DE102017222429A1 - Apparatus, method and system for adapting a trajectory of an at least partially autonomous vehicle - Google Patents

Abstract

The present invention relates to a device (12) for adapting a trajectory of an at least partially autonomous vehicle (20, 20 '), comprising: an interface (14) for receiving sensor data with information about an oncoming vehicle (22, 22') and vehicle data Information about a planned trajectory (24) of the at least partially autonomous vehicle; an evaluation unit (16) for determining whether the oncoming vehicle is a laterally tiltable vehicle (10) based on the sensor data and determining a passing location (26) at which the oncoming vehicle is likely to pass based on Sensor data and the vehicle data; and an adaptation unit (18) for determining an adapted trajectory (28) of the at least partially autonomous vehicle when the oncoming vehicle is a laterally tiltable vehicle and when the passing point is within a curve. The invention further relates to a method for adapting a trajectory of an at least partially autonomous vehicle (20, 20 '), a system (30) for controlling an at least partially autonomous vehicle (20, 20') and an at least partially autonomous vehicle (20, 20 ').

Description

The present invention relates to an apparatus, a method and a system for adapting a trajectory of an at least partially autonomous vehicle.

Autonomous and semi-autonomous vehicles are becoming increasingly important in a number of areas. For example, in industrial and warehouse facilities, goods and products are transported automatically and more or less without human intervention, and in automobiles in extreme situations or even in normal use, a variety of functions are performed to assist the driver without his intervention. Even today, the vast majority of new vehicles have integrated various functions for autonomous driving. The spectrum ranges from automatic lane or distance maintenance assistants to parking aids and simple cruise control systems. The long-term vision is the construction of motor vehicles, which can be used as completely as possible without human intervention for the transport of passengers or goods.

At least semi-autonomous vehicles are understood here to mean autonomous and semi-autonomous vehicles which, in any case, can automatically perform some driving functions. Such at least teilautonomous vehicles usually have sensors through which the own vehicle (English ego vehicle) and the environment can be perceived. By means of appropriate evaluation means, one or more vehicle functions can then be controlled based on the sensor data. In particular, radar, lidar, ultrasonic, GPS and camera sensors are used. The information obtained is processed in a corresponding control unit, which can make decisions about the behavior of the vehicle based on predetermined rules. Often, information on other road users or on the route from Internet databases is also taken into account.

A relevant function of at least teilautonomer vehicles is the short-term route planning, so the planning of the trajectory of the vehicle depending on the environment. When planning the trajectory, a number of factors must be taken into account. In particular, both your own safety (active safety) and the safety of other road users (passive safety) must be guaranteed. In addition, it must be possible to respond quickly and adequately to short-term changes in the situation, so that a safety reserve must be planned. Here, different optimization goals may conflict with each other. Thus, the optimal drive through a curve is as far as possible along the ideal line, since this allows the fastest possible passage of the curve, or requires the least possible centrifugal force acting on the passengers and the freight. In other words, therefore, a balance must be made between a fast cornering on a trajectory with the largest possible radius compared to the greatest possible distance from oncoming traffic and from the roadside.

An approach to planning and adapting a trajectory of an autonomous vehicle is presented in DE 10 2015 221 612 A1 described. Disclosed is a method for calculating a trajectory for guiding a vehicle, the method comprising: generating a set of trajectories for the vehicle having different end times and different target states relative to a given reference trajectory, wherein a trajectory of the set of trajectories comprises a predetermined acceleration profile, and wherein the predetermined acceleration curve is limited by a predetermined maximum acceleration; Calculating an evaluation function for at least one trajectory from the set of trajectories; Determining a most favorable trajectory with respect to the evaluation function from the set of trajectories; and determining the determined trajectory as the trajectory for guiding the vehicle.

When perceiving the environment, moving objects, like other road users (other vehicles) as well as pedestrians, place high demands on the planning of the trajectory. Especially pedestrians or even cyclists and motorcyclists are exposed to high risks in traffic. In all approaches to planning the trajectory, passive safety is of the highest relevance in this respect. Often, prediction approaches are used, in which the behavior of the other road users is anticipated, so that the at least teilautonomome vehicle can respond adequately by adjusting its own trajectory.

Here, laterally tiltable vehicles such as motorcycles, three-wheeled scooters and vehicles present the evaluation algorithms with particular problems, since the detection of such vehicles is difficult due to the changing in a curve profile. In addition, motorcyclists are often traveling at relatively high speeds. These vehicles are particularly susceptible to fatal accidents on the road.

