DE102016001231A1 - Method for determining a route - Google Patents
Method for determining a route Download PDFInfo
- Publication number
- DE102016001231A1 DE102016001231A1 DE102016001231.5A DE102016001231A DE102016001231A1 DE 102016001231 A1 DE102016001231 A1 DE 102016001231A1 DE 102016001231 A DE102016001231 A DE 102016001231A DE 102016001231 A1 DE102016001231 A1 DE 102016001231A1
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- DE
- Germany
- Prior art keywords
- route
- traffic
- sun
- vehicle
- determined
- 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.)
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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
- G08G1/0968—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
- 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
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
-
- 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
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the 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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zur Bestimmung einer Fahrtroute (R) für ein Fahrzeug (1) von einer Startposition (SP) zu einer Zielposition (ZP), wobei bei der Bestimmung der Fahrtroute (R) Positionen von Lichtsignalanlagen (2.1 bis 2.5) berücksichtigt werden. Erfindungsgemäß wird zumindest ein aktueller Sonnenstand (S) ermittelt und in Abhängigkeit des Sonnenstandes (S) wird die Fahrtroute (R) derart ermittelt, dass ein Passieren von Lichtsignalanlagen (2.1 bis 2.5) vermieden wird, bei welchen eine mittels zumindest einer optischen Erfassungseinheit (3) durchgeführte Erfassung der Lichtsignalanlagen (2.1 bis 2.5) und/oder mittels dieser erzeugter Lichtsignale aufgrund des ermittelten Sonnenstandes (S) beeinträchtigt ist. Die Erfindung betrifft weiterhin eine Verwendung einer in einem solchen Verfahren bestimmten Fahrtroute (R) zu einem teilautonomen oder autonomen Fahrbetrieb eines Fahrzeugs (1).The invention relates to a method for determining a route (R) for a vehicle (1) from a start position (SP) to a destination position (ZP), wherein positions of traffic signals (2.1 to 2.5) are taken into account in the determination of the route (R) , According to the invention, at least one current position of the sun (S) is determined, and depending on the position of the sun (S), the route (R) is determined in such a way as to avoid the passing of traffic signals (2.1 to 2.5), in which one by means of at least one optical detection unit (3 ) carried out detection of the traffic signals (2.1 to 2.5) and / or by means of these generated light signals due to the determined position of the sun (S) is impaired. The invention further relates to a use of a travel route (R) determined in such a method to a partially autonomous or autonomous driving operation of a vehicle (1).
Description
Die Erfindung betrifft ein Verfahren zur Bestimmung einer Fahrtroute gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a method for determining a route according to the preamble of
Die Erfindung betrifft weiterhin eine Verwendung einer in einem solchen Verfahren bestimmten Fahrtroute zu einem teilautonomen oder autonomen Fahrbetrieb eines Fahrzeugs.The invention further relates to a use of a travel route determined in such a method to a partially autonomous or autonomous driving operation of a vehicle.
Aus dem Stand der Technik sind allgemein verschiedene Verfahren zur Bestimmung einer Fahrtroute für ein Fahrzeug von einer Startposition zu einer Zielposition bekannt.In general, various methods for determining a route for a vehicle from a start position to a destination position are known from the prior art.
Ferner ist aus der
Weiterhin ist aus der
Die
Der Erfindung liegt die Aufgabe zu Grunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur Bestimmung einer Fahrtroute für ein Fahrzeug und eine Verwendung einer in einem solchen Verfahren bestimmten Fahrtroute zu einem teilautonomen oder autonomen Fahrbetrieb eines Fahrzeugs anzugeben.The invention is based on the object to provide a comparison with the prior art improved method for determining a route for a vehicle and use of a determined in such a route to a partially autonomous or autonomous driving operation of a vehicle.
Hinsichtlich des Verfahrens wird die Aufgabe erfindungsgemäß durch die im Anspruch 1 angegebenen Merkmale und hinsichtlich der Verwendung durch die im Anspruch 5 angegebenen Merkmale gelöst.With regard to the method, the object is achieved by the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.
In einem Verfahren zur Bestimmung einer Fahrtroute für ein Fahrzeug von einer Startposition zu einer Zielposition werden bei der Bestimmung der Fahrtroute Positionen von Lichtsignalanlagen berücksichtigt.In a method for determining a route for a vehicle from a start position to a destination position, positions of traffic signals are taken into account in the determination of the route.
Erfindungsgemäß wird zumindest ein aktueller Sonnenstand ermittelt und in Abhängigkeit des Sonnenstandes die Fahrtroute derart ermittelt, dass ein Passieren von Lichtsignalanlagen vermieden wird, bei welchen eine mittels zumindest einer optischen Erfassungseinheit durchgeführte Erfassung der Lichtsignalanlagen und/oder mittels dieser erzeugter Lichtsignale aufgrund des ermittelten Sonnenstandes beeinträchtigt ist.According to the invention, at least one current position of the sun is determined and, depending on the position of the sun, the route is avoided in such a way as to avoid the passing of traffic signals in which a detection of the traffic signals and / or light signals generated by at least one optical detection unit is impaired due to the ascertained position of the sun ,
Somit werden insbesondere bei einer Verwendung der Fahrtroute zu einem teilautonomen oder autonomen Fahrbetrieb eines Fahrzeugs Situationen vermieden, in welchen mittels der zumindest einen Erfassungseinheit aufgrund eines aktuellen Sonnenstandes keine sichere Erfassung einer Lichtsignalanlage, auch als Verkehrsampel bezeichnet, möglich ist.Thus situations are avoided in particular when using the route to a partially autonomous or autonomous driving operation of a vehicle, in which by means of the at least one detection unit due to a current position of the sun no reliable detection of a traffic signal, also called a traffic light is possible.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.
