EP3776515A1 - Verfahren und vorrichtung zur abstimmung von fahrmanövern zwischen einem fahrzeug und mindestens einem alius-fahrzeug - Google Patents
Verfahren und vorrichtung zur abstimmung von fahrmanövern zwischen einem fahrzeug und mindestens einem alius-fahrzeugInfo
- Publication number
- EP3776515A1 EP3776515A1 EP19716089.8A EP19716089A EP3776515A1 EP 3776515 A1 EP3776515 A1 EP 3776515A1 EP 19716089 A EP19716089 A EP 19716089A EP 3776515 A1 EP3776515 A1 EP 3776515A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- trajectory
- vehicles
- ideal
- determining
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 claims description 16
- 230000007613 environmental effect Effects 0.000 claims description 16
- 230000008447 perception Effects 0.000 claims 1
- 230000001953 sensory effect Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000001419 dependent effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 206010034016 Paronychia Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
Definitions
- the invention relates to a method and a device for the coordination of driving maneuvers between a vehicle and at least one Alius vehicle.
- each vehicle provides two trajectories and exchanges with neighboring vehicles.
- a plant trajectory which describes a planned driving maneuver
- a desired trajectory which would be preferable to the plant trajectory and driving dynamics possible but for various possible reasons can not be traversed, especially because of a collision with another vehicle.
- the received ones are compared with their own trajectories and in case of a conflict an adaptation via a cost function taking into account the made involved vehicles.
- the object of the invention is to provide a method for the coordination of driving maneuvers between a vehicle and at least one Alius vehicle, which is characterized by a low voting and thus computational effort and makes the vote regardless of cost considerations.
- a method for the coordination of driving maneuvers between a vehicle and at least one Alius vehicle is proposed with the following steps:
- T rajektorien set for all vehicles which is selected on the basis of an identical for all vehicles rule set for each vehicle from the ideal trajectory or the Zöger trajectory,
- a trajectory is understood to mean a route with a time or speed assignment over a period of a few seconds. This period may also be speed-dependent, especially at higher speeds than at lower speeds, preferably in the range of 3 to 8 seconds.
- the trajectory also takes into account the dimensions of the vehicle, since a check for collisions between the trajectories of different vehicles must also take into account the width and length of the vehicles with a safe lateral distance of a few decimeters.
- the vehicle measurement required for collision freedom must be at a safe distance to the front.
- the basic idea of the invention is to provide two trajectories instead of the two trajectories proposed typically in WO 2017/076593 A1 and to exchange them with neighboring vehicles which differ only in terms of speed, but not with regard to the path.
- the Zöger-T ejection has the same travel path and the same time span as compared with the Ideal T and describes a deceleration process to a reduced driving speed, whereby the length of the Zöger-T ejection is shorter by several vehicle lengths than that of the ideal trajectory.
- the invention is based on the consideration that for safety reasons, the speed should be lower, which also corresponds to the manual handling.
- the Zöger-T ejection should avoid collisions. Collisions occur when vehicles touch each other in their silhouette plus a safety frame.
- the safety frame is speed-dependent in the direction of travel.
- the determination of the delay can occur in different ways. For example, a speed reduction of 10-20% or a defined deceleration may be used, or a desired path shortening of the deceleration theory with respect to the ideal trajectory by a predetermined distance or number of vehicle lengths.
- An arithmetic rule for determining the delay-time can be constant or a function of the speed, for example at 100 km / h a speed reduction of 5%, at 50 km / h of 10% within the trajectory period.
- the period of the ideal and delay period is about 2 to 10 seconds, preferably 4 to 6 seconds.
- the delay should be selected so that the delay trajectory is shorter by at least the length of the safety margin at the same time.
- the safety distance can be determined on the basis of the Highway Code, ie outside closed villages "half speedometer" and within closed towns three car lengths.
- All vehicles ie the ego vehicle and all Alii vehicles
- a voting situation rate each for themselves the received crowd of ideal and hesitant trajectories and determine a conflict-free set of trajectories which is then driven by the vehicles, i.
