EP3678912A1 - Trajectoires de type « off board » pour situations difficiles - Google Patents

Trajectoires de type « off board » pour situations difficiles

Info

Publication number
EP3678912A1
EP3678912A1 EP18769030.0A EP18769030A EP3678912A1 EP 3678912 A1 EP3678912 A1 EP 3678912A1 EP 18769030 A EP18769030 A EP 18769030A EP 3678912 A1 EP3678912 A1 EP 3678912A1
Authority
EP
European Patent Office
Prior art keywords
offboard
server
trajectory
driver assistance
assistance system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP18769030.0A
Other languages
German (de)
English (en)
Inventor
Ulrich STÄHLIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP3678912A1 publication Critical patent/EP3678912A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0225—Failure correction strategy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0082—Automatic parameter input, automatic initialising or calibrating means for initialising the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/20—Data confidence level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/55—External transmission of data to or from the vehicle using telemetry

Definitions

  • the invention relates to a driver assistance system for a vehicle, a vehicle having such a driver assistance system, a server for such a driver assistance system
  • autonomous driving the goal is not to have to rely on the driver or the user of the vehicle. In other words, the vehicle drives itself.
  • trajectories for the vehicle to be followed by the vehicle can be calculated. However, you can
  • Traj ektorienbetician record resp. can provide, e.g. lack of lane markings, difficult visibility conditions, dirty road or snowy road environment.
  • the trajectory for the vehicle is calculated on the basis of an environmental model of sensor data from environment sensors. If the sensor data of the environment sensors are no longer available or not in sufficient quality or quality, a sufficiently reliable calculation of the trajectory can not take place and the steering of the vehicle must be passed on to the driver or the user so that the latter controls the vehicle or the vehicle is stopped. This can lead to an unsatisfactory user experience, as it can not fully utilize partially or fully autonomous driving.
  • Driver assistance system has a control unit and a
  • the control unit for receiving data from a server.
  • the control unit is set up to calculate a trajectory for the vehicle based on sensor data and to regulate the vehicle in such a way that it follows this trajectory as closely as possible.
  • the control unit is further adapted to receive the trajectory for the vehicle in certain circumstances by a server received from
  • the control unit can calculate the trajectory for the vehicle, in particular the position and orientation of the vehicle in a lane with respect to the roadside, the opposite lane, the lane marking or the guardrail.
  • the calculated trajectory can be used to partially or possibly also fully autonomous control of the vehicle with the
  • the control unit of the driver assistance system can also be set up to always request off-board trajectories from the server so that they can replace the trajectory calculated by the control unit if necessary.
  • control unit is configured to recognize at an early stage that based on sensor data, no trajectory can be calculated and then to instruct the communication device
  • the control unit can specifically instruct the communication device to request off-board trajectories from the server.
  • the control unit can predict at an early stage that based on the sensor data of the vehicle in the near future, no calculation of the trajectory will be possible with sufficient accuracy, for example, because at a previous trip at this point problems with the calculation have occurred because the weather forecast predicts poor visibility conditions or because a construction site is on the way.
  • Early inquiries by the off-road tractors can be made to ensure that they arrive in good time so that the control unit can open This can be used to control the vehicle partially or fully autonomously.
  • the off-board traj ectorie received from the server has information about the driving angle of the vehicle, the orientation of the vehicle, relative position data of the vehicle, absolute position data of the vehicle, the route to be traveled, the vehicle's radius to be traveled Speeds or the time required for the approaching route.
  • control unit is configured to instruct the communication device to request the off-board trajectory from the server when a value for the quality of the sensor data for calculating the trajectory falls below a predefined threshold value.
  • the communication device requests offboard trajectories as soon as the the quality of the sensor data of the environmental sensors falls below a certain threshold.
  • the quality or the quality of the sensor data can be expressed in a value correlating to the quality of the sensor data. This value can then be compared to the predefined threshold.
  • the threshold can be chosen so that it can still act purely on the sensor data and there is still sufficient time to request the offboard traj ektorie from the server. In other words, then already (as a precaution) an Offboard Traj ektorie be requested at the server, if the quality of the sensor data decreases.
  • Weather conditions trigger the request of an off-board tractor ectorie by the control unit.
  • Examples of the above criteria can be: Snow on the roadside
  • Driver assistance system further comprises a navigation device.
  • the navigation device has map material, wherein the map material has an offboard Traj ektorie.
  • Control unit is set up, the offboard Traj ektorie of the map material with the offboard traj ectorie of the server.
  • control unit can
  • Navigation device or map unit Map and Positioning Unit received. This can be done either by buffering in the vehicle, especially if the same location was only recently passed, or in general, and then the validity of the trajectories can not always be ensured. Furthermore, a comparison with the server can take place, in which it is checked whether the existing off-board trajectory is still the currently valid off-board trajectory. This can be done, for example, by using a unique ID for each offboard trajectory.
  • the infrastructure data may already be provided in the map material of the driver assistance system as digital maps.
  • digital maps or “digital map data” is also understood to mean maps for advanced driver assistance systems (ADAS) without navigation.