Based on this, it is the object of the present invention, the passive safety of other road users and the active safety of their own, at least partially autonomous Vehicle to improve. This should still be ensured a speedy and comfortable ride.

• einer Schnittstelle zum Empfangen von Sensordaten mit Informationen zu einem entgegenkommenden Fahrzeug und Fahrzeugdaten mit Informationen zu einer geplanten Trajektorie des zumindest teilautonomen Fahrzeugs;
• einer Auswerteeinheit zum Bestimmen, ob es sich bei dem entgegenkommenden Fahrzeug um ein seitlich neigbares Fahrzeug handelt, basierend auf den Sensordaten und zum Bestimmen einer Passierstelle, an der das entgegenkommende Fahrzeug voraussichtlich passiert wird, basierend auf den Sensordaten und den Fahrzeugdaten; und
• einer Anpassungseinheit zum Ermitteln einer angepassten Trajektorie des zumindest teilautonomen Fahrzeugs, wenn es sich bei dem entgegenkommenden Fahrzeug um ein seitlich neigbares Fahrzeug handelt und wenn sich die Passierstelle innerhalb einer Kurve befindet.

To achieve this object, in a first aspect, the present invention relates to a device for adapting a trajectory of an at least partially autonomous vehicle, comprising:

• an interface for receiving sensor data with information about an oncoming vehicle and vehicle data with information about a planned trajectory of the at least partially autonomous vehicle;
• an evaluation unit for determining whether the oncoming vehicle is a laterally tiltable vehicle based on the sensor data and determining a passing location at which the oncoming vehicle is likely to be passed based on the sensor data and the vehicle data; and
• an adaptation unit for determining an adapted trajectory of the at least partially autonomous vehicle when the oncoming vehicle is a laterally tiltable vehicle and when the passing point is within a curve.

• Empfangen von Sensordaten mit Informationen zu einem entgegenkommenden Fahrzeug und von Fahrzeugdaten mit Informationen zu einer geplanten Trajektorie des zumindest teilautonomen Fahrzeugs;
• Bestimmen, ob es sich bei dem entgegenkommenden Fahrzeug um ein seitlich neigbares Fahrzeug handelt, basierend auf den Sensordaten, und Bestimmen einer Passierstelle, an der das entgegenkommende Fahrzeug voraussichtlich passiert wird, basierend auf den Sensordaten und den Fahrzeugdaten; und
• Ermitteln einer angepassten Trajektorie des zumindest teilautonomen Fahrzeugs, wenn es sich bei dem entgegenkommenden Fahrzeug um ein seitlich neigbares Fahrzeug handelt und wenn sich die Passierstelle innerhalb einer Kurve befindet.

In a further aspect, the present invention relates to a corresponding method for adapting a trajectory of an at least partially autonomous vehicle, with the following steps:

• Receiving sensor data with information about an oncoming vehicle and vehicle data with information about a planned trajectory of the at least partially autonomous vehicle;
• Determining whether the oncoming vehicle is a laterally tiltable vehicle based on the sensor data, and determining a passing location at which the oncoming vehicle is likely to be passed based on the sensor data and the vehicle data; and
• Determining an adapted trajectory of the at least partially autonomous vehicle if the oncoming vehicle is a laterally tiltable vehicle and if the passing point is within a curve.

• einer Vorrichtung wie zuvor beschrieben;
• einer Fahrzeuginformationseinheit zum Planen einer Trajektorie des zumindest teilautonomen Fahrzeugs und zum Bereitstellen einer geplanten Trajektorie;
• einem Sensor zum Detektieren des entgegenkommenden Fahrzeugs und zum Bereitstellen von Sensordaten; und
• einer Steuereinheit zum Steuern des zumindest teilautonomen Fahrzeugs entlang der geplanten Trajektorie oder entlang der angepassten Trajektorie. Bevorzugte Ausgestaltungen der Erfindung werden in den abhängigen Ansprüchen beschrieben. Es versteht sich, dass die Vorrichtung, das Verfahren, das System und das Computerprogrammprodukt entsprechend der für die Vorrichtung in den abhängigen Ansprüchen beschriebenen Ausgestaltungen ausgeführt sein können.

In addition, the invention relates to a system for controlling an at least partially autonomous vehicle, comprising:

• a device as described above;
• a vehicle information unit for scheduling a trajectory of the at least partially autonomous vehicle and for providing a planned trajectory;
• a sensor for detecting the oncoming vehicle and for providing sensor data; and
• a control unit for controlling the at least partially autonomous vehicle along the planned trajectory or along the adapted trajectory. Preferred embodiments of the invention are described in the dependent claims. It will be understood that the apparatus, method, system and computer program product may be embodied in accordance with the embodiments described for the apparatus in the dependent claims.