Dabei zeigen:Showing:
Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.
In
Zu dieser Erfassung umfasst das Fahrzeug
Die
In
In
Auf der dargestellten Fahrtroute R kann es aufgrund des Sonnenstandes S zu einer Beeinträchtigung der Erfassung und/oder Unterscheidung der Lichtsignale der Lichtsignalanlagen
Um die in den
Hierbei wird zumindest ein aktueller Sonnenstand S ermittelt. In Abhängigkeit des Sonnenstandes S wird die Fahrtroute R derart ermittelt, dass ein Passieren von Lichtsignalanlagen
Eine mittels dieses Verfahrens bestimmte Fahrtroute R von der in
Die Ermittlung des Sonnenstandes S erfolgt insbesondere unter Berücksichtigung des Wetters und der Uhrzeit. Bei einer starken Bewölkung und somit lediglich geringer frontaler bzw. rückwärtiger Beleuchtung der Lichtsignalanlagen
In einer möglichen Ausgestaltung wird für mehrere Abschnitte der Fahrtroute R in Abhängigkeit von einer Fahrzeit und einem Erreichen einer Position der jeweiligen Lichtsignalanlage
In einer weiteren möglichen Ausgestaltung wird bei der Bestimmung der Fahrtroute R berücksichtigt, ob eine Lichtsignalanlage
In
Aufgrund der unterschiedlichen Positionierung der Lichtsignalgeber
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- 2.12.1
- LichtsignalanlageTraffic signal
- 2.1.1 bis 2.1.42.1.1 to 2.1.4
- LichtsignalgeberLight signal transmitter
- 2.2 bis 2.52.2 to 2.5
- LichtsignalanlageTraffic signal
- 33
- Erfassungseinheitacquisition unit
- 44
- SonneSun
- LL
- Sonnenlichtsunlight
- RR
- Fahrtrouteroute
- SS
- Sonnenstandsun
- SPSP
- Startpositionstarting position
- ZPZP
- Zielpositiontarget position
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102015008263 A1 [0004] DE 102015008263 A1 [0004]
- DE 102013019622 A1 [0005] DE 102013019622 A1 [0005]
- DE 102013003117 A1 [0006] DE 102013003117 A1 [0006]
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016001231.5A DE102016001231A1 (en) | 2016-02-04 | 2016-02-04 | Method for determining a route |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016001231.5A DE102016001231A1 (en) | 2016-02-04 | 2016-02-04 | Method for determining a route |
Publications (1)
Publication Number | Publication Date |
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DE102016001231A1 true DE102016001231A1 (en) | 2016-08-25 |
Family
ID=56577311
Family Applications (1)
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DE102016001231.5A Withdrawn DE102016001231A1 (en) | 2016-02-04 | 2016-02-04 | Method for determining a route |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102020003003A1 (en) | 2020-05-19 | 2020-07-23 | Daimler Ag | Method for recognizing a light signal of a light signal system for a vehicle, device and vehicle |
EP3707573A4 (en) * | 2017-12-14 | 2021-07-21 | Waymo LLC | Methods and systems for sun-aware vehicle routing |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013003117A1 (en) | 2013-02-25 | 2013-08-29 | Daimler Ag | Method for self localization of vehicle and for detecting objects in surrounding of passenger car, involves determining position of vehicle from position data when image characteristics coincide with comparison characteristics |
DE102013019622A1 (en) | 2013-11-22 | 2014-06-18 | Daimler Ag | Method for detecting traffic light of vehicle i.e. motor car, involves comparing environmental and traffic information for determining traffic light positions and/or light signal information of traffic light with external memory in vehicle |
DE102015008263A1 (en) | 2015-06-26 | 2015-12-10 | Daimler Ag | Method and device for assisting a driver in driving a vehicle |
-
2016
- 2016-02-04 DE DE102016001231.5A patent/DE102016001231A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102013003117A1 (en) | 2013-02-25 | 2013-08-29 | Daimler Ag | Method for self localization of vehicle and for detecting objects in surrounding of passenger car, involves determining position of vehicle from position data when image characteristics coincide with comparison characteristics |
DE102013019622A1 (en) | 2013-11-22 | 2014-06-18 | Daimler Ag | Method for detecting traffic light of vehicle i.e. motor car, involves comparing environmental and traffic information for determining traffic light positions and/or light signal information of traffic light with external memory in vehicle |
DE102015008263A1 (en) | 2015-06-26 | 2015-12-10 | Daimler Ag | Method and device for assisting a driver in driving a vehicle |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3707573A4 (en) * | 2017-12-14 | 2021-07-21 | Waymo LLC | Methods and systems for sun-aware vehicle routing |
US11561108B2 (en) | 2017-12-14 | 2023-01-24 | Waymo Llc | Methods and systems for sun-aware vehicle routing |
US20230152107A1 (en) * | 2017-12-14 | 2023-05-18 | Waymo Llc | Methods and Systems for Sun-Aware Vehicle Routing |
DE102020003003A1 (en) | 2020-05-19 | 2020-07-23 | Daimler Ag | Method for recognizing a light signal of a light signal system for a vehicle, device and vehicle |
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R230 | Request for early publication | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |