DE102016212917A1 - Method for determining driving trajectories of a vehicle, driving stabilization method, control module and storage medium - Google Patents

Abstract

The invention relates to a method for determining travel trajectories of a vehicle, this determination being based on a position and on movement parameters of the vehicle. The invention further relates to an associated driving stabilization method, an associated control module and an associated storage medium.

Description

The invention relates to a method for determining driving trajectories of a vehicle and to a driving stabilization method which uses such a method for determining driving trajectories of a vehicle. The invention further relates to a control module and a storage medium for carrying out such methods.

Active, electronically controllable vehicle dynamics control systems such as ESC (Electronic Stability Control, Electronic Stability Control) are increasingly being used in modern automotive technology and are often required by law. With their help, the driving behavior of a motor vehicle can be influenced in a targeted manner. A vehicle dynamics control system is now faced with the task of initiating the stabilization interventions in good time so that a lane departure agreement is extremely unlikely.

State of the art are systems that maintain the driving stability by automatically generate wheel-individual braking interventions, reduce the drive torque or specifically intervene in the steering. The control intervention in current ESC systems is directly derived from the driver's inputs, such as steering, braking, or accelerating, and occurs in a reactive manner due to the vehicle's current dynamic behavior, physical limits, and driver preferences, regardless of the roadway. Proactive or predictive control interventions typically only occur in conjunction with vehicles in front, such as in ACC (Adaptive Cruise Control, adaptive cruise control), in connection with obstacles such as EBA (Emergency Brake Assist) or, for example, via cameras, if lane boundaries have been exceeded such as LDW (Lane Departure Warning, Lane Departure Warning).

In order to realize such or other security systems, cameras are currently used, which, however, have a limitation in the range of typically about 40 meters, as well as require very complex detection algorithms. The aim of an improvement for predictive safety systems, for example, would be to determine a precise localization of their own position or ego position with a satellite navigation system such as GPS, so that an accurate and up-to-date map can always determine an exact description of the road ahead in the forecast.

It is therefore an object of the invention to provide methods which solve, for example, one or more of the problems addressed. It is further objects of the invention to provide an associated control module and an associated storage medium. This is achieved according to the invention by a method according to claim 1, a driving stabilization method according to claim 10, a control module according to claim 11 and a non-transitory computer-readable storage medium according to claim 12. Advantageous embodiments can be taken, for example, the respective subclaims. The content of the claims is made by express reference to the content of the description.

• – Bestimmen einer Position des Fahrzeugs,
• – Bestimmen einer Anzahl von Bewegungsparametern des Fahrzeugs,
• – Bestimmen einer Vorhersage über einen möglichen Fahrweg basierend auf den Bewegungsparametern,
• – Bestimmen der aktuellen Fahrtrajektorie basierend auf der Position und den Bewegungsparametern und
• – Bestimmen der zukünftigen Fahrtrajektorie basierend auf der Position sowie der Vorhersage über den möglichen Fahrweg und/oder den Bewegungsparametern.

The invention relates to a method for determining travel trajectories of a vehicle, comprising the following steps:

• Determining a position of the vehicle,
• Determining a number of motion parameters of the vehicle,
• Determining a prediction about a possible travel path based on the motion parameters,
• Determining the current driving trajectory based on the position and the motion parameters and
• - Determining the future driving trajectory based on the position and the prediction of the possible route and / or the motion parameters.

The future driving trajectory may be a plurality of future driving trajectories. For example, it may be a prediction with probability.

By means of the method according to the invention, it is possible to carry out a driving trajectory calculation also using motion parameters which can be detected via sensors that are usually relatively easy to implement.

In particular, the fact is taken into account that localization via known satellite navigation systems currently only reaches a resolution of about 10 meters. Higher accuracies are typically only temporarily achievable. For example, a vehicle controlled by a driver may determine entry into a curve by observing the steering angle and the current turning radius by observing the yaw rate and lateral acceleration of the vehicle. By comparing the curvatures determined from the vehicle variables and the correlation of the data from a more accurate map, for example, the current position in the map can be determined. In addition, the vehicle speed may change the ego position on the map. A satellite navigation system like For example, a GPS system may then be phased over the position and a systematic error in position on the map may be properly corrected.

