EP3776515B1 - Procédé et dispositif pour accorder des manoeuvres de conduite entre un véhicule et au moins un autre véhicule - Google Patents

Procédé et dispositif pour accorder des manoeuvres de conduite entre un véhicule et au moins un autre véhicule Download PDF

Info

Publication number
EP3776515B1
EP3776515B1 EP19716089.8A EP19716089A EP3776515B1 EP 3776515 B1 EP3776515 B1 EP 3776515B1 EP 19716089 A EP19716089 A EP 19716089A EP 3776515 B1 EP3776515 B1 EP 3776515B1
Authority
EP
European Patent Office
Prior art keywords
trajectory
vehicle
vehicles
ideal
hesitation
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.)
Active
Application number
EP19716089.8A
Other languages
German (de)
English (en)
Other versions
EP3776515A1 (fr
EP3776515B8 (fr
Inventor
Harald Berninger
Viktor LIZENBERG
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.)
Stellantis Auto SAS
Original Assignee
PSA Automobiles SA
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 PSA Automobiles SA filed Critical PSA Automobiles SA
Publication of EP3776515A1 publication Critical patent/EP3776515A1/fr
Publication of EP3776515B1 publication Critical patent/EP3776515B1/fr
Application granted granted Critical
Publication of EP3776515B8 publication Critical patent/EP3776515B8/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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 coordinating driving maneuvers between a vehicle and at least one Alius vehicle.
  • each vehicle provides two trajectories and exchanges them with neighboring vehicles.
  • a planned trajectory which describes a planned driving maneuver
  • a desired trajectory which would be preferred over the planned trajectory and would be possible in terms of driving dynamics, but cannot be driven for various possible reasons, in particular because of an associated collision with another vehicle.
  • the received trajectories are compared with your own trajectories and, in the event of a conflict, an adjustment is made using a cost function taking into account the vehicles involved.
  • the object of the invention is to provide a method for coordinating driving maneuvers between a vehicle and at least one Alius vehicle, which is characterized by low coordination and thus calculation effort and carries out the coordination independently of cost considerations.
  • the vehicle's surroundings information is determined based on the vehicle's surroundings sensors.
  • the hesitation trajectory has a reduced length due to reduced travel speed compared to the ideal trajectory.
  • the conflict-free default trajectory set is selected for each vehicle from the ideal trajectory or the hesitation trajectory based on a rule set that is identical for all vehicles.
  • a trajectory is understood to mean a route with a time or speed assignment over a period of a few seconds. This period can also be speed-dependent, especially shorter at higher speeds than at lower speeds, preferably in the range of 3 - 8 seconds.
  • the trajectory also takes into account the dimensions of the vehicle, since a test for collisions between the trajectories of different vehicles must also take into account the width and length of the vehicles with a safe side clearance of a few decimeters. Finally, the vehicle dimensions required to avoid collisions must include a safe distance to the front.
  • Determining the hesitation trajectory can be done in different ways. For example, a speed reduction of 10 - 20% or a defined delay can be used as a basis, or a desired shortening of the hesitation trajectory compared to the ideal trajectory by a predetermined distance or number of vehicle lengths.
  • a calculation rule for determining the hesitation trajectory can be constant or a function of the speed, for example a speed reduction at 100 km/h by 5%, at 50 km/h set by 10% within the trajectory period.
  • the period of the ideal and hesitation trajectory is approximately 2 to 10 seconds, preferably 4 to 6 seconds.
  • the delay should be chosen so that the hesitation trajectory is shorter by at least the length of the safety frame at the same time.
  • the safety distance can be determined based on the road traffic regulations, i.e. “half speedometer” outside built-up areas and three car lengths within built-up areas.
  • the solution according to the invention is based on only one path and is therefore not very computationally intensive, also due to the numerical analysis in the voting process. Compared to conventional systems, this results in a reduced computing effort, which leads to a faster provision of the default trajectory set with a larger number of vehicles taken into account and thus also to a shorter cycle time and the possibility of carrying out the coordination of the vehicles more frequently. This in turn leads to increased traffic safety, especially since, in cases of doubt, vehicles can be brought into a safer driving state by decelerating.
  • the coordination process according to the invention between vehicles is only initiated when 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 path, or traffic-relevant objects in the current path or road network nodes, such as intersections, entrances/exits of any kind, are detected or extracted from electronic maps or a maneuver coordination message has been received from the vehicle environment.
  • trajectory pairs can also be sent permanently.
  • the rule set includes a rule according to which a default trajectory set is determined which includes the largest number of ideal trajectories. In other words, if there are multiple solutions of default trajectory sets, the one that includes the largest number of ideal trajectories is selected. This ensures that braking maneuvers cause the least possible disruption to all vehicles involved.
  • the rule set includes a rule according to which a vehicle with a bending ideal trajectory or a travel path that bends within a predetermined time range has a priority on the hesitation trajectory. This takes into account that a vehicle that wants to turn at a nearby junction or intersection is more likely to brake in a timely manner anyway and is therefore not affected at all by selecting the hesitation trajectory as the default trajectory.
