CN110631597A - Method for routing a vehicle - Google Patents
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- CN110631597A CN110631597A CN201910525707.7A CN201910525707A CN110631597A CN 110631597 A CN110631597 A CN 110631597A CN 201910525707 A CN201910525707 A CN 201910525707A CN 110631597 A CN110631597 A CN 110631597A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000005457 optimization Methods 0.000 claims abstract description 29
- 238000004590 computer program Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 8
- 238000007726 management method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000002996 emotional effect Effects 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a method for selecting a route for a vehicle, wherein a route is selected from a plurality of possible routes, for which purpose an optimization method is carried out, wherein at least one optimization variable is taken into account in the optimization method, and at least one of the at least one optimization variable has an influence on a possible auxiliary operation of the vehicle.
Description
Technical Field
The invention relates to a method for selecting a route or a travel section for a vehicle, in particular a vehicle configured for assistance, and to a device for carrying out the method. The invention also relates to a computer program and a machine-readable storage medium for performing the method.
Background
In motor vehicles, so-called route planning devices are used, by means of which a path between a starting point and a destination can be found. The route planning device is usually a computer program which, for example, together with a navigation system for position determination, specifies a driving route for the driver and displays the driving route, usually by way of illustration. The user may regularly input a desire, such as whether the fastest, shortest, most economical or most beautiful route should be selected. The user interface may be a service for this.
A navigation system is a technical system which, by means of position determination and geographical information, is able to guide or specify a route to a destination by taking into account given criteria.
Furthermore, different driver assistance systems are known which allow the driver to be assisted in driving, i.e. driving automatically or fully automatically.
Autonomous driving or highly autonomous driving is understood to be an intermediate step between assisted driving, in which the driver is assisted by an assistance system, and fully autonomous driving, in which the vehicle is driven fully autonomously and without driver action. In highly automated driving, the vehicle has its own intelligence, at least in most driving situations, to plan and take over driving tasks in advance.
Here, the automated driving and the autonomous driving are summarized by the term assisted driving.
Traffic routing of passenger cars or trucks is a typical optimization problem. The best route or travel segment is selected for the driver based on given criteria reflecting the driver's desires or preferences. So far, optimization has been performed in most cases by minimizing the travel time. The updated method comprises optimizing other parameters and boundary conditions, such as travel costs (including for example toll and fuel consumption), emotional and/or mental stress of the driver or travel quality of the route.
US patent US9,188,985 a1 describes a method of generating a series of routes between a current location of a vehicle and a destination, in which control information for controlling the vehicle is generated for different routes, taking into account whether the driver controls the vehicle himself or whether the vehicle can be operated automatically or autonomously. Different routes are displayed, wherein in these displays a first road segment is identified that can be driven automatically, and a second road segment is identified that needs to be driven manually. One of the routes may then be selected and the vehicle then driven accordingly.
Disclosure of Invention
Against this background, a method for routing a vehicle and an apparatus for routing a vehicle are presented herein. Furthermore, a computer program and a machine-readable storage medium are presented herein. Various embodiments are set forth in the description.
The method proposed herein may be used to select a route from a plurality of possible routes, for which an optimization method is performed. In the optimization method, at least one optimization variable is taken into account, wherein at least one of the at least one optimization variable has an influence on a possible auxiliary operation (i.e. automatic operation or autonomous operation) operation of the vehicle. The considered optimization variables therefore influence the automatic or autonomous driving of the vehicle. This may describe, for example, the duration of time the vehicle may be automatically or autonomously driven on the route and/or how long the driver must take over control of the vehicle.
It should be noted that the methods presented herein are for automatic route selection, where in embodiments infotainment (i.e., information and/or entertainment content) or content of personal information management may be considered and/or content mentioned by the selected route may be adjusted or presented.
In addition, personal time preferences may be taken into account when selecting routes.
The optimization method is basically used to find the best parameters of the system. Optimal generally means that the target function is minimized or maximized. Here, this means that a route defined by parameters describing the route is selected, which route proves to be optimal for the driver. In this case, the driver can specify criteria or conditions and optimization variables which are to be optimally maintained or met by the selected route.