- Each vehicle drives for itself the so-defined default trajectory.
- the determination of the conflict-free default trajectory set takes place on the basis of a rule set identical for all vehicles by numerical analysis of the trajectory of all vehicles taking into account the prescribed rules.
- the movements of the Alii vehicles detected by the vehicle sensors and communication systems are used to recognize / confirm the trajectories traveled.
- the other vehicles are tracked via a temporary vehicle identification (vehicle ID). If the detected movements are confirmed according to the expected conflict-free trajectory rate, the transmission of the trajectory pairs can be adjusted.
- the solution according to the invention is based on only one path and is therefore less computationally intensive, due in part to the numerical analysis in the coordination process. Compared with conventional systems, this results in a reduced computational effort, which leads to a faster provision of the default trajectory set with a larger number of considered vehicles and thus also to a shorter cycle time and the possibility to carry out the tuning of the vehicles more frequently. This in turn leads to increased traffic safety, especially as the vehicles arrive in doubt by delay in a safer driving condition.
- the voting process according to the invention between vehicles is only initiated if a conflict situation is detected by the vehicle sensor system, in particular that other vehicles in the environment (position) and their direction of movement (heading) are detected in their own infrastructure, or traffic-relevant objects in current lane or road network nodes, such as intersections, in / out of any kind detected or extracted from electronic maps or a maneuver coordination message was received from the vehicle environment.
- trajectory pairs can also be permanent.
- Each vehicle decides for itself whether it participates in a vote and expresses its decision by sending out the Trajektorienpackes.
- the decision is based on the geographical situation analysis and, as a first step, adopts all the vehicles for the voting that are in the road situation (in the example in access to an intersection).
- Final confirmation is provided by the Alii vehicles by sending their trajectory pairs and geographically belonging to the situation.
- a preferred embodiment of the invention provides that the rule set comprises a rule, after which a default trajectory set is determined, which comprises the largest number of ideal trajectories. In other words, if there are multiple solutions of default trajectory sets, the one comprising the largest number of ideal trajectories is selected. This ensures the lowest possible impairment of braking maneuvers for all participating vehicles.
- the rule set comprises a rule, according to which a vehicle with a kinked ideal trajectory or a kinking within a predetermined time range driving path has a priority on the Zöger trajectory. This takes account of the fact that a vehicle wishing to turn at a nearby branch or intersection is more likely to slow down anyway soon enough, and thus is not impaired by selecting the delay trajectory as the default trajectory.
- a preferred development of the invention provides that for ali vehicles, which emit only one trajectory due to their failure, they are used as an ideal trajectory of the aliasing system. Vehicle is taken into account. As a result, the application of the method according to the invention is also possible if individual vehicles send only a trajectory due to any disturbances, be it in terms of transmission errors or system errors.
- the rule set comprises a rule that, if no conflict-free default Trajektoriensatz is determined, a vehicle is determined, which slows down for a predetermined short period of time and then the process is run through again. Since it can not be ruled out that no conflict-free solution can be achieved when selecting the two trajectories available per vehicle, ie a "deadlock" condition occurs, a solution must be found for this situation.
- a vehicle is selected, e.g.
- a preferred development of the invention provides that information from a stored road map and / or information received via communication means is taken into account for determining the ideal trajectory of the vehicle.
- a preferred embodiment of the invention provides that the vehicle checks whether a voting situation exists with at least one Alius vehicle and it does not participate in a voting process if its trajectories are conflict-free. This ensures that a vehicle that is in close proximity with Alii vehicles but whose trajectories does not conflict with the trajectories of other vehicles does not take part in a coordination process for the determination of a conflict-free default trajectory sentence.