  • a preferred development of the invention provides that for Alii vehicles that only emit one trajectory due to a fault, this is taken into account as the ideal trajectory of the Alius vehicle. This also makes it possible to use the method according to the invention if individual vehicles only send one trajectory due to any disturbances, be it transmission disturbances or system errors.
  • the rule set includes a rule according to which, if no conflict-free default trajectory set can be determined, a vehicle is determined that brakes for a predetermined short period of time and then runs through the method again. Since it cannot be ruled out that a conflict-free solution cannot be achieved when selecting the two trajectories available per vehicle, i.e. a "deadlock" condition occurs, a solution must be determined for this situation. For this purpose, according to this training, 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.
  • the driving situation analysis device is further designed to determine environmental information of the vehicle on the basis of environmental sensors of the motor vehicle.
  • the hesitation trajectory has a reduced length due to reduced travel speed compared to the ideal trajectory.
  • the conflict-free default trajectory set is selected for each vehicle from the ideal trajectory or the hesitation trajectory based on a rule set that is identical for all vehicles.
  • FIG. 1 the logical modules of the voting device 10 according to the invention are shown.
  • This includes an environment unit 12, which communicates with an electronic road map 14, a communication unit 16 for communication with other vehicles (V2V) or stationary locations (V2X), and a set of vehicle-side environmental sensors 18.
  • the environmental sensors 18 can include laser scanners, radar devices, cameras and ultrasonic measuring devices.
  • the voting device 10 includes a driving situation analysis unit 20, the function of which is in Figure 2 is explained in more detail.
  • the driving situation analysis unit 20 controls a trajectory generation unit 22, which determines an ideal trajectory and a hesitation 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 environment unit 12 by means of the communication unit 16.
  • the pair of trajectories generated by the trajectory generation unit 22 is also fed to the environment unit 12, which transmits it to Alii vehicles via the communication unit 16.
  • the trajectory evaluation unit 24 evaluates the trajectory pairs of the ego vehicle and the Alii vehicles and generates a collision-free default trajectory set for each vehicle and outputs the default trajectory of the own vehicle to a vehicle control unit 30, which is then traveled autonomously by the vehicle.
  • driver instructions can also be given via a suitable human-machine interface, for example an acoustic or visual output device or even a haptic accelerator pedal.
  • a driving path of the own vehicle is first determined in a step 50.
  • HAF Highly Automatic Driving; Levels 2 to 5
  • a strategic (navigation) path or a probable path is determined based on the observation of the surroundings and movement history.
  • step 52 the vehicle surroundings are checked using the vehicle's own sensors 18 and the information about Alii vehicles from the surroundings received via the communication unit 16.
  • step 54 it is determined whether there is a need for coordination between the ego vehicle and the Alii vehicles based on the data from the Alii vehicles, data about obstacles, road nodes and received maneuver messages.
  • step 52 If it is determined that there is no need for tuning, return to step 52 to reassess whether there is a need for tuning, taking updated environmental data into account.
  • a maneuver decision is determined and confirmed by sending in the maneuver decision unit 28 Figure 3 .
  • an ideal trajectory 40 and a hesitation trajectory 42 are determined taking into account the current speed, which is in Figure 4 are shown.
  • An ego priority is also determined from this, which can, for example, set the priority to the hesitation trajectory 42 in the case of a protruding, bending travel path.
  • step 62 the trajectory pair 40, 42 of the ego vehicle is sent to Alii vehicles in the area using the communication unit 16, thereby confirming the participation of the ego vehicle in the vote.
  • the spatial position of the trajectory shows whether or in which voting scenario (which group) the ego vehicle will take part. This depends on the spatial position of the trajectory to recognize whether or in which voting scenario (which group) the ego vehicle will take part.
  • step 64 the respective trajectory pairs of Alii vehicles are received by means of the communication unit 16.
  • step 68 an attempt is made to create a conflict-free default trajectory set for all
  • Vehicles are to be determined, with either the ideal trajectory or the hesitation trajectory being selected for each vehicle.
  • a conflict-free default trajectory set is determined by numerical analysis of the set of trajectories with priority given to the ideal trajectories 40. The same rules apply to all vehicles and therefore the trajectory set is identical for all vehicles involved.
  • the vehicle is moved in step 70 autonomously or using driving instructions according to the default trajectory determined for the ego vehicle. Since the Alii vehicles determine the same set of trajectories using the same set of rules, each Alii vehicle can then follow the default trajectory determined for the respective vehicle.
  • step 72 the ego vehicle with low priority and/or the lowest actual speed of all vehicles in the coordination situation is delayed and a new trajectory set 40, 42 for the ego becomes step 60 -Vehicle specific.
  • step 82 the actual trajectories of the Alii vehicles are assigned and observed.
  • the received vehicle movement data is assigned to the respective conflict-free default trajectory via the vehicle ID.
  • step 84 a comparison is made with the conflict-free default trajectory set. If compliance with the specific default trajectories is determined (J), the own maneuver (step 70) and the monitoring continue unchanged and thus return to step 80. On the other hand, if a deviation is detected (N), the maneuver decision unit 28 is caused to carry out a new maneuver decision, as in Figure 3 was explained. When the default trajectory has been traveled (E), the maneuver is completed (step 86).