  • ADAS advanced driver assistance systems
  • server can also be called a backend.
  • server in the context of this application rather describes a vehicle-external unit, which can provide data, in particular an off-board traj ektorie, for the previously described and subsequently described driver assistance system or can send this.
  • the communication or the data exchange with the server is wireless, preferably via WLAN, Bluetooth and / or mobile, such as UMTS, 3G, LTE, 4G or 5G.
  • the wireless transmission or the wireless reception of the offboard traj ektorie can via Bluetooth, WLAN (eg WLAN
  • the driver assistance system can send the detected sensor data of the vehicle to the server.
  • the server in "good" visibility data from the
  • the server can also send or provide data to a plurality of different driver assistance systems, in particular off-board tractors.
  • the server is set up early to recognize that a reliable calculation of the trajectory by the control unit of the
  • the server may be configured to send the offset trajectories to the server
  • Another aspect of the invention relates to methods for providing an offboard trajectory for a vehicle
  • the method comprises the steps:
  • the individual steps of the method can be carried out in parallel or sequentially. Furthermore, the order of the individual steps can be changed. Between the individual steps can also be a longer period of time.
  • Another aspect of the invention relates to a program element which, when mounted on a control unit of a
  • Another aspect of this invention relates to
  • FIG 3 shows a schematic representation of an offboard traj ectorie of the server received by the communication device according to an embodiment of the invention.
  • FIG. 5 shows a schematic representation of a vehicle with the driver assistance system and a server for the
  • the driver assistance system 10 has a control unit 11, a communication device 12 and a
  • control unit 11 is set up to calculate or determine a trajectory for a vehicle based on sensor data.
  • the communication device 12 is set up to receive and send data, in particular an offboard trajectory, from a server. Furthermore, the
  • Control unit 11 adapted to replace the calculated trajectory by the received Offboard Traj ektorie the server. Based on the trajectory or the received Offboard Traj ektorie a vehicle can be partially or fully autonomously controlled.
  • the control unit 11 may be configured to recognize early on that a trajectory can not be reliably calculated based on the sensor data with a certain probability, for example, because a previous trip has a
  • the control unit 11 can instruct the communication device 12 to request an off-board trajectory from the server.
  • the Offboard-Traj ektorie sent by the server can then be used by the control unit 11 of the driver assistance system 10 or it can replace the calculated trajectory.
  • the vehicle may continue partial or
  • the server's off-board trajectory may include information about the driving angle, the orientation, the traveling radius, the driving speeds, relative position data, absolute position data, the route to be traveled and the time of the vehicle to be used for this purpose.
  • the control unit 11 of the driver assistance system 10 may be configured to judge the quality of the sensor data from the environment sensors of the vehicle. For this purpose, a value which correlates with the quality of the data, with a predefined
  • Threshold are compared. If the value for the quality of the sensor data falls below the predefined threshold value, the control unit 11 can instruct the communication device 12 to request an off-board trajectory from the server. In other words, the control unit 11 may request from one
  • the navigation device or map device 13 of the driver assistance system 10 can digital maps for the
  • Offboard Traj ektorie on the server is adjusted, so always the current offboard Traj ektorie of the Control unit 11 of the driver assistance system is used.
  • each offboard Traj ektorie have a unique ID.
  • the ID of the off-board trajectory on the server can then be compared with the ID of the off-board trajectory from the digital map. If the two IDs differ from one another, then the off-board trajectory can be requested by server and received by the communication device 12. On the other hand, if the IDs match, then the offboard trajectory can be used from the digital maps, so that the data transfer between the server and the
  • Communication device 12 is reduced to a minimum.
  • FIG. 2 shows a schematic representation of a trajectory T calculated by a control unit of a driver assistance system. This trajectory T is replaced by a
  • Fig. 3 shows a schematic representation of an off-board Traj ektorie Tl received by the communication device.
  • the offboard Traj ektorie Tl is shown here as a dashed line and the arrow symbolizes the direction of travel of the vehicle.
  • the vehicle 20 is shown as a dashed rectangle, which moves along this offboard Traj ektorie Tl.
  • a road is shown in Fig. 3, on which the offboard Traj ektorie Tl of the server is located centrally.
  • the server can be included, among other driving angle information ⁇ .
  • FIG. 4 shows a schematic illustration of a vehicle 20 with a previously described and subsequently described
  • the driver assistance system 10 can in this case access sensor data of the environment sensors of the vehicle 20. Furthermore, the driver assistance system 10 may be configured to control the vehicle 20 partially or fully autonomously. In other words, the vehicle 20 with the vehicle
  • Driver assistance system 10 without the intervention of the driver or the user drive.
  • FIG. 5 shows a schematic representation of a vehicle 20 with a driver assistance system 10 and a server 30 (backend).
  • the server 10 is depicted as a cloud in FIG. 5 and the data exchange between the driver assistance system 10 and the server 10 is illustrated as a dashed line between the two.
  • Driver assistance system 10 may at the server 30 a
  • the server 30 then sends this requested offboard Traj ektorie to the
  • the vehicle 20 With the received Offboard-Traj ektorie control unit of the driver assistance system, the vehicle 20 partially or fully autonomously control, even if this would not be possible based on the sensor data of the environment sensors.
  • the data exchange in particular of
  • Traj ektorien bidirectional.
  • the server 30 may choose these calculated trajectories of the driver assistance system 10
  • FIG. 6 shows a flow chart for a method for