In addition, inputs from the driver, such as flashing, steering and accelerating or accelerating, are also advantageously used to generate or determine a driver intention or a prediction about the possible route of the vehicle.

A security system such as that in the application WO 2013/011058 A1 is described and which reduces the speed in or before curves, by means of the method according to the invention can also be realized with a standard satellite navigation system, because a curve curvature and the time of the turn entry are typically accurately predictable.

The prediction about the possible route may in particular be a driver intention or include a driver intention. It can indicate which route or which driving maneuvers a driver currently or in the future, in particular in the near future, wants to drive.

It should be understood that the intermediate step of determining a prediction about the possible route can also be omitted. The disclosure of this application also extends to such embodiments in all combinations.

The position of the vehicle is advantageously determined by means of satellite navigation such as GPS. Rapid changes in the position of the vehicle, which may for example also be based on measurement errors due to reflections on objects or in a tunnel, can advantageously be determined by means of a motion sensor system and thus the inaccuracies of the satellite navigation can be filtered out.

The position of the vehicle is also tracked according to a preferred embodiment. This can also be called tracking.

A current driving trajectory is typically that path which the vehicle has already covered in a certain period of time. A future driving trajectory is typically that value which the vehicle will travel in the future, in particular in a specific time interval in the future. Not only pure location or path information, but also speeds, accelerations or other parameters can be part of such a driving trajectory.

• – Projektion der Position und/oder der aktuellen Fahrtrajektorie und/oder der zukünftigen Fahrtrajektorie auf eine digitale Karte und dadurch Ermitteln von Abweichungen, insbesondere in Längs- und/oder Querrichtung.

According to a preferred embodiment, the method further comprises the following step:

• - Projection of the position and / or the current driving trajectory and / or the future driving trajectory on a digital map and thereby determining deviations, in particular in the longitudinal and / or transverse direction.

This allows updating a map of the detected deviations.

• – Lenkradstellung,
• – Lenkrad-Winkelgeschwindigkeit,
• – Lenkrad-Winkelbeschleunigung,
• – Stellung eines Gaspedals,
• – Gaspedal-Winkelgeschwindigkeit,
• – Gaspedal-Winkelbeschleunigung,
• – Geschwindigkeit des Fahrzeugs (10),
• – Gierrate des Fahrzeugs (10),
• – Kurvenradius des Fahrzeugs (10),
• – Änderung des Kurvenradius, insbesondere Klothoide,
• – Querbeschleunigung des Fahrzeugs (10),
• – Betätigung von Blinkern,
• – Blickrichtung eines Fahrers des Fahrzeugs (10),
• – Stellung eines Bremspedals,
• – Bremspedal-Winkelgeschwindigkeit,
• – Bremspedal-Winkelbeschleunigung,
• – Abstand eines vorausfahrenden Fahrzeugs (10),
• – Bewegung eines vorausfahrenden Fahrzeugs (10)
• – Abstand von voraus in der zukünftigen Fahrtrajektorie befindlichen Objekten,
• – Bewegung von voraus in der zukünftigen Fahrtrajektorie befindlichen Objekten.

According to respective advantageous embodiments, the movement parameters are selected from the following group:

• - steering wheel position,
• Steering wheel angular velocity,
• Steering wheel angular acceleration,
• - position of an accelerator pedal,
• Accelerator pedal angular velocity,
• - accelerator pedal angular acceleration,
• - speed of the vehicle ( 10 )
• Yaw rate of the vehicle ( 10 )
• - Curve radius of the vehicle ( 10 )
• Change of the radius of curvature, in particular clothoids,
• - lateral acceleration of the vehicle ( 10 )
• - operation of turn signals,
• - Viewing direction of a driver of the vehicle ( 10 )
• - position of a brake pedal,
• - brake pedal angular velocity,
• - brake pedal angular acceleration,
• - distance of a preceding vehicle ( 10 )
• Movement of a preceding vehicle ( 10 )
• Distance of objects located ahead in the future trajectory,
• - Movement of objects in advance in the future trajectory.