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Traffic Control Systems (AREA)

Claims (12)

  1. Procédure de coordination des manoeuvres de conduite entre un véhicule (A) et au moins un véhicule Alius (B, C, D), avec les étapes suivantes
    - déterminer (50) une trajectoire prévue du véhicule (A),
    - déterminer une trajectoire idéale (40A) pour une plage de temps ou de distance prédéterminée (60) le long du trajet de déplacement sur la base du trajet de déplacement et des informations environnementales du véhicule,
    - déterminer une trajectoire d'hésitation (42A) selon le même trajet de déplacement (60), la trajectoire d'hésitation (42A) ayant le même trajet de déplacement et un retard temporel par rapport à la trajectoire idéale (40A),
    - transmettre la trajectoire idéale (40A) et la trajectoire d'hésitation (42A) aux véhicules Alii (62),
    - recevoir (64) la trajectoire idéale (40B, 40C, 40D) et la trajectoire d'hésitation (42B, 42C, 42D) des véhicules Alii (B, C, D),
    - Déterminer s'il existe une situation de conflit lorsque le véhicule (A) et les véhicules Alii (B, C, D) se déplacent selon leurs trajectoires idéales (40A, 40B, 40C, 40D) (68),
    - si une situation de conflit est déterminée (68), déterminer une trajectoire par défaut sans conflit définie pour tous les véhicules (A, B, C, D),
    - Déplacer le véhicule (A) le long de la trajectoire spécifiée (70)
    caractérisé en ce que
    les informations environnementales du véhicule (A) sont déterminées sur la base de capteurs environnementaux du véhicule (52) et en ce que
    la trajectoire d'hésitation (42A) a une longueur réduite en raison d'une vitesse de déplacement réduite par rapport à la trajectoire idéale (40A) et que
    l'ensemble de trajectoires par défaut sans conflit est sélectionné parmi la trajectoire idéale ou la trajectoire d'hésitation (40, 42).
  2. Procédé selon la revendication 1, caractérisé en ce que l'ensemble de règles comprend une règle selon laquelle on détermine un ensemble de trajectoires par défaut qui comprend le plus grand nombre de trajectoires idéales.
  3. Procédé selon la revendication 1, caractérisé en ce que l'ensemble de règles comprend une règle selon laquelle un véhicule ayant une trajectoire idéale en virage ou un trajet en virage dans une plage temporelle prédéterminée a une priorité sur la trajectoire d'hésitation .
  4. Procédé selon la revendication 1, caractérisé en ce que l'ensemble de règles comprend une règle selon laquelle, si aucun ensemble de trajectoires par défaut sans conflit ne peut être déterminé, on détermine un véhicule qui freine pendant une courte période de temps prédéterminée puis le la méthode est réexécutée.
  5. Procédé selon la revendication 4, caractérisé en ce que le véhicule à freiner est déterminé comme étant celui qui a la vitesse de déplacement la plus faible.
  6. Procédé selon la revendication 4 ou 5, caractérisé en ce que le véhicule à freiner est déterminé comme étant celui qui présente une trajectoire idéale en flexion.
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que des informations issues de la perception sensorielle du véhicule de l'environnement sont prises en compte pour déterminer la trajectoire idéale du véhicule.
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que des informations issues d'une carte routière stockée et/ou des informations reçues via des moyens de communication sont prises en compte pour déterminer la trajectoire idéale du véhicule.