- a device for a motor vehicle for coordination of driving maneuvers between a vehicle and at least one Alius vehicle comprising:
- a driving situation analysis device for determining a planned driving path of the vehicle and for determining environmental information of the vehicle on the basis of environmental sensors of the motor vehicle, a trajectory determining means for determining an ideal trajectory for a given time or path area along the driving path on the basis of the driving path and the surrounding information, further for determining a delay trajectory along the same driving path, the delay trajectory opposite to the ideal trajectory has the same driving path and a shorter length due to a time delay due to reduced driving speed,
- a communication device for communication with other vehicles in the environment (Alii vehicles), which is designed to transmit the ideal trajectory and the delay trajectory to the Alii vehicles and to receive the ideal trajectory and the delay vector of the Alii vehicles
- a trajectory evaluation device configured to determine whether there is a conflict situation when the vehicle and the ali vehicles are moving and configured according to their ideal trajectories, upon determination of a conflict situation for determining a conflict-free default trajectory set for all vehicles which is selected on the basis of a rule set identical for all vehicles for each vehicle from the ideal trajectory or the delay trajectory,
- a signal output device which outputs to a connectable vehicle control device the default trajectory determined for the vehicle for driving off the vehicle or outputs direct driving instructions to the vehicle driver.
- Figure V is a block diagram of the logic modules of the device according to the invention.
- FIG. 2 shows a flow chart of the method according to the invention
- FIG. 3 is a flowchart of part of the method of FIG. 2;
- FIG. 4 a schematic representation of a trajectory pair
- FIG. 1 shows the logic modules of the tuning device 10 according to the invention.
- This comprises an umfeldech 12, which communicates with an electronic road map 14, a communication unit 16 for communication with other vehicles (V2V) or stationary sites (V2X), as well as a set of vehicle-mounted environment sensors 18.
- the environmental sensors 18 may include laser scanners, radars, cameras, and ultrasonic gauges.
- the tuning device 10 comprises a driving situation analysis unit 20 whose function is explained in more detail in FIG.
- the driving situation analysis unit 20 controls a trajectory generation unit 22, which determines an ideal trajectory and a delay trajectory for the vehicle.
- the generated trajectories are transmitted to a trajectory evaluation unit 24 together with the trajectory pairs of Alii vehicles supplied via the communication unit 16 via the umlauf unit 12.
- the trajectory pair generated by the trajectory generation unit 22 is also supplied to theticianiser 12, which transmits this via the communication unit 16 to Alii vehicles.
- the trajectory evaluation unit 24 evaluates the trajectory pairs of the ego vehicle and the ali vehicles and generates a collision-free default trajectory set for each vehicle and outputs to a vehicle control unit 30 the default trajectory of the own vehicle, which is then autonomously traversed by the vehicle.
- a driver instruction can also be given via a suitable man-machine interface, for example an acoustic or visual output device or else a haptic accelerator pedal.
- a monitoring unit 26 detects movements of Alii vehicles based on received vehicle movement information and own observations by means of the environmental sensors 18 and evaluates them.
- a driving path of the own vehicle is determined.
- HAF level skin driving, level 2 to 5
- step 52 the vehicle environment is checked using the vehicle's own sensors 18 and the information received via the communication unit 16 about Alii- vehicles from the environment.
- step 54 it is determined whether there is a need for reconciliation between the ego vehicle and the Alii vehicles based on the data of the Alii vehicles, data on obstacles, road nodes, and received maneuvering messages.
- step 52 is returned to re-examine whether there is any need for reconciliation, taking into account updated environmental data.
- the maneuver decision unit 28 determines a maneuver decision and confirms by transmission according to FIG. 3.
- an ideal trajectory 40 and a delay trajectory 42 are determined, taking into account the current speed, which are depicted in FIG. Furthermore, an ego priority is determined therefrom, which, for example, can prioritize the delay trajectory 42 in the case of a preceding bend-over travel path.
