DE102018220379A1 - Method and device for operating an automated vehicle - Google Patents

Abstract

Method (300) and device for operating (340) an automated vehicle comprising a step of detecting (310) an actual operating state of the automated vehicle, a step of determining (320) a target operating state of the automated vehicle, depending on the actual Operating state, a step of determining (330) a driving strategy such that the automated vehicle is automatically transferred from the current operating state to the target operating state, and a step of operating (340) the automated vehicle, depending on the driving strategy, to the automated one Transfer of the automated vehicle to the target operating state.

Description

The present invention relates to at least one method for operating an automated vehicle, the method comprising a step of detecting an actual operating state of the automated vehicle and a step of determining a target operating state of the automated vehicle. Furthermore, the method comprises a step of determining a driving strategy such that the automated vehicle is automatically converted from the actual operating state to the target operating state, and a step of operating the automated vehicle, depending on the driving strategy.

Disclosure of the invention

The method according to the invention for operating an automated vehicle comprises a step of detecting an actual operating state of the automated vehicle and a step of determining a target operating state of the automated vehicle, depending on the actual operating state. The method further comprises a step of determining a driving strategy such that the automated vehicle is automatically transferred from the actual operating state to the target operating state, and a step of operating the automated vehicle, depending on the driving strategy, for the automated transfer of the automated vehicle in the target operating state.

An automated vehicle is a vehicle that is designed according to one of SAE levels 1 to 5 (see standard SAE J3016).

Operating the automated vehicle is understood to mean that the automated vehicle is operated in a partially, highly or fully automated manner, in accordance with one of the SAE levels. The operation includes, for example, determining a trajectory for the automated vehicle and / or traversing the trajectory by means of automated lateral and / or longitudinal control and / or performing safety-relevant driving functions etc.

The method according to the invention advantageously achieves the object of providing reliable and thus safe operation of an automated vehicle. The method according to the invention solves this task in that an actual operating state - which, for example, results in poor reliability - is recognized and the automated vehicle then determines and executes a driving strategy without human intervention (operation of the vehicle depending on the driving strategy), so that, for example, a target operating state is brought about, which results in improved reliability and thus, for example, improved safety for the automated vehicle. This also increases the overall acceptance of automated driving.

The actual operating state preferably comprises a first position blur of the automated vehicle and the target operating state a second position blur of and / or the actual operating state comprises a first sensor state of at least one sensor of the automated vehicle and the target operating state a second sensor state of the at least one sensor of the automated vehicle and / or the actual operating state comprises a first vehicle dynamic state of the automated vehicle and the target operating state comprises a second vehicle dynamic state of the automated vehicle.

A position blur is understood to mean, for example, an accuracy with which a position of the automated vehicle is described, for example in relation to a specific point on or in the vehicle. The second position blur is so small that the position of the automated vehicle corresponds to a highly accurate position. A highly precise position is to be understood as a position which is so precise within a given coordinate system, for example GNSS coordinates, that this position does not exceed a maximum permissible blur. The maximum blur may depend on the environment of the automated vehicle, for example. Furthermore, the maximum blur may depend, for example, on whether the automated vehicle is operated in a partially, highly or fully automated manner. Basically, the maximum blur is so low that safe operation of the automated vehicle is guaranteed. For a fully automated operation of the automated vehicle, the maximum blur, for example, is of the order of about 10 centimeters. The first position blur is at least so much greater than the second position blur that, for example, automated operation - at least according to a desired or specified SAE level - cannot be guaranteed and implemented safely.

A vehicle dynamic state includes, for example, a state of the automated vehicle during driving, depending on, for example, the number of occupants and / or total mass (due to occupants and / or cargo) and / or a state of the braking system and / or a state of the driver assistance systems and / or others Understand states - depending on the driving dynamics of the automated vehicle.

This shows the advantage that the operation of the vehicle is linked to an optimization of the automated vehicle - that is, a conversion of the actual operating state into the target operating state. This increases the reliability and thus the safety of the automated vehicle as well as the acceptance of automated driving as a whole.

The driving strategy preferably includes a driving route for the automated vehicle.

This shows the advantage that the automated vehicle can be brought into the desired operating state without much (for example external) effort (workshop, settings by an operator, additional localization methods, etc.). This reduces costs and increases the satisfaction of an operator of the automated vehicle.

The route is preferably determined by means of a digital map, the digital map comprising environmental features, the automated vehicle being operated for the automated transfer of the automated vehicle into the desired operating state depending on the environmental features, which are detected by an environmental sensor system of the automated vehicle.

An environment sensor system is to be understood, for example, as at least one video and / or radar and / or lidar and / or ultrasound and / or at least one further sensor, which is designed to detect environmental features. In one embodiment, an environment sensor system means the at least one sensor and suitable software for evaluating the recorded data, for example in order to recognize and / or classify the environmental features and / or a position of the automated vehicle relative to the environmental features, for example by specifying it a distance and / or a direction.

The route is preferably determined in such a way that a number of the environmental features, which are detected by means of the environmental sensor system, becomes maximum.

This means that all possible routes - for example the fastest route and / or the shortest route and / or another route (the criteria can be selected in advance by a manufacturer and / or an owner and / or an operator of the automated vehicle, for example are determined) and then the route is selected which comprises the most environmental features - the information on this is included, for example, by the digital map - in such a way that these can be detected by the environment sensors of the automated vehicle.

