DE102020209569A1 - 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) a predefined trajectory for the automated vehicle, wherein the predefined trajectory runs along a lane of a traffic route, a step of detecting (320) a road condition of this lane, a step of determining (330) an adapted trajectory depending on the road condition, the adapted trajectory having a deviation from the specified trajectory, the adapted trajectory also running along the lane of the traffic route, and a step of operating ( 340) of the automated vehicle, depending on the adjusted trajectory.

Description

The present invention relates, inter alia, to a method for operating an automated vehicle with a step of detecting a predefined trajectory for the automated vehicle, a step of detecting a road condition, a step of determining an adapted trajectory depending on the road condition, and a step of Operating the automated vehicle depending on the adjusted trajectory.

Disclosure of Invention

The method according to the invention for operating an automated vehicle comprises a step of detecting a predefined trajectory for the automated vehicle, the predefined trajectory running along a lane of a traffic route, and a step of detecting a roadway state of this lane. Furthermore, the method comprises a step of determining an adapted trajectory, depending on the state of the roadway, the adapted trajectory deviating from the predefined trajectory, the adapted trajectory also running along the lane of the traffic route, and a step of operating the automated vehicle, depending on the fitted trajectory.

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

Operating the automated vehicle means, for example, automated transverse and/or longitudinal control—in particular along a trajectory. In one possible embodiment, operating the automated vehicle also includes, for example, the execution of safety-related functions (“arming” or triggering an airbag, tightening a seat belt, executing an emergency stopping process, etc.) and/or executing so-called driver assistance functions (here, for example: running a lane departure warning system, etc.).

A predefined trajectory is to be understood, for example, as a predefined route for the automated vehicle, which is traveled using automated lateral and/or longitudinal control. In one embodiment, a trajectory represents, for example, discrete coordinate points and/or vectors, etc. The specified trajectory represents in particular a connection between a starting point and a destination point, with the specified trajectory being determined, for example, by means of an external traffic control system (relative to the automated vehicle) (for automated vehicles), for example, taking into account other vehicles or other objects and/or road users, and/or by means of a (digital) map in the automated vehicle.

A lane is to be understood, for example, as a lane of a traffic route marked by lane markings, it also being possible for this traffic route to have a number of lanes in each direction of travel. In a further embodiment, lane is to be understood, for example, as the entire traffic route, in particular if there are no road markings, it being possible for example for a (country-specific) left-hand or right-hand driving requirement to be observed when creating the predefined trajectory.

A roadway condition is to be understood, for example, as the state of the surface of the roadway, including in particular bumps such as cracks, potholes or also natural bumps [for example in the case of undeveloped or tarred traffic routes, etc.]. In an alternative or additional embodiment, a roadway condition can also be understood as the navigability of the roadway, meaning in particular objects on the roadway, etc., which must be bypassed, for example, when following the specified trajectory.

The method according to the invention advantageously solves the problem of making the operation of an automated vehicle safer and more comfortable for the occupants. This object is achieved by means of the method according to the invention in that, among other things, a roadway condition is detected along a predefined trajectory and an adapted trajectory is determined as a function of the roadway condition. As a result, for example, excessive vertical or lateral acceleration can be reduced or avoided. This increases the comfort for occupants of the automated vehicle. Furthermore, a maximum degree of traction of the tires on the road can be guaranteed, which, among other things, increases safety in curves and/or in the event of emergency braking. This makes automated driving safer overall and increases acceptance.

The state of the roadway is preferably detected by means of an environment sensor system of the automated vehicle and/or by means of an inertial sensor system of the automated vehicle and/or by means of information transmitted externally.

Surroundings sensors of the automated vehicle are at least one video sensor and/or at least one radar sensor and/or at least one lidar sensor and/or at least one ultrasonic sensor and/or at least one additional sensor that is designed to detect the surroundings of the vehicle automated vehicle in the form of environmental data values. For this purpose, the environment sensor system includes, for example, a computing unit (processor, main memory, hard disk) with suitable software and/or is connected to such a computing unit, whereby objects—such as a roadway condition—can be detected and/or classified or assigned.