It should be understood that any combination or subcombination of these motion parameters or other motion parameters may be used. Thus, both a motion parameter, two motion parameters as well as an arbitrary multiplicity of motion parameters can be used and processed accordingly. Typically, they are detected by suitable sensors.

The driving trajectory can preferably also be determined by means of a digital map. This also allows the use of map information, for example, to predict a driving course. The particular driving trajectory, ie the current driving trajectory and / or the future driving trajectory, is used according to an advantageous embodiment for a driving stabilization system. In such a vehicle stabilization system, the data obtained in the process is typically of particular utility.

According to an advantageous embodiment, the particular driving trajectory is used for updating a digital map. In this way, a digital map can advantageously be further developed, for example if road courses have changed or roads have been added.

The future driving trajectory is advantageously a predicted driving path of the vehicle. This can be helpful in particular for driving stabilization purposes.

• – Bestimmen einer Fahrtrajektorie mittels eines erfindungsgemäßen Verfahrens wie weiter oben beschrieben, wobei auf alle hierin erwähnten Ausführungen und Varianten zurückgegriffen werden kann, und
• – Durchführen von Regeleingriffen zur Fahrstabilisierung basierend auf der aktuellen und/oder der zukünftigen Fahrtrajektorie.

The invention further relates to a driving stabilization method comprising the following steps:

• Determining a driving trajectory by means of a method according to the invention as described above, wherein all the embodiments and variants mentioned herein can be used, and
• - Performing control intervention for driving stabilization based on the current and / or the future driving trajectory.

In such a driving stabilization method, the advantages mentioned above, which result from the use of motion parameters, can be achieved for a driving stabilization method. It can thus be achieved without excessive technical effort high security in the determination of Fahrtrajektorien and used for stabilization.

The invention further relates to a control module which is configured to carry out a method according to the invention. It can be used on all described versions and variants.

The invention further relates to a non-transitory computer-readable storage medium containing program code, in the execution of which a processor executes a method according to the invention. Here, too, can be used on all described versions and variants.

Further features and advantages will be apparent to those skilled in the embodiment described below with reference to the accompanying drawings. Showing:

1 A vehicle configured to carry out a method according to the invention.

1 shows a vehicle 10 , This has a left front wheel 20 , a right front wheel 22 , a left rear wheel 24 and a right rear wheel 26 on. It is understood that the vehicle 10 shown here only schematically. The same applies to its components.

The vehicle 10 has a steering wheel 28 on, with which the two front wheels 20 . 22 are in the usual way taxable. This can be a course of the vehicle 10 be specified.

Furthermore, the vehicle points 10 an inventive control module 30 in which a method according to the invention is implemented according to a possible embodiment.

The vehicle 10 also has a satellite navigation module 40 on which with the control module 30 is connected and which is configured to receive satellite navigation signals and calculate therefrom the current position of the vehicle.

As shown, the steering wheel 28 with the control module 30 connected. This allows a steering angle sensor (not shown) of the steering wheel 28 Information about a current steering angle and a steering angle change to the control module 30 supplies.

The control module 30 is configured based on that of the satellite navigation module 40 supplied data showing the position and speed of the vehicle based on satellite navigation, and that of the steering wheel 28 supplied data to calculate a current Fahrtrajektorie, this refers to the already traveled track, and further to calculate a future Fahrtrajektorie. The future driving trajectory is calculated so that it is the probable travel path of the vehicle 10 which is subject to an uncertainty factor. This uncertainty is also calculated and reported so that other systems can account for this uncertainty in their calculations.

Based on the future Fahrtrajektorie a driving stabilization system is executed in a manner not shown, which, for example, suitable interventions on brakes and steering of the vehicle 10 to ensure a safe journey.