This shows the advantage that the information density is maximized based on environmental features, which leads, for example, to the automated vehicle being converted more precisely and / or faster and / or more effectively into the desired operating state.

The device according to the invention, in particular a computing unit or control unit, is set up to carry out all steps of the method according to one of the method claims.

Furthermore, a computer program is claimed, comprising instructions which, when the computer program is executed by a computer, cause the computer to execute a method according to one of the method claims.

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

Advantageous developments of the invention are specified in the subclaims and listed in the description.

Figure list

• 1 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens bzw. der erfindungsgemäßen Vorrichtung; und
• 2 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens in Form eines Ablaufdiagramms.

Embodiments of the invention are shown in the drawings and are explained in more detail in the following descriptions. Show it:

• 1 an embodiment of the inventive method and the inventive device; and
• 2nd an embodiment of the method according to the invention in the form of a flow chart.

Embodiments of the invention

1 shows an embodiment of the method according to the invention 300 .

For example, three different routes are shown, with environmental features (shown here by the points) along each of the different routes. Each of the different routes can be particularly suitable for converting an automated vehicle from an actual operating state to a target operating state, for example by operating the automated vehicle along a route that includes a particularly large number of environmental features. A route is generally a route that the automated vehicle can travel between a starting point ( 101 ) and an end point ( 102 ) to understand.

The environmental features can be designed differently, depending on the configuration of the actual operating state that is detected. For example, the environmental features are uneven floors and height profiles that stimulate vehicle dynamics. Furthermore, the route can lead, for example, to locations that enable the GNSS deviations to be recalibrated, that is to say, for example, to adapt and / or correct a sensor state. Here, the route can also be selected, for example, depending on the configuration of the at least one sensor of the automated vehicle. For example, a route includes more environmental features that are designed to be detected by means of a radar sensor.

In one embodiment, for example, a lateral position of the automated vehicle is determined with high precision, but a longitudinal position is not, however, or with a higher degree of blur. Here, a route is suitable that includes environmental features in such a way that the longitudinal position can be determined with high precision. In a further embodiment, for example, angles of a vehicle pose of the automated vehicle can be determined or the accuracy of the determined angles can be improved.

In a further embodiment, depending on the partial uncertainty of the vehicle dynamics, another excitation and / or constellation may be more or less suitable in order to determine the vehicle dynamics as well and / or quickly as possible. Furthermore, for example, a highly precise map can be used to calculate in advance which environmental features with regard to which route and / or with respect to which configuration of the environment (e.g. parked curbs, house facades, etc.) can be perceived (possibly at the same time) with the environmental sensor system or which bumps are present the likelihood that a route will be selected based on the criticality measures otherwise applicable. Likewise, the constellation of the environmental features can play a role if only with several visible environmental features occurring simultaneously and / or at short intervals, for example, enable calibration and / or localization and / or determination of the vehicle dynamics, or at least better and in certain constellations / or enable faster.

2nd shows an embodiment of a method 300 for operating an automated vehicle.

In step 301 starts the process 300 , for example in that the automated vehicle carries out a check of at least one state (here: actual operating state) at regular intervals and compares it with a predetermined state (here: target operating state).

In step 310 an actual operating state of the automated vehicle is recorded.

In step 320 a target operating state of the automated vehicle is determined as a function of the actual operating state.

In step 330 a driving strategy is determined in such a way that the automated vehicle is automatically transferred from the actual operating state to the target operating state.

In step 340 the automated vehicle is operated, depending on the driving strategy, for the automated transfer of the automated vehicle into the desired operating state.

In step 350 the procedure ends 300 .

Claims (8)

A method (300) for operating (340) an automated vehicle comprising: - detecting (310) an actual operating state of the automated vehicle; - Determining (320) a target operating state of the automated vehicle, depending on the actual operating state; - determining (330) a driving strategy such that the automated vehicle is automatically transferred from the actual operating state to the target operating state; and - Operation (340) of the automated vehicle, depending on the driving strategy, for the automated transfer of the automated vehicle into the desired operating state. Method (300) according to Claim 1 , characterized in that the actual operating state comprises a first position blur of the automated vehicle and the target operating state comprises a second position blur and / or the actual operating state comprises a first sensor state of at least one sensor of the automated vehicle and the target operating state a second sensor state of the comprises at least one sensor of the automated vehicle and / or the actual operating state a first vehicle dynamic state of the automated vehicle and the target Operating state includes a second vehicle dynamic state of the automated vehicle. Method (300) according to Claim 1 , characterized in that the driving strategy includes a driving route for the automated vehicle. Method (300) according to Claim 3 , characterized in that the route is determined by means of a digital map, the digital map comprising environmental features, the operation of the automated vehicle for the automated transfer of the automated vehicle into the desired operating state taking place as a function of the environmental features, which is performed using an environmental sensor system of the automated Vehicle are detected. Method (300) according to Claim 4 , characterized in that the route is determined in such a way that a number of the environmental features which are detected by means of the environmental sensor system becomes maximum. Device, in particular a computing unit, which is set up to perform all steps of the method (300) according to one of the Claims 1 to 5 to execute. A computer program, comprising instructions which cause the computer program to be executed by a computer, a method (300) according to one of the Claims 1 to 5 to execute. Machine-readable storage medium on which the computer program is based Claim 7 is saved.

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