An inertial sensor system is to be understood as meaning at least one acceleration sensor and/or one yaw rate sensor and/or at least one additional sensor, which is designed to detect, for example, vertical accelerations and/or rotational movements of the automated vehicle. Furthermore, an inertial sensor system is also understood to mean chassis sensors that are designed to detect spring and/or damper forces.

Information transmitted externally is to be understood, for example, as information which is made available or transmitted in the form of data values from an external device (for example a provider of road condition maps, etc.) so that it can be called up.

The operation preferably also includes a step of storing the state of the roadway.

Saving the state of the roadway means, for example, entering the corresponding data—in connection with a position—on a map so that an adapted trajectory can be determined and used in advance for a subsequent trip and use of the same traffic route.

The operation preferably additionally includes a step of outputting the adapted trajectory to at least one occupant of the automated vehicle.

Outputting the adjusted trajectory is to be understood, for example, as meaning that the adjusted trajectory can be output visually and/or acoustically and/or haptically to an occupant (for example a driver) using a human-machine interface (HMI). A visual output is to be understood, for example, as the display on a screen. An acoustic output is to be understood, for example, as a corresponding indication via an audio system of the automated vehicle. A haptic output means, for example, a characteristic vibration of a steering wheel and/or a seat, etc.

The device according to the invention, in particular a control unit, is set up to carry out all the steps of the method according to one of the method claims for operating an automated vehicle.

A device according to the invention is to be understood, for example, as a control unit and/or a computing unit which is included in the automated vehicle. In this case, the device comprises, for example, a transmitting and/or receiving unit, which is designed to transmit and/or receive signals or data values (representing a roadway condition, etc.). In an alternative embodiment, the device does not directly include the transmitting and/or receiving unit, but is connected to it. The device also includes a data interface, by means of which data values (which represent, for example, the specified trajectory) can be requested and/or received from a further control device or a further arithmetic unit. Furthermore, the control unit or the computing unit includes means (processor, main memory, storage medium, software) for operating the automated vehicle, for example by providing appropriate commands to a chassis and/or to a motor and/or to a driver assistance system, etc. and/or can be transferred.

Furthermore, a computer program is claimed, comprising instructions which, when the computer program is executed by a computer, cause the latter to execute a method according to one of the method claims for operating an automated vehicle. In one embodiment, the computer program corresponds to the software comprised by the device.

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

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

character list

• 1 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Betreiben eines automatisierten Fahrzeugs in Form eines Ablaufdiagramms.

Embodiments of the invention are shown in the drawing and are explained in more detail in the following description. It shows:

• 1 an embodiment of the inventive method for operating an auto mated vehicle in the form of a flow chart.

Embodiments of the invention

1 shows an embodiment of a method 300 for operating 340 an automated vehicle.

In step 301, the method 300 starts.

In step 310, a predefined trajectory for the automated vehicle is recorded, the predefined trajectory running along a lane of a traffic route.

In step 320, a road condition of this lane is detected. In this case, for example, an unevenness is to be recognized and/or classified.

• • Negativabgrenzungen:
  • ◯ Fall N1: Die Unebenheit ist unterhalb einer vorgegebenen Berücksichtigungsschwelle (z.B. < 0,5 cm).
  • ◯ Fall N2: Die Unebenheit ist nicht in der Fahrspur (d.h. die Räder des automatisierten Fahrzeugs überfahren die Unebenheit).
  • ◯ Fall N3: Die Unebenheit betrifft alle möglichen Fahrspuren entlang des Verkehrsweges.
  • ◯ Fall N4: Die Unebenheit ist breiter als beispielsweise 1 m (somit ist die verbleibende Fahrspur vermutlich zu schmal.
• • Positivabgrenzung
  • ◯ Fall P1: Die Fälle N1 bis N4 treffen nicht zu.