The proposed method is based on the following recognition: in contrast to manual driving, in highly automated driving (SAE level ≧ 3) (SAE: society of automotive Engineers), it can be expected that the driver will take time to perform tasks other than driving tasks (i.e., secondary tasks). It is therefore assumed that the minimization of the travel time is of less importance and that other optimization parameters for optimal routing have to be taken into account, which involve secondary tasks performed by the driver. Secondary tasks herein refer to activities performed by the driver while driving, such as reading and composing electronic messages, which allow the driver to attend to driving the vehicle without or only to a limited extent.
Thus, even if the vehicle selects the fastest route to the destination, the driver may find it disturbed, which may be guided through roads that do not allow automatic or autonomous driving due to terrain, thus forcing the driver to interrupt secondary tasks and take over the vehicle.
The invention describes a method for selecting an optimal route, wherein optimization parameters which can significantly influence the automatic driving or the riding comfort in the automatic driving are taken into account. For example, as additional optimization variables, it is proposed:
the number of take-over requests and the take-over requests will be sent to the driver when autonomous driving is not possible and thus the driver has to take over the task himself.
-the duration of the longest automatic or autonomous driving road segment. In particular, the travel time is understood to be the time of the longest autonomous or autonomous driving route section, wherein the travel time is preferably determined by taking into account the minimization of the travel time of the relevant route section. Thus, in other words, the travel time on the route is not artificially extended by an unnecessarily reduced travel speed.
The take-over request is a request for the driver to take over the management of the vehicle. The optimal route is thus, for example, the longest duration and/or the longest total duration involving as few take-over requests as possible and/or including autonomous or autonomous driving road segments. The objective function is for example the number of take-over requests, the duration of an autonomous or automatic travel section, etc. The optimization process is completed when the objective function or the result of the objective function is minimized or maximized. A plurality of differently weighted objective functions may also be considered here.
It is further proposed herein to determine respective optimization parameters or parameters and/or to adjust infotainment content accordingly by utilizing automatic adjustment of an infotainment system. An infotainment system is to be understood as a system which informs and/or entertains the driver, that is to say outputs information content such as news, shared courses and/or entertainment content such as music or video movies to the driver.
The method proposed herein has a number of advantages. Therefore, higher driver satisfaction can be achieved by these advantages. Furthermore, repeated interruptions of the secondary tasks due to taking over requests can be prevented by route optimization. If it is possible to ensure that the destination is reached by extending the travel time with minor tasks and the extension is accepted by the driver, then there is the possibility of providing the driver with other route preferences (for example, the preference for shortest travel time) with road tolerance by means of a suitable route adjustment, so that better road utilization is achieved.
The apparatus proposed herein is used to perform the described method. The device is implemented in hardware and/or software, for example in a navigation system of a vehicle.
Other advantages and embodiments of the invention will become apparent from the description and drawings.
It is to be understood that the features mentioned above and those yet to be explained below can be used not only in the respectively given combination, but also in other combinations or alone, without departing from the scope of the present invention.
Drawings
Fig. 1 shows a possible flow of the proposed method in a flow chart.
Fig. 2 shows a schematic representation of a vehicle with a device for carrying out the method.
Detailed Description
The invention is illustrated schematically by means of embodiments in the drawings and will be described in detail hereinafter with reference to the drawings.
Fig. 1 shows a flow of an embodiment of the proposed method. In a first step 10, n possible road segment selections x may be determined, for example using standard methods1…xn. Each alternative includes one or more road segments. The alternatives can be selected such that the section starts from the section with the shortest travel timeConsider more routes where s describes the maximumAdditional time adds cost to minimize duration. Alternatively, the interval upper limit may be determined using an additional cost of percentage. The upper interval limit may be selected such that the travel time within the interval is accepted by the user as equivalent.
