CN118163812A - Method and device for providing a driving strategy for an automated vehicle for a predetermined area - Google Patents

Abstract

The present invention relates to a method (300) and a device for providing (340) a driving strategy for an automated vehicle for a predetermined area, the method comprising the steps of: receiving (310) motion data of another vehicle, the motion data representing a motion trajectory of the other vehicle within the predetermined area; receiving (320) map data values representing a high-precision map, wherein the high-precision map includes at least the predetermined area; creating (330) a driving strategy for the automated vehicle within the predetermined area based on the high-precision map according to the motion trajectory of the other vehicle, wherein the driving strategy includes 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 predetermined area

Technical Field

The present invention mainly relates to a method for providing a driving strategy for an automated vehicle for a predetermined area, wherein a driving strategy is created for the automated vehicle in the predetermined area based on a high-precision map and according to the movement trajectory of another vehicle. Here, the driving strategy includes a trajectory for the automated vehicle.

Summary of the invention

The method for providing a driving strategy for an automated vehicle for a predetermined area according to the present invention comprises the step of receiving motion data of another vehicle, wherein the motion data represents the motion profile of the other vehicle in the predetermined area, and the step of receiving map data values representing a high-precision map, wherein the high-precision map includes at least the predetermined area. The method further comprises the step of creating a driving strategy for the automated vehicle in the predetermined area based on the high-precision map according to the motion profile of the other vehicle, wherein the driving strategy includes a trajectory for the automated vehicle, and the step of providing a driving strategy for operating the automated vehicle.

An automated vehicle is understood to be a partially automated, highly automated or fully automated vehicle according to SAE levels 1 to 5 (see standard SAE J3016).

Operating an automated vehicle, in particular operating an automated vehicle according to a driving strategy, is understood to mean, for example, carrying out a lateral and/or longitudinal control of the automated vehicle, wherein the lateral and/or longitudinal control is carried out in such a way that the automated vehicle moves along a trajectory. In a possible specific embodiment, "operation" also includes, for example, carrying out safety-related functions (focusing the airbag, fastening the seat belt, etc.) and/or other (driving assistance) functions.

The movement profiles of other vehicles in the predetermined area are understood to be, for example, the trajectories of these other vehicles, that is, the position change trends of these other vehicles over time. Therefore, the movement profiles include, for example, which vehicle stopped at which time and at which position in the predetermined area and/or the speed curves of these other vehicles and/or which vehicle stopped at which time and where, etc.

A trajectory is understood, for example, to be a line—with respect to a map—that the automated vehicle follows. In one embodiment, the line is related, for example, to a fixed point on the automated vehicle. In another possible embodiment, a trajectory is understood, for example, to be a driving lane that the automated vehicle travels through.

In one possible specific embodiment, the driving strategy additionally includes a speed specification at which the automated vehicle is to move along the trajectory.

A high-precision map is understood, for example, to be a digital map that exists in the form of (map) data values on a storage medium. The map is constructed, for example, in such a way that it includes one or more map layers, wherein one map layer shows the map (course and position of roads, buildings, landscape features, etc.) from a bird's-eye view, for example. This corresponds, for example, to a map of a navigation system. Another map layer includes, for example, a radar map, wherein the surrounding features included in the radar map are stored with a radar signature. Another map layer includes, for example, a lidar map, wherein the surrounding features included in the lidar map are stored with a lidar signature.

The high-precision map is designed in particular such that it is suitable for navigation of an automated vehicle. This means, for example, that the high-precision map is designed for determining the high-precision position of the automated vehicle by comparing stored surrounding features with detected sensor data values of the automated vehicle. For this purpose, the high-precision map includes, for example, surrounding features with high-precision position information (coordinates).

A predetermined 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 mutually connected traffic routes or the like.

The method according to the present invention solves the task of providing a method for operating an automated vehicle in an advantageous manner. This task is solved by means of the method according to the present invention in that a driving strategy is created for an automated vehicle starting from the motion data of another vehicle and by means of the use of a high-precision map. Starting from the motion trajectory, the corresponding algorithm can learn and improve the driving strategy or the trajectory included in the driving strategy. This makes it possible to develop an intelligent algorithm for calculating the trajectory over time and then controlling the vehicle actuator, wherein, for example, only the high-precision vehicle position and the speed of another vehicle and the distance between these other vehicles are required in order to operate the automated vehicle accordingly. Here, the environmental sensing device already included in the automated vehicle can only be used to identify pedestrians and other structures and dynamically avoid 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, fewer automated vehicle resources are also used to operate the automated vehicle based on a high-precision position and by means of a high-precision map.

The driving strategy is preferably also created as a function of legal regulations applicable in a predefined area.

Legal regulations are understood to mean, in particular, speed regulations and/or distance regulations between vehicles and/or regulations regarding the use of single or multiple lanes (direction of travel in the case of one-way streets, left-hand or right-hand traffic, turning regulations, etc.).

The movement profiles of the further vehicles preferably include the distances between the further vehicles.

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

The configuration of a traffic route is understood to mean, for example, whether the traffic route includes one or more lanes in each driving direction and/or whether it is a highway, an intercity road, a farm road, etc. and/or whether it includes a bridge, a tunnel, a traffic intersection, etc.

The device according to the invention, in particular the computing unit, is configured to implement all steps of the method according to the invention for providing a driving strategy for an automated vehicle for a predetermined area. A computing unit is understood to be, for example, a server or a server cluster or a cloud.

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

In addition, protection is claimed for a computer program comprising instructions which, when executed by a computer, cause the computer to implement a method according to the invention for providing a driving strategy for an automated vehicle for a predetermined area. In one embodiment, the computer program corresponds to software contained by the device. A computer program is understood in particular to be an intelligent algorithm that learns based on movement patterns or based on a plurality of traffic conditions and high-precision vehicle positions with the aid of high-precision maps and position changes of other vehicles relative to one another, for determining a driving strategy for an automated vehicle. In one embodiment, a computer program is understood, for example, as 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, protection is claimed for a machine-readable storage medium on which a computer program is stored.

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

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention are shown in the drawings and explained in more detail in the following description. The drawings show:

FIG. 1 shows an exemplary embodiment of a method according to the invention for providing a driving strategy for an automated vehicle for a predetermined area in the form of a flow chart.

Specific embodiments

FIG. 1 shows a possible exemplary embodiment of a method 300 for providing 340 a driving strategy for an automated vehicle for a predetermined area.

In step 301 , method 300 begins.

In step 310 , movement data of another vehicle is received, wherein the movement data represents a movement trajectory of the other vehicle within the predetermined area.

In step 320, a map data value representing a high-precision map is received, wherein the high-precision map includes at least the predetermined area.

In step 330, a driving strategy is created for the automated vehicle in the predetermined area based on the high-precision map according to the movement trajectory of the other 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 , method 300 ends.

Claims (7)

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.