trajectories compared with one another based on the comparison. Contraption ( 101 ) according to one of claims 1 to 3, wherein the first processing device ( 103 . 323 ) and the second processing device ( 105 . 325 . 403 ) in each case a control device for driving a vehicle actuator ( 315 ) based on the selected desired trajectory, so that by means of the vehicle actuation ( 315 ) the vehicle based on the selected desired trajectory at least partially automated can be performed. Contraption ( 101 ) according to one of the preceding claims, wherein the first processing device ( 103 . 323 ) and the second processing device ( 105 . 325 . 403 ) are arranged to check their respective determined target trajectories for collision freedom. Method for operating a vehicle, wherein: - a first standard target trajectory for at least partially automated guidance of the vehicle based on a vehicle environment determines corresponding environment data ( 201 ), wherein - independently of the determination of the first standard setpoint trajectory, a second standard setpoint trajectory for the at least partially automated guidance of the vehicle based on the same environment data is determined ( 203 ), wherein - the first and second standard desired trajectories are compared ( 205 ), wherein - depending on the comparison, either the first or the second standard target trajectory is selected ( 207 ), so that - the vehicle is at least partially automated based on the selected standard target trajectory ( 209 ) becomes. The method of claim 6, wherein based on the environment data, a first emergency run target trajectory for a guidance of the vehicle in an emergency is determined, based on the same environment data and independently of the determination of the first emergency run target trajectory a second runout target trajectory for the leadership Vehicle is determined in an emergency, wherein the first and the second runflat target trajectory are compared with each other, based on the comparison, either the first or the second runflat target trajectory is selected, so that the vehicle based on the selected emergency run target trajectory in an emergency at least partially automated. The method of claim 6 or 7, wherein the determined target trajectories are checked for collision freedom. System ( 301 . 401 ) for operating a vehicle, comprising - an environment sensor system ( 303 ) for detecting a vehicle environment and for providing environment data corresponding to the detected vehicle environment, - a device ( 101 ) according to one of claims 1 to 5, - a vehicle actuator ( 315 ) configured to drive the vehicle at least partially automated in response to a drive based on the selected desired trajectory. Computer program comprising program code for carrying out the method according to one of claims 6 to 8, when the computer program is executed on a computer.

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