In a second step 12, the following optimization parameters are also used to select a suitable route:
-the number of take-over requests tor (x) per route;
duration Dur of the longest autopilot or autonomous driving section of each routeAD(x)。
The take-over request is part of an autonomous or autonomous driving (based on the definition given at the outset). If the autonomous or automatic driving function is no longer available and complies with the take-over request due to certain conditions (e.g. road layout or construction site) which do not allow safe automatic operation, the driver is prompted to take over the vehicle guidance, the driver must cancel the ongoing secondary tasks (e.g. reading) and perform the driving tasks again, i.e. the usual lateral and longitudinal guidance of the motor vehicle.
A prerequisite for determining the number of take-over requests and the duration of the longest autonomous or autonomous driving route section is that information about the availability of the automation function is contained in the map data of the route section to be examined. This can be achieved, for example, by giving the probability of availability of an autonomous road segment (0 to 100%). A threshold criterion (e.g., > 90%) can be used to identify the relevant road segment from the probability information about the availability probability and determine the travel time of the longest autodrive-related road segment.
The number of takeover requests can also be estimated by a threshold criterion. It can be assumed here that every automatically traveled section of the route is automatically traveled and therefore, of the sections which meet the threshold criterion, the sections which do not meet the criterion follow, and a take-over must take place.
In principle, this may be considered as the best choice for the driver, the number of take-over requests for routes having the same or similar travel time being minimized, taking into account the corresponding time additional costs.
The selection of an alternative route based on the duration of the longest automated driving segment can be achieved in a third step 14 by different methods:
do not disturb mode: explicitly selecting a duration in the vehicle navigation or infotainment system during which the driver does not wish to be interrupted by a takeover request from the vehicle;
-infotainment mode: implicitly determining the duration of the desired or current program in the infotainment system, for example according to a predetermined playing time of the selected movie or series that the driver wants to watch or has watched while driving;
-Personal Information Management (PIM) mode: the duration is determined by PIM information, for example: calendar information about a predetermined duration of a predetermined or ongoing telephone call or conference call.
Instead, a function is provided here, in the case of a given route selection, for example when the route is selected by means of a minimum travel time and the variable Dur is thus determinedAD(x) The corresponding time-related content is then picked up from the infotainment system and recommended to the user.
The margin for determining the travel time comes from the usually contradictory variables: travel time and distance. Since a particularly short distance is selected, for example, using a direct road instead of detouring on a motorway, there are other advantages (e.g. lower fuel consumption) in that, in addition to the maximum acceptable time plus cost s, the driver acceptable travel time is added in particular in the interval of minimum duration and duration of the shortest route. Therefore, the above-mentioned adjustment of the interval can be performed in a fourth step 16:
a continuous enlargement of the search space may be performed by gradually enlarging the parameter s in a fifth step 18. The user may control or accept the enlargement of the search space and thus the change in travel time through a corresponding user interface.
Fig. 2 shows a vehicle, designated as a whole by reference numeral 50, in a highly simplified schematic view. The vehicle 50 has a navigation system 52, and a calculation unit 54 is provided in the navigation system 52. The navigation system 52 also includes a positioning system 56, a user interface 58, and a display 60 for displaying the selected route.
A memory 62 is assigned to the calculation unit 54, in which memory 62 means for performing the method are stored as a computer program. Which is executed on the computing unit 54 and implements the method presented herein.
Claims (11)
1. A method for selecting a route for a vehicle (50), wherein one route is selected from a plurality of possible routes, for which an optimization method is performed, wherein:
at least one optimization parameter is taken into account in the optimization method, and
at least one of the at least one optimization variable has an influence on a possible auxiliary operation of the vehicle (50).
2. A method according to claim 1, wherein the number of take-over requests is taken into account as an optimization parameter.
3. Method according to claim 1 or 2, wherein the duration of the longest autonomously drivable segment is taken into account as optimization variable.
4. A method according to any one of claims 1 to 3, wherein the vehicle (50) is controlled by taking into account the selected route.
5. The method according to any one of claims 1 to 4, wherein at least one optimization parameter is determined by automatic adjustment with an infotainment system.
6. The method according to any one of claims 1 to 5, wherein at least one optimization parameter is determined by automatic adjustment with personal information management.
7. Method according to any one of claims 1 to 6, wherein said at least one optimization parameter having an effect on a possible auxiliary operation of said vehicle (50) is estimated by means of a threshold criterion.