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un système d'aide à la conduite (10) pour un véhicule (20). Ce système d'aide à la conduite (10) comporte une unité de commande (11) et un dispositif de communication (12) servant à recevoir des données en provenance d'un serveur (30). L'unité de commande (11) est conçue pour calculer une trajectoire (T) pour le véhicule (20) sur la base de données de capteurs. En outre, l'unité de commande (11) est conçue pour remplacer la trajectoire (T) pour le véhicule (20) par une trajectoire de type « Off Board » (T1) reçue en provenance du serveur (30).
EP18769030.0A 2017-09-07 2018-09-03 Trajectoires de type « off board » pour situations difficiles Pending EP3678912A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017215749.6A DE102017215749A1 (de) 2017-09-07 2017-09-07 - Offboard Trajektorien für schwierige Situationen -
PCT/DE2018/200080 WO2019048009A1 (fr) 2017-09-07 2018-09-03 Trajectoires de type « off board » pour situations difficiles

Publications (1)

Publication Number Publication Date
EP3678912A1 true EP3678912A1 (fr) 2020-07-15

Family

ID=63557192

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18769030.0A Pending EP3678912A1 (fr) 2017-09-07 2018-09-03 Trajectoires de type « off board » pour situations difficiles

Country Status (5)

Country Link
US (1) US11273829B2 (fr)
EP (1) EP3678912A1 (fr)
CN (1) CN110267857B (fr)
DE (2) DE102017215749A1 (fr)
WO (1) WO2019048009A1 (fr)

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Also Published As

Publication number Publication date
US20200010083A1 (en) 2020-01-09
US11273829B2 (en) 2022-03-15
DE112018000293A5 (de) 2019-10-10
WO2019048009A1 (fr) 2019-03-14
CN110267857A (zh) 2019-09-20
CN110267857B (zh) 2023-11-21
DE102017215749A1 (de) 2019-03-21

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