The device according to the invention is used for planning or for adapting a trajectory of an at least partially autonomous vehicle. The trajectory is adjusted when it is determined that an oncoming vehicle is passing within a turn that is laterally tiltable. A curve is a section of track with a change of direction. A laterally tiltable vehicle is here understood to mean a vehicle that can assume an inclined position when driving, for example a motorcycle, a scooter or a bicycle.

In contrast to vehicles that are not tiltable sideways, such as passenger cars and trucks, the space requirement of a laterally tiltable vehicle over the road width within a curve may be greater than in a straight-ahead driving. Thus, if an oncoming sideways tilted vehicle is detected or detected before entering the curve and a vehicle width is determined above the road, the space requirement in the curve is underestimated. According to the invention, the own trajectory is adapted when passing a laterally tiltable vehicle in the curve, in particular shifted in the direction of the road outside, even if the oncoming vehicle is inclined during passing, still to ensure a sufficient safety distance. This increases safety and reduces the likelihood of accidents. An adaptation of the trajectory takes place only when necessary, so that the ride comfort is maintained.

Various sensor data as well as further information are received via the interface of the device. In particular, sensor data which includes information about the oncoming vehicle is received by an appropriately designed sensor. In addition, an already pre-planned trajectory is received from a corresponding planning device in an at least semi-autonomous vehicle, which is used as the basis for the calculation of an adapted trajectory is used. In most cases, this pre-planned trajectory corresponds to an ideal line while maintaining a safe distance to the edge of one's own lane. An ideal line requires the least power impact on the occupants of the at least partially autonomous vehicle and allows driving through the curve with the highest possible speed.

Based on the sensor data is determined in the evaluation, whether it is the oncoming vehicle is a laterally tiltable vehicle. Various algorithms, for example image processing algorithms, can be used for this purpose. Furthermore, a passage between the own vehicle and the oncoming vehicle is determined. In particular, the point at which the distance between the driver's own vehicle and the oncoming vehicle when driving by is expected to be minimal.

The adjusted trajectory is determined in the matching unit if and only if the oncoming vehicle is a laterally tiltable vehicle and if the passing point lies within a curve. The information as to whether a curve is currently being traversed can be determined, for example, on the basis of the sensor data and / or the vehicle data, and / or can also be taken from a predefined or queried route.

The method according to the invention comprises the steps performed by the interface, the evaluation unit and the adaptation unit of the device. The method can be executed beispielswese on a control unit of the at least partially autonomous vehicle, so that the device can be integrated so to speak in the control unit of the vehicle. However, it is also conceivable that the device is completely or partially integrated in a server and is in communication with a suitable unit in a vehicle.

In addition to the device described above, the system according to the invention comprises a vehicle information unit which serves to plan the trajectory of the vehicle and to provide a planned trajectory, which can then serve as the basis for determining the adapted trajectory. In addition, the system includes a sensor configured to acquire sensor data to detect the oncoming vehicle. Lastly, the system includes a control unit that controls the at least partially autonomous vehicle based on the planned trajectory or trajectory. This control unit may include both mechanical and electronic and information processing components.

In contrast to previous approaches to trajectory planning, the invention thus takes into account whether the space requirement of the oncoming vehicle possibly changes in the curve. As a result, on the one hand the passive safety of the oncoming vehicle and on the other hand the own active safety is increased. The trajectory is adjusted only when it is recognized that the cross-section of the oncoming vehicle may change at the time of expected passage, namely when a laterally tiltable vehicle is passed within a turn. If an adjustment is not required, the original trajectory is used. A reduction in the driving comfort of the at least semi-autonomous vehicle, which results from the adaptation of the trajectory, is only accepted if this is necessary to increase safety.

In an advantageous embodiment, the adaptation unit is designed to determine an adapted trajectory in which a distance between the at least partially autonomous vehicle and the oncoming vehicle at the point of passage is greater than in the planned trajectory. Normally, detecting that a side-tilting vehicle is passing in a turn will increase the distance. This enlargement compensates for the fact that the lateral inclination of the oncoming vehicle may not allow a minimum distance calculated from the profile of the perpendicular oncoming vehicle when the vehicle is turning when cornering. By increasing the distance, the safety can be increased. The distance is only increased if necessary, so that deviations from the optimal and pre-calculated trajectory are made only in cases where this is necessary.