8. An apparatus for routing a vehicle (50), wherein the apparatus is configured to perform the method according to any one of claims 1 to 7.
9. The apparatus of claim 8, implemented in a navigation system (52) of the vehicle (50).
10. Computer program with a program code, which, when being executed on a computing unit (54), in particular on a computing unit (54) in an apparatus according to claim 8, is configured for carrying out the method according to any one of claims 1 to 7.
11. A machine readable storage medium having stored thereon a computer program according to claim 10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018209980.4 | 2018-06-20 | ||
| DE102018209980.4A DE102018209980A1 (en) | 2018-06-20 | 2018-06-20 | Procedure for choosing a route for a vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110631597A true CN110631597A (en) | 2019-12-31 |
| CN110631597B CN110631597B (en) | 2024-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910525707.7A Active CN110631597B (en) | 2018-06-20 | 2019-06-18 | Method for selecting a route for a vehicle |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN110631597B (en) |
| DE (1) | DE102018209980A1 (en) |
| FR (1) | FR3082813B1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10969236B2 (en) | 2018-12-13 | 2021-04-06 | Gm Global Technology Operations, Llc | Vehicle route control based on user-provided trip constraints |
| CN114084160A (en) * | 2020-07-29 | 2022-02-25 | 奥迪股份公司 | Driving assistance device, and corresponding vehicle, method, computer device, and medium |
| DE102020212966A1 (en) | 2020-10-14 | 2022-04-14 | Audi Aktiengesellschaft | Method, computer program and device for adjusting a route |
| DE102020133937A1 (en) | 2020-12-17 | 2022-06-23 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for determining a driving route for an automated vehicle |
| DE102021212158A1 (en) | 2021-10-27 | 2023-04-27 | Psa Automobiles Sa | Route planning for automated vehicles with minimal manual intervention |
| DE102022124632A1 (en) | 2022-09-26 | 2024-03-28 | Bayerische Motoren Werke Aktiengesellschaft | Method and system for route planning for automated vehicles |
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| US9188985B1 (en) * | 2012-09-28 | 2015-11-17 | Google Inc. | Suggesting a route based on desired amount of driver interaction |
| US20170219364A1 (en) * | 2013-03-15 | 2017-08-03 | Volkswagen Aktiengesellschaft | Automatic driving route planning application |
| CN107054372A (en) * | 2015-12-14 | 2017-08-18 | 罗伯特·博世有限公司 | Method and apparatus for receiving data value and for running vehicle |
| US20180004211A1 (en) * | 2016-06-30 | 2018-01-04 | GM Global Technology Operations LLC | Systems for autonomous vehicle route selection and execution |
-
2018
- 2018-06-20 DE DE102018209980.4A patent/DE102018209980A1/en active Pending
-
2019
- 2019-06-14 FR FR1906360A patent/FR3082813B1/en active Active
- 2019-06-18 CN CN201910525707.7A patent/CN110631597B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US9188985B1 (en) * | 2012-09-28 | 2015-11-17 | Google Inc. | Suggesting a route based on desired amount of driver interaction |
| US20170219364A1 (en) * | 2013-03-15 | 2017-08-03 | Volkswagen Aktiengesellschaft | Automatic driving route planning application |
| CN107054372A (en) * | 2015-12-14 | 2017-08-18 | 罗伯特·博世有限公司 | Method and apparatus for receiving data value and for running vehicle |
| US20180004211A1 (en) * | 2016-06-30 | 2018-01-04 | GM Global Technology Operations LLC | Systems for autonomous vehicle route selection and execution |
Non-Patent Citations (1)
| Title |
|---|
| 刘佳倩等: "不确定条件下交通网络的动态最优路径求解算法", 《上海工程技术大学学报》 * |
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| Publication number | Publication date |
|---|---|
| FR3082813B1 (en) | 2022-03-25 |
| CN110631597B (en) | 2024-03-29 |
| DE102018209980A1 (en) | 2019-12-24 |
| FR3082813A1 (en) | 2019-12-27 |
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