Mentioned steps of the method according to the invention can be carried out in the order given. However, they can also be executed in a different order. In one of its embodiments, for example with a specific set of steps, the method according to the invention can be carried out in such a way that no further steps are carried out become. However, in principle also further steps can be carried out, even those which are not mentioned.

The claims belonging to the application do not constitute a waiver of the achievement of further protection.

If, in the course of the procedure, it turns out that a feature or a group of features is not absolutely necessary, it is already desired on the applicant side to formulate at least one independent claim which no longer has the feature or the group of features. This may, for example, be a subcombination of a claim present at the filing date or a subcombination of a claim limited by further features of a claim present at the filing date. Such newly formulated claims or feature combinations are to be understood as covered by the disclosure of this application.

It should also be noted that embodiments, features and variants of the invention, which are described in the various embodiments or embodiments and / or shown in the figures, can be combined with each other as desired. Single or multiple features are arbitrarily interchangeable. Resulting combinations of features are to be understood as covered by the disclosure of this application.

Recoveries in dependent claims are not to be understood as a waiver of obtaining independent, objective protection for the features of the dependent claims. These features can also be combined as desired with other features.

Features that are disclosed only in the specification or features that are disclosed in the specification or in a claim only in conjunction with other features may, in principle, be of independent significance to the invention. They can therefore also be included individually in claims to distinguish them from the prior art.

QUOTES INCLUDE IN THE DESCRIPTION

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.

Cited patent literature

• WO 2013/011058 A1 [0011]

Claims (12)

Method for determining driving trajectories of a vehicle ( 10 ), comprising the following steps: - determining a position of the vehicle ( 10 ), - determining a number of motion parameters of the vehicle ( 10 ), - determining a prediction about a possible travel path based on the motion parameters, - determining the current travel trajectory based on the position and the motion parameters, and - determining the future driving trajectory based on the position as well as the prediction about the possible trajectory and / or the motion parameters , Method according to claim 1, - wherein the position of the vehicle ( 10 ) is determined by means of satellite navigation. Method according to one of the preceding claims, - wherein the position of the vehicle ( 10 ). Method according to one of the preceding claims, further comprising the following step: - Projection of the position and / or the current driving trajectory and / or the future driving trajectory on a digital map and thereby determining deviations, in particular in the longitudinal and / or transverse direction. Method according to one of the preceding claims, - wherein the movement parameters are selected from the following group: steering wheel position, steering wheel angular velocity, steering wheel angular acceleration, position of an accelerator pedal, accelerator pedal angular velocity, accelerator pedal angular acceleration, speed of the vehicle 10 ), - yaw rate of the vehicle ( 10 ), - turning radius of the vehicle ( 10 ), - change of the curve radius, in particular clothoid, - lateral acceleration of the vehicle ( 10 ), - operation of turn signals, - viewing direction of a driver of the vehicle ( 10 ), - position of a brake pedal, - brake pedal angular velocity, - brake pedal angular acceleration, - distance of a preceding vehicle ( 10 ), - movement of a preceding vehicle ( 10 ) - distance from objects ahead in the future trajectory, - movement of objects ahead in the future trajectory. Method according to one of the preceding claims, - Wherein the driving trajectory is further determined by means of a digital map. Method according to one of the preceding claims, - The particular Fahrtrajektorie is used for a driving stabilization system. Method according to one of the preceding claims, - The particular Fahrtrajektorie is used to update a digital map. Method according to one of the preceding claims, - the future driving trajectory being a predicted driving path of the vehicle ( 10 ). Driving stabilization method, comprising the following steps: Determining a driving trajectory by means of a method according to one of the preceding claims, and - Carrying out control measures for driving stabilization based on the current and / or future driving trajectory. Control module ( 30 ) configured to perform a method according to any one of the preceding claims. A non-transitory computer-readable storage medium containing program code, when executed by a processor executing a method according to any one of claims 1 to 10.

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