More preferably, the evaluation unit is designed to determine a speed of the oncoming vehicle based on the sensor data. In order to calculate the passing point, it is usually necessary that a speed of the oncoming vehicle be estimated. For this purpose, the time course of a sensor signal is usually considered. This time course then represents an input variable in the determination of the point of passage. An exact determination of the point of passage can be made.

Further preferably, the matching unit is adapted to determine the adapted trajectory when the speed of the oncoming vehicle is predefined Speed value exceeds. Depending on the speed of the oncoming vehicle, the inclination when driving through the curve is greater or smaller. Preferably, the trajectory is adjusted only when the speed exceeds a predefined limit. This avoids that the trajectory is adjusted, although this is not necessary. In other words, a deviation from the optimal curve trajectory takes place only if the expected lateral inclination of the oncoming vehicle justifies this. The ride comfort is maintained.

In an advantageous embodiment, the adaptation unit for determining the adapted trajectory based on the speed of the oncoming vehicle is formed, wherein preferably an adapted trajectory is determined in which a distance between the at least partially autonomous vehicle and the oncoming vehicle at the point of passage positive with the speed of oncoming vehicle is correlated. On the one hand, it is possible that a digital decision is made between several possible trajectories. It is thus possible to select exactly one adapted trajectory from several predefined trajectories. On the other hand, it is also possible that the adapted trajectory is regenerated. Advantageously, in both ways a positive correlation of the speed of the oncoming vehicle with the distance between the vehicles at the point of passage. At a higher speed, therefore, there is also a greater distance. This shows that the lateral inclination of the oncoming vehicle increases with its speed. The safety is further increased while maintaining a curve trajectory of the at least semi-autonomous vehicle that is as close as possible to the ideal line.

In an advantageous embodiment, the evaluation unit is designed to determine a curve radius in an expected trajectory of the oncoming vehicle based on the sensor data; and the matching unit is adapted to determine the adjusted trajectory based on the turning radius in the anticipated trajectory of the oncoming vehicle, preferably determining an adapted trajectory in which a distance between the at least partially autonomous vehicle and the oncoming vehicle at the passing point is negative with the turning radius is correlated in the expected trajectory of the oncoming vehicle. In addition, the curve radius can be used as an input variable in the determination of the adapted trajectory. The curve radius is determined based on the sensor data. In most cases, this information can be evaluated in addition to the known position of the own vehicle. In this case, the determined probable curve radius is negatively correlated with the distance to be determined in the passing point. A smaller curve radius means a greater curve inclination or inclination of the oncoming vehicle and thus requires a higher safety distance. This ensures that the trajectory is adjusted only as far as necessary.

Advantageously, the evaluation unit is designed to set the speed of the oncoming vehicle in relation to the curve radius in the expected trajectory of the oncoming vehicle and to determine an adapted trajectory if the relation exceeds a predefined limit value. By determining a quotient between a speed of the oncoming vehicle and a curve radius of the curve in the route, a number can be determined, by means of which objective comparability is made possible. A comparison with a predefined limit value can be used to decide whether and to what extent the trajectory of the at least semi-autonomous vehicle is adapted. Once again there is the advantage that the trajectory is only adjusted or only deviated from the ideal line, if this is necessary for achieving sufficient security.

In a further refinement, the evaluation unit is designed to determine an expected angle of inclination of the oncoming vehicle based on the sensor data; and the adaptation unit is adapted to determine the adapted trajectory of the at least partially autonomous vehicle if the expected inclination angle exceeds a predefined slope value. On the basis of the received sensor data, an expected inclination angle can be estimated directly, on the basis of which the decision regarding the adaptation of the own trajectory can then be made. If this expected angle of inclination exceeds a limit, the trajectory is adjusted. This ensures that the trajectory is adjusted only in the necessary cases. Unnecessary deviations from the ideal line are avoided.

Further advantageously, the interface for receiving a route signal is formed with geographical information about the course of a road; the evaluation unit is designed to determine the expected inclination angle of the oncoming vehicle based on the route signal; and / or the adaptation unit is designed to determine the adapted trajectory based on the expected inclination angle. As an additional input can also be Track signal can be used. This route signal can be taken, for example, an electronic card. Based on the course of the route between the at least partially autonomous vehicle and the oncoming vehicle, the angle of inclination that the oncoming vehicle is likely to have in the curve can be estimated. Based on this estimated angle of inclination, the adjusted trajectory can then be determined. As a result, the precision in the selection of the situation-adequate optimal trajectory is further increased.