In one embodiment, for example, the following case distinctions are used to classify the unevenness:

• • Negative delimitations:
  • ◯ Case N1: The unevenness is below a given consideration threshold (e.g. < 0.5 cm).
  • ◯ Case N2: The bump is not in the lane (ie the wheels of the automated vehicle drive over the bump).
  • ◯ Case N3: The unevenness affects all possible lanes along the traffic route.
  • ◯ Case N4: The unevenness is wider than e.g. 1 m (so the remaining lane is probably too narrow.
• • Positive demarcation
  • ◯ Case P1: Cases N1 to N4 do not apply.

A significance is determined for all positively delimited cases: This significance is determined, for example, on a scale of 1-10 (low to high) based on the height of the one-sided unevenness. This means a high significance with an increasing height of the unevenness.

In step 330, an adjusted trajectory is determined as a function of the state of the roadway, with the adjusted trajectory deviating from the predefined trajectory, with the adjusted trajectory also running along the lane of the traffic route.

• • Für die Fälle N1 bis N4 erfolgt beispielsweise keine Anpassung. Somit entspricht die angepasste Trajektorie der vorgegebenen Trajektorie.
• • Für den Fall P1 und einer Signifikanz größer als eine vorgegebene Signifikanz (beispielsweise 4) wird eine angepasste Trajektorie bestimmt, wenn sich die vorgegebene Trajektorie innerhalb derselben Fahrspur befindet. Sollte allerdings die restliche Fahrspur zu schmal sein, um innerhalb derselben Fahrspur ein Umfahren der Unebenheit zu gewährleisten (und somit beispielsweise kein Sicherheitsabstand in Richtung Gegenverkehr und/oder in Richtung Fahrbahnrand eingehalten werden kann, erfolgt keine Anpassung.
• • Für den Fall P1 und einer Signifikanz kleiner als die vorgegebene Signifikanz erfolgt beispielsweise ebenfalls keine Anpassung.

In one embodiment, the following options for action, for example, can be prioritized for determining 330 the adapted trajectory—based on the previously performed determination of significance:

• • For example, there is no adjustment for cases N1 to N4. The adjusted trajectory thus corresponds to the specified trajectory.
• • For case P1 and a significance greater than a predetermined significance (for example 4), an adjusted trajectory is determined if the predetermined trajectory is within the same lane. However, if the rest of the lane is too narrow to ensure that the unevenness can be avoided within the same lane (and therefore, for example, it is not possible to maintain a safe distance in the direction of oncoming traffic and/or in the direction of the edge of the road), no adjustment is made.
• • In the case of P1 and a significance lower than the specified significance, for example, there is also no adjustment.

In step 340, the automated vehicle is operated depending on the adjusted trajectory.

In step 350, the method 300 ends.

Claims (7)

A method (300) for operating (340) an automated vehicle, comprising: - detecting (310) a predetermined trajectory for the automated vehicle, the predetermined trajectory running along a lane of a traffic route; - detecting (320) a roadway condition of this lane; - Determining (330) an adapted trajectory, depending on the state of the roadway, the adapted trajectory having a deviation from the predefined trajectory, the adapted trajectory also running along the lane of the traffic route; and - operating (340) the automated vehicle depending on the adjusted trajectory. Method (300) according to claim 1 , characterized in that the detection (320) of the state of the roadway takes place by means of an environment sensor system of the automated vehicle and/or by means of an inertial sensor system of the automated vehicle and/or by means of information transmitted externally. Method (300) according to claim 1 , characterized in that the operation (340) additionally comprises a step of storing the state of the roadway. Method (300) according to claim 1 , characterized in that the operation (340) additionally comprises a step of outputting the adapted trajectory to at least one occupant of the automated vehicle. Device, in particular a control unit, which is set up, all the steps of the method (300) according to one of Claims 1 until 4 to execute. Computer program, comprising instructions which, when the computer program is executed by a computer, cause the latter to carry out a method (300) according to one of Claims 1 until 4 to execute. Machine-readable storage medium on which the computer program claim 6 is saved.

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