  9. Procédé selon l'une des revendications précédentes, caractérisé en ce que pour les véhicules Alii n'émettant qu'une seule trajectoire en raison d'un défaut, celles-ci sont prises en compte comme trajectoire idéale du véhicule Alius.
  10. Procédé selon l'une des revendications précédentes, caractérisé en ce que le véhicule vérifie s'il existe une situation de coordination avec au moins un véhicule Alius et ne participe pas à un processus de coordination si ses trajectoires sont sans conflit.
  11. Dispositif pour véhicule automobile (A) de coordination des manoeuvres de conduite entre le véhicule (A) et au moins un véhicule Alius (B, C, D), comprenant
    - un dispositif d'analyse de situation de conduite (20) qui est conçu pour déterminer une trajectoire de déplacement prévue du véhicule (A),
    - un dispositif de détermination de trajectoire (22), qui est conçu pour déterminer une trajectoire idéale (40A) pour une durée ou une plage de trajet prédéterminée le long du trajet de déplacement (A) sur la base du trajet de déplacement et des informations environnementales du véhicule, et est en outre conçu être un pour déterminer la trajectoire d'hésitation (42A) le long du même trajet de déplacement, la trajectoire d'hésitation (42A) ayant le même trajet de déplacement et un retard temporel par rapport à la trajectoire idéale (40A),
    - un dispositif de communication (16) qui est conçu pour communiquer avec d'autres véhicules (B, C, D) de l'environnement (véhicules Alii) et qui est conçu pour afficher la trajectoire idéale (40A) et la trajectoire d'hésitation (42A) à transmettre aux véhicules Alii (B, C, D), et qui est en outre conçu pour transmettre la trajectoire idéale (40B, 40C, 40D) et la trajectoire d'hésitation (42B, 40C, 40D) des véhicules Alii (B, C , D ) recevoir,
    - un dispositif d'évaluation de trajectoire (24) qui est conçu pour déterminer s'il existe une situation de conflit lorsque le véhicule (A) et les véhicules Alii (B, C, D) se déplacent selon leurs trajectoires idéales (40A, 40B, 40C, 40D) se déplacer et est entraîné, lorsqu'une situation de conflit est détectée, à déterminer une trajectoire par défaut sans conflit définie pour tous les véhicules (A, B, C, D),
    - un dispositif de sortie de signal (30), qui transmet la trajectoire par défaut déterminée pour le véhicule (A) à un dispositif de commande du véhicule connectable pour son départ ou donne des instructions de conduite directes au conducteur du véhicule,
    caractérisé en ce que
    le dispositif d'analyse de situation de conduite (20) est en outre conçu pour déterminer les informations environnementales du véhicule (A) sur la base de capteurs environnementaux du véhicule automobile (A) et en ce que
    la trajectoire d'hésitation (42A) a une longueur réduite en raison d'une vitesse de déplacement réduite par rapport à la trajectoire idéale (40A) et que
    l'ensemble de trajectoires par défaut sans conflit est sélectionné pour chaque véhicule (A, B, C, D) sur la base d'un ensemble de règles qui est identique pour tous les véhicules (A, B, C, D) à partir de la trajectoire idéale (40) ou du hésitation -Trajectoire (42).
  12. Véhicule automobile, comprenant un certain nombre de capteurs environnementaux (18), un dispositif (10) selon la revendication précédente et un dispositif de commande du véhicule (30) pour le déplacement autonome du véhicule automobile.
EP19716089.8A 2018-03-29 2019-03-26 Procédé et dispositif pour accorder des manoeuvres de conduite entre un véhicule et au moins un autre véhicule Active EP3776515B8 (fr)