Advantageously, the interface for receiving the sensor data from a radar, Lidar-, video and / or ultrasonic sensor is formed. It is understood that the use of additional sensors is possible. The above-mentioned sensors represent widespread sensors in motor vehicles, so that the device according to the invention can usually be operated based on standard built-in sensors. The costs of using the device according to the invention are kept low by the use of already existing sensors.

Advantageously, the interface for receiving the vehicle data is formed by a position sensor, a vehicle information unit, a navigation device and / or an Internet server; and / or the vehicle data comprise a position, a route and / or a speed of the at least partially autonomous vehicle. As a further sensor input, a position sensor, in particular a GPS receiver serve, the data on the own vehicle can also be obtained from a corresponding vehicle control unit and / or from an Internet server. Here too, therefore, the information already present in the vehicle is used, so that the device according to the invention does not require any additional sensors and thus remains cost-effective to implement.

It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination given, but also in other combinations or in isolation, without departing from the scope of the present invention.

• 1 eine Darstellung eines seitlich neigbaren Fahrzeugs in aufrechter und in geneigter Position;
• 2 eine schematische Darstellung einer Vorrichtung gemäß einem Aspekt der vorliegenden Erfindung;
• 3 eine Darstellung einer Detektion eines entgegenkommenden Fahrzeugs durch ein zumindest teilautonomes Fahrzeug;
• 4 eine Darstellung des Passiervorgangs zwischen dem zumindest teilautonomen Fahrzeug und dem entgegenkommenden Fahrzeug;
• 5 eine schematische Darstellung einer geplanten Trajektorie und einer angepassten Trajektorie;
• 6 eine schematische Darstellung eines Fahrzeugs mit einer erfindungsgemäßen Vorrichtung; und
• 7 eine schematische Darstellung eines Verfahrens gemäß einem Aspekt der vorliegenden Erfindung.

The invention will be described in more detail below with reference to some selected embodiments in conjunction with the accompanying drawings and explained. Show it:

• 1 a representation of a laterally tiltable vehicle in an upright and inclined position;
• 2 a schematic representation of an apparatus according to one aspect of the present invention;
• 3 a representation of an oncoming vehicle detection by an at least teilautonomes vehicle;
• 4 a representation of the passage between the at least partially autonomous vehicle and the oncoming vehicle;
• 5 a schematic representation of a planned trajectory and an adapted trajectory;
• 6 a schematic representation of a vehicle with a device according to the invention; and
• 7 a schematic representation of a method according to one aspect of the present invention.

An at least partially autonomous vehicle constantly observes its surroundings and in particular other road users. The position and extent of potential obstacles must always be kept in view so that you can plan your own journey accordingly. The own trajectory is determined in such a way that a sufficient safety distance to an obstacle is ensured at all times. Side tilting vehicles such as motorcycles in this context represent a difficulty in that they tend to compensate for the centrifugal force in the direction of a curve inside a cornering. Due to the tilt, these vehicles take up more space on the road in a curve than when driving straight ahead.

In the 1 is shown how the side of a tiltable vehicle 10 When driving through a curve, claimed space on the road changes by taking a turn. When driving straight ahead (left), the space required on the road is less than when cornering (right), where the vehicle, which can tilt sideways, assumes an inclined position. The width b1 of the side-tilting vehicle on the road results as a projection of the vehicle on the ground. As shown, the width is in a straight ahead b1 less than when cornering b2 ,

Usually, the width of an oncoming vehicle is estimated in the region of the at least partially autonomous vehicles via a sensor, or a cuboid representing the oncoming vehicle is defined. Based then a distance from this vehicle is estimated and set a safety margin. The fact that the oncoming vehicle is usually detected before entering a curve, it may happen that the width that will occupy the vehicle in the curve, is underestimated due to the inclination.

This behavior is taken into account in the device according to the invention, nevertheless to ensure the active and passive safety and to prevent an accident when driving through a curve.

2 shows an embodiment of a device according to the invention 12 , The device includes an interface 14 , which is adapted to receive sensor data. The sensor data can be provided in particular by a video, radar, lidar or ultrasonic sensor. In addition, the interface 14 configured to receive vehicle data with information about a planned trajectory of the at least partially autonomous vehicle. This vehicle information may include the current position (for example, from a GPS sensor), the route (for example, from a navigation device), the current speed, or also currently acting accelerations. Mostly the interface 14 thereby configured to communicate with a corresponding vehicle information unit. Preferably, the interface 14 is coupled to a bus system of the at least partially autonomous vehicle and communicates with a vehicle control unit. It goes without saying that it is also possible that the interface 14 is designed for mobile communication and can alternatively or additionally also external data, for example, from an Internet server, relate.