- step 62 the trajectory pair 40, 42 of the ego vehicle is sent by means of the communication unit 16 to Alii vehicles in the vicinity and thus confirms the involvement of the ego vehicle in the vote. It can be seen from the spatial position of the trajectory whether or on which voting scenario (which group) the ego vehicle will take part. It can be seen from the spatial position of the trajectory whether or in which coordination scenario (which group) the ego vehicle will participate.
- step 64 the respective trajectory pairs of Alii vehicles are received by the communication unit 16.
- step 66 the trajectory pairs 40, 42 of the ego vehicle and the Alii vehicles are combined to form a set of trajectories.
- the trajectory pairs are assigned to the individual Alii vehicles according to the anonymized vehicle IDs.
- the trajectory crowd defines all participants in this voting scenario by spatial context, in other words, only the trajectories that are tangent or spatially very close to it were included. So there is a geographical assignment of those involved in the scenario.
- step 68 an attempt is made to determine a non-conflicting default trajectory set for all vehicles, with either ideal trajectory or delay trajectory being selected for each vehicle.
- the determination of a conflict-free default trajectory set is performed by numerical analysis of the set of trajectories under priority of the ideal trajectories 40. The same rules apply to all vehicles and therefore the trajectory set is identical for all vehicles involved.
- step 70 the vehicle is moved autonomously or by means of driving instructions in accordance with the default trajectory determined for the ego vehicle. Since the Alii vehicles use the same rule set to determine the same trajectory set, each Alii vehicle can then drive off the default trajectory determined for the respective vehicle.
- step 72 the low priority and / or lowest actual speed ego vehicle of all vehicles in the voting situation is deferred and a new trajectory set 40, 42 for the ego becomes 60 Vehicle determined.
- the vehicle movements of the Alii vehicles are detected by received V2X vehicle movement information (Cooperative Awareness Message) and optionally by the environmental sensors 18.
- step 82 the actual trajectories of the Alii vehicles are assigned and observed.
- the received vehicle movement data are assigned via the vehicle ID to the respective conflict-free default trajectory.
- step 84 a comparison is made with the conflict-free default trajectory set. If compliance with the determined default trajectories is determined (J), the own maneuver (step 70) and the monitoring is continued unchanged and thus returned to step 80. On the other hand, if a deviation is detected (N), the maneuver decision unit 28 is caused to make a new maneuver decision, as explained in FIG. If the default T rjektorie was traversed (E), the maneuver is completed (step 86).
- FIG. 5 shows an exemplary embodiment, with a road junction 32, onto which four vehicles A, B, C, D travel.
- Another vehicle E is located in the lane intersection 32. Since there is a need for coordination, an ego vehicle A and Alii vehicles B, C, D, E each transmit an ideal concept 40A, 40B, 40C, 40D and a delay-time theory 42A , 42B, 42C, 42D to the other vehicles.
- the trajectory system shown is in which the ideal torques 40A, 40B, 40C, 40D collide.
- a collision occurs when the vehicle outlines added in a complete trajectory view touch including the safety margin. For reasons of clarity, only the line of the trajectory reference point is shown here.
- the vehicle E does not participate in the subsequent process.