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 (fr) 2018-03-29 2019-03-26 Procédé et dispositif pour accorder des manœuvres de conduite entre un véhicule et au moins un autre véhicule

Publications (3)

Publication Number Publication Date
EP3776515A1 EP3776515A1 (fr) 2021-02-17
EP3776515B1 true EP3776515B1 (fr) 2023-12-06
EP3776515B8 EP3776515B8 (fr) 2023-12-13

Family

ID=66092300

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19716089.8A Active EP3776515B8 (fr) 2018-03-29 2019-03-26 Procédé et dispositif pour accorder des manoeuvres de conduite entre un véhicule et au moins un autre véhicule

Country Status (4)

Country Link
EP (1) EP3776515B8 (fr)
DE (1) DE102018002609B4 (fr)
MA (1) MA52178A (fr)
WO (1) WO2019185584A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
WO2016055561A1 (fr) * 2014-10-10 2016-04-14 Continental Teves Ag & Co. Ohg Procédé pour utiliser une carte de règles de circulation
DE102015220481B4 (de) * 2015-10-21 2024-05-29 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

Also Published As

Publication number Publication date
DE102018002609B4 (de) 2021-02-04
EP3776515A1 (fr) 2021-02-17
MA52178A (fr) 2021-02-17
WO2019185584A1 (fr) 2019-10-03
EP3776515B8 (fr) 2023-12-13
DE102018002609A1 (de) 2019-10-02