Furthermore, the device according to the invention comprises 12 an evaluation unit 16 to evaluate the from the interface 14 received data is used. In the evaluation unit 16 is determined, which type of vehicle is the oncoming vehicle. In particular, it is determined whether or not the oncoming vehicle is a laterally tiltable vehicle. For this purpose, the sensor data received from the interface are evaluated. It goes without saying that other information can also be evaluated. In particular, in the evaluation unit 16 Image processing algorithms and / or approaches to pattern recognition can be used.

Furthermore, the evaluation unit 16 designed to determine a passing point. A passing point is understood to be an indication of the location at which the own vehicle (the at least partially autonomous vehicle) is likely to pass the oncoming vehicle. In particular, the point of puncture designates the point at which the distance becomes minimal, that is, at which the at least partially autonomous vehicle and the oncoming vehicle come closest to each other. The passing point can be done, for example, in the form of coordinates or in the form of a point and an associated uncertainty. In particular, the determination of the passing point comprises a calculation as to whether the oncoming vehicle is passing before, in or after the curve.

The sensor data and the vehicle data are evaluated for the determination of the point of passage. The vehicle data makes it possible to determine a planned trajectory or a probable travel of the own vehicle. By means of the sensor data, the further travel of the oncoming vehicle can be estimated. Also in this regard, algorithms for image processing and prediction can be used. For example, a position estimate of the oncoming vehicle and the own, at least partially autonomous vehicle can be made in a suitably designed Kalman filter. Since the Passierzeitpunkt in determining the passing point is still in the future, it is at the specific point of passage is a probable passing place, so an estimate of a place or area.

The actual determination of the adapted trajectory takes place in an adaptation unit 18 , In the adaptation unit, an adapted trajectory is determined exactly then, if on the one hand by the evaluation unit 16 it has been determined that the oncoming vehicle is a laterally tiltable vehicle and, on the other hand, it is determined that the puncture point is within a curve. The indication within a curve indicates a predefined route section, which can be defined, for example, by a change in the orientation of the route lying above a certain threshold value. The region defined as being within the curve preferably also includes regions that lie before or after the actual curve.

Optionally, the adjusted trajectory can be determined depending on a determined speed of the oncoming vehicle. The speed is set in relation to a curve radius. If the input speed of the oncoming vehicle is determined to be excessive, an adapted trajectory is selected. If this is not the case, the at least partially autonomous vehicle remains on the planned trajectory.

Further optionally, it is possible that an anticipated inclination angle of the oncoming vehicle is included. The estimated tilt angle may be determined based on the speed and trajectory of the oncoming vehicle and based on routing data. In addition, the height of the oncoming vehicle, such as a motorcycle with a driver, are taken into account. The data for routing can be taken locally or centrally stored map material. If the velocity or trajectory is estimated to be excessive with respect to the radius of curvature, the fitted trajectory is displaced outward as much as possible so that the distance at the point of penetration is maximized. The angle of inclination describes the inclination of the laterally tiltable vehicle and can in particular be defined as a deviation from the vertical (upright position).

It is understood that the interface 14 , the evaluation unit 16 and the adjustment unit 18 can be executed separately or combined in software and / or hardware. In particular, the units may be integrated in a control unit of the at least partially autonomous vehicle. However, it is also possible for the units to be integrated in an Internet server and to communicate with the at least partially autonomous vehicle via a communication link.

In the 3 to 5 the process of determining a fitted trajectory is illustrated by means of an example. On the free route, in particular when entering a curve, the at least partially autonomous vehicle detects 20 by means of a sensor an oncoming vehicle 22 , Based on your own movement, your own position and the route, is a trajectory 24 set for driving through the curve. This planned trajectory 24 can come in particular from a corresponding planning unit.

Based on the detection of the oncoming vehicle 22 and based on the planned trajectory 24 will, as in the 4 represented, a passing point 26 as the place where there is an encounter between the oncoming vehicle 22 and the at least partially autonomous vehicle 20 will come, determined. For this purpose, for example, predicted positions of the oncoming vehicle 22 ' and the at least partially autonomous vehicle 20 ' be determined. At the determined point of passage 26 it is an estimated, unsafe position indication.