- step 68 results in a collision-free default trajectory set consisting of 40A (ideal trajectory for the ego vehicle A), 40B (ideal trajectory for the algo- rithm). Vehicle B), 42C (Zöger-T rjektorie for the Alius vehicle C) and 42D (Zöger trajec- torie for the Alius vehicle D). It should be noted that even a combination 42A, 40B, 42C, 42D, ie with an ideal and three delay trajectories, would be collision-free, but would contain only one ideal theory.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018002609.5A DE102018002609B4 (de) | 2018-03-29 | 2018-03-29 | Verfahren und Vorrichtung zur Abstimmung von Fahrmanövern zwischen einem Fahrzeug und mindestens einem Alius-Fahrzeug |
PCT/EP2019/057509 WO2019185584A1 (de) | 2018-03-29 | 2019-03-26 | Verfahren und vorrichtung zur abstimmung von fahrmanövern zwischen einem fahrzeug und mindestens einem alius-fahrzeug |
Publications (3)
Publication Number | Publication Date |
---|---|
EP3776515A1 true EP3776515A1 (de) | 2021-02-17 |
EP3776515B1 EP3776515B1 (de) | 2023-12-06 |
EP3776515B8 EP3776515B8 (de) | 2023-12-13 |
Family
ID=66092300
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19716089.8A Active EP3776515B8 (de) | 2018-03-29 | 2019-03-26 | Verfahren und vorrichtung zur abstimmung von fahrmanövern zwischen einem fahrzeug und mindestens einem alius-fahrzeug |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3776515B8 (de) |
DE (1) | DE102018002609B4 (de) |
MA (1) | MA52178A (de) |
WO (1) | WO2019185584A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10757485B2 (en) | 2017-08-25 | 2020-08-25 | Honda Motor Co., Ltd. | System and method for synchronized vehicle sensor data acquisition processing using vehicular communication |
US11163317B2 (en) | 2018-07-31 | 2021-11-02 | Honda Motor Co., Ltd. | System and method for shared autonomy through cooperative sensing |
US11181929B2 (en) | 2018-07-31 | 2021-11-23 | Honda Motor Co., Ltd. | System and method for shared autonomy through cooperative sensing |
DE102020102328A1 (de) | 2020-01-30 | 2021-08-05 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Assistenzsystem zur Fahrzeugsteuerung und Kraftfahrzeug |
CN111497829B (zh) * | 2020-04-14 | 2022-08-02 | 浙江吉利汽车研究院有限公司 | 一种全自动泊车路径确定方法、装置、设备及存储介质 |
DE102021105052A1 (de) | 2021-03-03 | 2022-09-08 | Valeo Schalter Und Sensoren Gmbh | Automatisches Führen eines Ego-Fahrzeugs in Abhängigkeit von Trajektoriendaten eines anderen Fahrzeugs |
JP2022157321A (ja) * | 2021-03-31 | 2022-10-14 | トヨタ自動車株式会社 | 交通管制システム、交通管制方法及びプログラム |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102007058538A1 (de) * | 2007-12-06 | 2009-06-10 | Robert Bosch Gmbh | Verfahren zum Kontrollieren einer Gefahrensituation im Verkehr |
DE102012021282A1 (de) | 2012-10-29 | 2014-04-30 | Audi Ag | Verfahren zur Koordination des Betriebs von vollautomatisiert fahrenden Kraftfahrzeugen |
DE102015219469A1 (de) * | 2014-10-10 | 2016-04-14 | Continental Teves Ag & Co. Ohg | Verfahren zum Handhaben einer Regelkarte |
DE102015220481A1 (de) * | 2015-10-21 | 2017-05-11 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung in einer Verkehrseinheit zum kooperativen Abstimmen von Fahrmanövern von mindestens zwei Kraftfahrzeugen |
DE102015221817A1 (de) * | 2015-11-06 | 2017-05-11 | Audi Ag | Verfahren zum dezentralen Abstimmen von Fahrmanövern |
DE102016205972A1 (de) * | 2016-04-11 | 2017-11-09 | Volkswagen Aktiengesellschaft | Verfahren zur autonomen oder teilautonomen Durchführung eines kooperativen Fahrmanövers |
-
2018
- 2018-03-29 DE DE102018002609.5A patent/DE102018002609B4/de active Active
-
2019
- 2019-03-26 MA MA052178A patent/MA52178A/fr unknown
- 2019-03-26 EP EP19716089.8A patent/EP3776515B8/de active Active
- 2019-03-26 WO PCT/EP2019/057509 patent/WO2019185584A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
DE102018002609B4 (de) | 2021-02-04 |
WO2019185584A1 (de) | 2019-10-03 |
DE102018002609A1 (de) | 2019-10-02 |
EP3776515B1 (de) | 2023-12-06 |
MA52178A (fr) | 2021-02-17 |
EP3776515B8 (de) | 2023-12-13 |
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