Similar Documents

Publication Publication Date Title
EP3776515B1 (fr) Procédé et dispositif pour accorder des manoeuvres de conduite entre un véhicule et au moins un autre véhicule
EP3785250B1 (fr) Procédé et dispositif permettant d'accorder de manière coopérative des manoeuvres de conduites à venir d'un véhicule avec des manoeuvres extérieures d'au moins un autre véhicule
EP3785092B1 (fr) Procédé et dispositif permettant d'accorder une maneuvre d'entre les maneuvres de conduite futures d'un véhicule d'une manière coopérative avec des maneuvres d'au moins un autre véhicule
EP3776514B1 (fr) Procédé et dispositif de coordination de manoeuvres de conduite entre des véhicules à moteur
EP3671693B1 (fr) Procédé et système d'aide à la conduite permettant d'aider un conducteur d'un véhicule lors de la conduite du véhicule
EP3543985A1 (fr) Simulation des situations de circulation diverses pour un véhicule d'essai
EP3688742A1 (fr) Système pour produire et/ou actualiser un modèle numérique d'une carte numérique
DE102008036131A1 (de) Verfahren und Vorrichtung zur Erkennung der Verkehrssituation in einer Fahrzeugumgebung
DE102007024877A1 (de) Verfahren zur Bildung und Steuerung eines Fahrzeugverbandes
WO2020182438A1 (fr) Procédé et dispositif de coordination de manœuvres de conduite entre des véhicules à moteur
DE102014202509A1 (de) Steuerung einer hoch- oder vollautomatischen Fahrfunktion
DE102019134922A1 (de) Verfahren zum Betrieb eines autonomen bewegten Verkehrsteilnehmers
WO2020151844A1 (fr) Procédé de déplacement sans conducteur d'un véhicule sur une distance à l'intérieur d'un terrain fermé
DE102016211859A1 (de) Verfahren zur Optimierung des Verkehrsflusses eines Verkehrswegs mit mehreren Fahrspuren
DE102019101613A1 (de) Simulieren verschiedener Verkehrssituationen für ein Testfahrzeug
EP3994902B1 (fr) Procédé d'allocation coopérative de ressources pour l'exécution de manoeuvres de déplacement dans une zone routière, circuit de commande correspondant et véhicule à moteur équipé d'un tel circuit de commande
DE102017222563A1 (de) Verfahren und Vorrichtung zur Kommunikation zwischen mehreren Kraftfahrzeugen
AT525388B1 (de) Verfahren und Vorrichtung zur Fahrunterstützung eines zumindest teilautomatisiert geführten Fahrzeugs in einer Infrastruktur
DE102019215141A1 (de) Verfahren zum Prognostizieren einer zukünftigen Verkehrssituation in einer Umgebung eines Kraftfahrzeugs durch Bestimmen mehrerer in sich konsistenter Gesamtszenarios für unterschiedliche Verkehrsteilnehmer; Kraftfahrzeug
DE102017006644A1 (de) System zum Führen mindestens eines Fahrzeugs in einem teilautomatisierten oder autonomen Fahrbetrieb
DE102022211851A1 (de) Verfahren und System zum infrastrukturgestützten Assistieren mindestens eines vernetzten Kraftfahrzeugs bei einer zumindest teilautomatisiert geführten Fahrt durch eine Straßeninfrastruktur
DE102021209541A1 (de) Verfahren zum Betreiben eines vernetzten Fahrzeugs
DE102016013509A1 (de) Vorrichtung und Verfahren zum Erzeugen einer lernenden digitalen Karte für ein Kraftfahrzeug
DE102023004985A1 (de) Verfahren und System zum Betrieb einer Fahrzeugkolonne
DE102021211961A1 (de) Computerimplementiertes verfahren und system zum berechnen einer geplanten trajektorie eines fahrzeugs

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20200924

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
RAV Requested validation state of the european patent: fee paid

Extension state: MA

Effective date: 20200924

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20230724

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502019010080

Country of ref document: DE

Owner name: STELLANTIS AUTO SAS, FR

Free format text: FORMER OWNER: PSA AUTOMOBILES SA, POISSY, FR

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: DE

Ref legal event code: R084

Ref document number: 502019010080

Country of ref document: DE

RAP4 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: STELLANTIS AUTO SAS

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502019010080

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: GB

Ref legal event code: 746

Effective date: 20231229

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240307

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20231206

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240307

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240220

Year of fee payment: 6

Ref country code: GB

Payment date: 20240220

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231206

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240220

Year of fee payment: 6