CN118163812A

CN118163812A - Method and device for providing a driving strategy for an automated vehicle for a predefined area

Info

Publication number: CN118163812A
Application number: CN202211578547.0A
Authority: CN
Inventors: M·R·埃韦特
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2022-12-09
Filing date: 2022-12-09
Publication date: 2024-06-11

Abstract

The invention relates to a method (300) and a device for providing (340) a driving strategy for an automated vehicle for a predefined area, the method comprising the steps of: -receiving (310) movement data of a further vehicle, said movement data representing a movement trajectory for the further vehicle in the predefined area; -receiving (320) map data values representing a high-precision map, wherein the high-precision map comprises at least the predefined area; creating (330) a driving strategy for the automated vehicle in the predefined area based on the high-precision map from the motion trails of the further vehicle, wherein the driving strategy comprises a trajectory for the automated vehicle; and providing (340) a driving strategy for operating the automated vehicle.

Description

Method and device for providing a driving strategy for an automated vehicle for a predefined area

Technical Field

The invention relates generally to a method for providing a driving strategy for an automated vehicle for a predefined area, wherein the creation of the driving strategy for the automated vehicle in the predefined area is performed on the basis of a high-precision map and in accordance with the movement profile of a further vehicle. Here, the driving strategy includes a trajectory for the automated vehicle.

Disclosure of Invention

The method according to the invention for providing a driving strategy for an automated vehicle for a predefined area comprises a step of receiving movement data of a further vehicle, wherein the movement data represent a movement track (Bewegungsprofile) of the further vehicle within the predefined area, and a step of receiving map data values representing a high-precision map, wherein the high-precision map comprises at least the predefined area. The method further comprises the step of creating a driving strategy for the automated vehicle within the predefined area based on the high-precision map from the motion profile of the further vehicle, wherein the driving strategy comprises a trajectory for the automated vehicle and comprises the step of providing a driving strategy for running the automated vehicle.

An automated vehicle is understood to be a partially automated, highly automated or fully automated vehicle according to SAE grades 1 to 5 (see standard SAEJ 3016).

Operating an automated vehicle, in particular operating an automated vehicle according to a driving strategy, for example, is understood to mean that a transverse and/or longitudinal control of the automated vehicle is carried out, wherein the transverse and/or longitudinal control is carried out such that the automated vehicle moves along a trajectory. In one possible embodiment, "running" also includes, for example, implementing safety-related functions (putting the airbag "in focus (SCHARFSTELLEN)", securing the seat belt, etc.) and/or additional (driving assistance) functions.

The movement path of the further vehicles in the predefined region is understood to be, for example, the path of the further vehicles, i.e. the position of the further vehicles over time. The movement path thus includes, for example, which vehicle stopped in the predefined region at which point in time and at which position and/or the speed profile of the further vehicles and/or which vehicle stopped at which point in time and/or the like.

A trajectory is understood, for example, as a line, in relation to a map, which the automated vehicle follows. In one embodiment, the line relates to a fixed point on the automated vehicle, for example. In a further possible embodiment, the trajectory is understood, for example, as a driving lane (Fahrschlauch) through which the automated vehicle is traveling.

In one possible embodiment, the driving strategy additionally comprises a speed specification at which the automated vehicle should move along the trajectory.

A high-precision map is understood to be, for example, a digital map which is present on a storage medium in the form of (map) data values. The map is constructed, for example, as follows: such as to include one or more map layers, one of which shows the map (the course and location of the road, buildings, landscape features, etc.), for example from a bird's eye view. This corresponds to, for example, a map of a navigation system. The other map layer comprises, for example, a radar map, wherein the surrounding features comprised by the radar map are stored with a radar signature. The other map layer comprises, for example, a lidar map, wherein the surrounding features comprised by the lidar map are stored with a lidar signature.

The high-precision map is particularly constructed such that it is suitable for the navigation of an automated vehicle. This is understood, for example, to be: the high-precision map is configured for determining a high-precision position of the automated vehicle by means of comparing the saved ambient characteristic with the detected sensor data values of the automated vehicle. For this purpose, the high-precision map includes, for example, surrounding features with high-precision position specification (coordinates).

The predefined area is understood to be, for example, a specific road section (for example, between two intersections and/or between two entrances or exits) and/or a plurality of traffic routes connected to one another, etc.