If it is determined on the basis of the sensor data that it is the oncoming vehicle 22 is a laterally tilting vehicle, and if it is determined that the passing point 26 within a curve becomes an adapted trajectory 28 determined as in the 5 shown. The adapted trajectory 28 is preferably a trajectory in which the distance between the oncoming vehicle 22 and the at least partially autonomous vehicle 20 at the point of passage opposite the originally planned trajectory 24 is increased. In other words, the adapted trajectory runs 26 so at a greater distance to a center line of the road. This increases the safety when passing the laterally tiltable vehicle. Due to this increase in the distance is the in the curve due to the curve slope higher space requirements of the oncoming side tilted vehicle 22 Taken into account.

By means of the device according to the invention, therefore, it is already decided on entering the curve that an adaptation of the trajectory is necessary to ensure that there is no collision and no accident. Usually, the adjusted trajectory represents 28 opposite the planned trajectory 24 In this case, a deviation from the ideal line. By this deviation from the ideal line either the speed of the vehicle must be reduced or accepted that higher centrifugal forces act on the occupants of the at least teilautonomen vehicle. As a result, the ride comfort is impaired and / or increased fuel consumption.

In the 6 is an at least teilautonomes vehicle 20 shown in which to control a system 30 with a device 12 is integrated to customize a trajectory. Apart from the device 12 includes the system according to the invention 30 in the illustrated exemplary embodiment, a position sensor 32 , in particular a GPS sensor, by which a position and a speed of the at least teilautonomen vehicle 20 can be detected. Furthermore, the system comprises a vehicle information unit 34 , which serves to determine the planned trajectory. The actual control of the vehicle by means of a control unit 36 that controls the steering as well as the acceleration of the at least partially autonomous vehicle 20 can control. On the one hand, it is possible for the steering and acceleration to be fully controlled by the control unit 36 be taken over. On the other hand, it is also possible that only a part of the functionality of the operator of at least teilautonomen vehicle 20 is relocated away.

For the detection of the environment and in particular the oncoming vehicle includes the system 30 a sensor 38 , The sensor 38 can be designed in particular as a radar, video, Lidar- or ultrasonic sensor and at different locations on the vehicle 20 be arranged. Under a sensor 38 This may also be understood as meaning a combination of different sensor principles.

Other embodiments of the vehicle according to the invention 20 or systems 30 may include other units. In addition, the various units may be partially or fully combined or arranged at other locations.

In the 7 the sequence of a method according to the invention is shown schematically. The method comprises the steps of receiving S10 of sensor data and vehicle data, of determining S12 whether the oncoming vehicle is a laterally tiltable vehicle, and determining a passing location, and determining S14 an adapted trajectory. Optionally, the method further comprises the steps of detecting S30 an oncoming vehicle by means of a sensor and the planning of a trajectory S32 of the at least partially autonomous vehicle. The steps of detecting S30 and planning S32 are in the process of receiving S10 upstream. Further optionally, the method comprises a step of controlling S40 of the at least partially autonomous vehicle along the planned trajectory or along the adapted trajectory.

The invention has been fully described and explained with reference to the drawings and the description. The description and explanation are to be considered as illustrative and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art upon use of the present invention and upon a thorough analysis of the drawings, the disclosure, and the following claims.

In the claims, the words "comprise" and "with" do not exclude the presence of further elements or steps. The undefined article "a" or "an" does not exclude the presence of a plurality. A single element or unit may perform the functions of several of the units recited in the claims. The mere mention of some measures in several different dependent claims is not to be understood that a combination of these measures can not be used equally advantageous. A computer program can be stored / distributed on a non-volatile medium, for example on an optical memory or on a semiconductor drive (SSD). A computer program may be distributed along with hardware and / or as part of a hardware, such as via the Internet or via wired or wireless communication systems. Reference signs in the claims are not intended to be limiting.

LIST OF REFERENCE NUMBERS

10

laterally tiltable vehicle

12

device

14

interface

16

evaluation

18

matching unit

20, 20 '

at least partially autonomous vehicle

22, 22 '

oncoming vehicle

24

planned trajectory

26

crossing point

28

adapted trajectory

30

system

32

position sensor

34

Vehicle information unit

36

control unit

38

sensor

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

• DE 102015221612 A1 [0005]

Claims (15)