The method according to the invention advantageously solves the task of providing a method for operating an automated vehicle. This object is achieved by the method according to the invention in that, starting from the movement data of the further vehicle, a driving strategy is created for the automated vehicle by using the high-precision map. Starting from the movement path, the corresponding algorithm can learn and improve the driving strategy or the path included in the driving strategy. This enables the development of intelligent algorithms for calculating trajectories and subsequently controlling vehicle actuators over time, wherein, for example, only a highly precise vehicle position and the speed of the further vehicles and the distance between these further vehicles are required in order to operate the automated vehicle accordingly. The environmental sensor device that has been included by the automated vehicle can be used here only for identifying pedestrians and other structures and for dynamically avoiding collisions with pedestrians and other structures. In this case, the number of environmental sensors in the vehicle can be significantly reduced, thereby also making the automated vehicle cheaper. Here too, fewer automated vehicle resources are used for operating the automated vehicle on the basis of the highly accurate position and by means of the highly accurate map.

The driving strategy is preferably additionally created according to legal regulations applicable in the predefined area.

Legal regulations are understood in particular as speed regulations and/or distance regulations between vehicles and/or regulations concerning the utilization of single or multiple lanes (driving direction in the case of single-lane roads, left-or right-hand traffic, turning regulations, etc.).

The movement track of the further vehicles preferably comprises the distance between these further vehicles.

The driving strategy is preferably additionally created as a function of the configuration of the traffic route in the predefined area.

The configuration of a traffic route is understood, for example, as meaning that the traffic route comprises one or more lanes per driving direction and/or whether it is a highway, an inter-urban road, an agricultural road or the like and/or whether it comprises a bridge, a tunnel, a traffic intersection or the like.

The device according to the invention, in particular the computing unit, is provided for carrying out all the steps of the method according to the invention for providing a driving strategy for an automated vehicle for a predefined area. A computing unit is understood to be, for example, a server or a server cluster (Serververbund) or a cloud.

The device comprises for this purpose a computing unit (processor, working memory, hard disk) and suitable software (computer program) for implementing the method according to the invention. Furthermore, the device comprises an interface for transmitting and receiving data values by means of a wired and/or wireless connection communication means.

Furthermore, a computer program comprising instructions which, when executed by a computer, cause the computer to provide a driving strategy for an automated vehicle for a predefined area according to the method of the invention is claimed. In one embodiment, the computer program corresponds to software contained by the device. The computer program is understood to mean, in particular, an intelligent algorithm which learns on the basis of movement trails or on the basis of a plurality of traffic conditions and high-precision vehicle positions by means of high-precision maps and also position changes of further vehicles relative to one another, for determining a driving strategy for an automated vehicle. In one embodiment, the computer program is understood, for example, to be a neural network or artificial intelligence for determining a driving strategy or for planning a vehicle trajectory and/or for operating an automated vehicle.

Furthermore, a machine-readable storage medium is claimed, on which a computer program is stored.

Advantageous embodiments of the invention are described in the preferred embodiments and are listed in the description.

Drawings

Embodiments of the invention are illustrated in the accompanying drawings and described in more detail in the following description. The drawings show:

fig. 1: an embodiment of the method according to the invention in the form of a flow chart for providing a driving strategy for an automated vehicle for a predefined area.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

One possible embodiment of a method 300 for providing 340 a driving strategy for an automated vehicle for a predefined area is shown in fig. 1.

In step 301, the method 300 begins.

In step 310, movement data of a further vehicle is received, wherein the movement data represent a movement trajectory of the further vehicle in the predefined region.

In step 320, map data values representing a high-precision map are received, wherein the high-precision map includes at least the predefined region.

In step 330, a driving strategy within the predefined region is created for the automated vehicle based on the high-precision map from the motion profile of the further vehicle. Here, the driving strategy includes a trajectory for the automated vehicle.

In step 340, a driving strategy for operating the automated vehicle is provided.

In step 350, the method 300 ends.

Claims

1. A method (300) for providing (340) a driving strategy for an automated vehicle for a predefined area, the method comprising:

-receiving (310) movement data of a further vehicle, the movement data representing a movement trajectory of the further vehicle within the predefined area;

-receiving (320) map data values representing a high-precision map, wherein the high-precision map comprises at least the predefined area;

-creating (330) a driving maneuver for the automated vehicle in the predefined area based on the high-precision map from the motion trails of the further vehicle, wherein the driving maneuver comprises a trajectory for the automated vehicle; and

-Providing (340) a driving strategy for operating the automated vehicle.

2. The method (300) according to claim 1, characterized in that the creation (330) of the driving strategy is additionally performed in accordance with legal requirements applicable in the predefined area.

3. The method (300) of claim 1, wherein the motion profile of the additional vehicles includes a distance between the additional vehicles.

4. The method (300) according to claim 1, characterized in that the creation (330) of the driving strategy is additionally performed as a function of the configuration of the traffic route within the predefined area.

5. An apparatus, in particular a computing unit, arranged for carrying out all the steps of the method (300) according to any one of claims 1 to 4.

6. A computer program comprising instructions which, when executed by a computer, cause the computer to carry out the method (300) according to any one of claims 1 to 4.

7. A machine readable storage medium having stored thereon the computer program according to claim 6.