Device (12) for adapting a trajectory of an at least partially autonomous vehicle (20, 20 '), comprising: an interface (14) for receiving sensor data with information about an oncoming vehicle (22, 22 ') and vehicle data with information about a planned trajectory (24) of the at least partially autonomous vehicle; an evaluation unit (16) for determining whether the oncoming vehicle is a laterally tiltable vehicle (10) based on the sensor data and determining a passing location (26) at which the oncoming vehicle is likely to pass based on Sensor data and the vehicle data; and an adaptation unit (18) for determining an adapted trajectory (28) of the at least partially autonomous vehicle when the oncoming vehicle is a laterally tiltable vehicle and when the passing point is within a curve. Device (12) according to Claim 1 in that the adaptation unit (18) is designed to determine an adapted trajectory (28) in which a distance between the at least partially autonomous vehicle (20, 20 ') and the oncoming vehicle (22, 22') at the passage (26) is greater than at the planned trajectory (24). Device (12) according to one of the preceding claims, wherein the evaluation unit (16) for determining a speed of the oncoming vehicle (22, 22 ') is formed based on the sensor data. Device (12) according to Claim 3 in that the adaptation unit (18) is designed to determine the adapted trajectory (28) when the speed of the oncoming vehicle (22, 22 ') exceeds a predefined speed value. Device (12) according to Claim 3 wherein the adaptation unit (18) is designed to determine the adapted trajectory (28) based on the speed of the oncoming vehicle (22, 22 '), preferably determining an adapted trajectory in which a distance between the at least partially autonomous vehicle (20 , 20 ') and the oncoming vehicle at the passing point (26) is positively correlated with the speed of the oncoming vehicle. Device (12) according to one of the preceding claims, wherein the evaluation unit (16) is designed to determine a curve radius in an expected trajectory of the oncoming vehicle (22, 22 ') based on the sensor data; and the adaptation unit (18) is designed to determine the adapted trajectory (28) based on the curve radius in the anticipated trajectory of the oncoming vehicle, wherein an adapted trajectory is preferably determined in which a distance between the at least partially autonomous vehicle (20, 20 ') is determined. and the oncoming vehicle at the passing point (26) is negatively correlated with the turning radius in the anticipated trajectory of the oncoming vehicle. Device (12) according to Claims 5 and 6 wherein the evaluation unit (16) is adapted to set the speed of the oncoming vehicle (22, 22 ') with the turning radius in the expected trajectory of the oncoming vehicle in relation and to determine an adapted trajectory (28), if the relation a exceeds predefined limit. Device (12) according to one of the preceding claims, wherein the evaluation unit (16) is adapted to determine an expected inclination angle of the oncoming vehicle (22, 22 ') based on the sensor data; and the adaptation unit (18) is designed to determine the adapted trajectory (28) of the at least partially autonomous vehicle (20, 20 ') if the expected inclination angle exceeds a predefined inclination value. Device (12) according to Claim 8 wherein the interface (14) is adapted to receive a route signal having geographic information about the course of a road; the evaluation unit (16) is designed to determine the expected inclination angle of the oncoming vehicle (22, 22 ') based on the path signal; and / or the adaptation unit (18) is designed to determine the adapted trajectory (28) based on the expected inclination angle. Device (12) according to one of the preceding claims, wherein the interface (14) for receiving the sensor data from a radar, lidar, video and / or ultrasonic sensor is formed. Device (12) according to one of the preceding claims, wherein the interface (14) for receiving the vehicle data from a position sensor (32), a vehicle information unit (34), a navigation device and / or an Internet server is formed; and or the vehicle data comprises a position, a route and / or a speed of the at least partially autonomous vehicle (20, 20 '). Method for adapting a trajectory of an at least partially autonomous vehicle (20, 20 '), comprising the steps: Receiving sensor data with information about an oncoming vehicle (22, 22 ') and vehicle data with information about a planned trajectory (24) of the at least partially autonomous vehicle; Determining whether the oncoming vehicle is a laterally tiltable vehicle (10) based on the sensor data and a passing location (26) at which the oncoming vehicle is likely to be passed based on the sensor data and the vehicle data; and Determining an adapted trajectory (28) of the at least partially autonomous vehicle if the oncoming vehicle is a laterally tiltable vehicle and if the passing point is within a curve. A system (30) for controlling an at least partially autonomous vehicle (20, 20 '), comprising: a device (12) according to any one of Claims 1 - 11 ; a vehicle information unit (34) for scheduling a trajectory of the at least partially autonomous vehicle and providing a scheduled trajectory (24); a sensor (38) for detecting the oncoming vehicle (22, 22 ') and for providing sensor data; and a control unit (36) for controlling the at least partially autonomous vehicle along the planned trajectory or along the adjusted trajectory (28). At least partially autonomous vehicle (20, 20 ') with a system according to Claim 13 , Computer program product with a data carrier, is stored on the program code, which is adapted to a method with the steps according to Claim 12 execute when the program code is executed.

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