EP3823880A1 - Verfahren zum führen eines fahrzeugs von einer startposition zu einer zielposition - Google Patents
Verfahren zum führen eines fahrzeugs von einer startposition zu einer zielpositionInfo
- Publication number
- EP3823880A1 EP3823880A1 EP19735542.3A EP19735542A EP3823880A1 EP 3823880 A1 EP3823880 A1 EP 3823880A1 EP 19735542 A EP19735542 A EP 19735542A EP 3823880 A1 EP3823880 A1 EP 3823880A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- trajectory
- vehicle
- poses
- alternative
- pose
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
Definitions
- the invention relates to a method for guiding a vehicle from a start position to a target position, the vehicle being along a
- Reference trajectory is performed, which comprises a sequence of reference poses, the reference poses each comprising a vehicle position and a vehicle orientation and the reference trajectory with the
- Reference poses is predefined by a parking assistant or a parking assistant. Further aspects of the invention relate to a computer program and a driver assistance system, which are each set up to carry out the method. Furthermore, a vehicle with such a
- Modern vehicles are equipped with driver assistance systems to support the driver of a vehicle in performing various driving maneuvers.
- Automatic and semi-automatic systems are known in the prior art.
- the driving maneuver to be carried out is automatically carried out by the driver assistance system with regard to both the longitudinal guidance and the transverse guidance of the
- longitudinal guidance is understood to mean the acceleration or braking of the vehicle and transverse guidance is understood to mean the steering of the vehicle.
- transverse guidance is understood to mean the steering of the vehicle.
- the driver of the vehicle either performs the longitudinal guidance and the lateral guidance is carried out by the driver assistance system, or the
- the trajectory represents a trajectory that the vehicle follows.
- DE 10 2016 211 182 A1 discloses a device and a method for carrying out an automated travel of a vehicle along a trajectory provided from a map.
- the trajectory can be
- the vehicle has an environment detection device and a controller which guides the vehicle along the stored trajectory. If the trajectory cannot be traveled due to an obstacle, the vehicle can adapt the trajectory on the basis of driveability information stored in the map. Areas that are not accessible are then avoided when planning an alternative trajectory.
- DE 10 2006 034 254 A1 describes a method and a device for performing an evasive maneuver. If an object is detected that is on a collision course with the vehicle, a path for a
- Evasion maneuvers are determined, the path being given by a sigmoid, the shape of which is determined by at least one parameter.
- the parameter is determined by the desired maneuvering width of the
- a starting point is also determined at which the evasive maneuver is started and the steering system of the vehicle is influenced as a function of the determined path after the starting point has been reached.
- the Sigmoide allows you to determine a short and comfortable alternate lane that meets the driving physics requirements.
- the method includes determining a desired lateral offset of the vehicle, determining that to achieve the
- the desired lateral offset can in particular be the lateral offset required to drive around an obstacle.
- Cosine form of the alternative trajectory makes it easy to calculate the radius of curvature of the alternative trajectory and to use the radius of curvature decide whether the evasive trajectory is stable or whether there is a risk that the vehicle's wheels will slide sideways.
- a second avoidance trajectory can be determined, which leads the vehicle back to its original lane.
- Avoiding obstacles is that the trajectories created thereby require a lot of space and the maneuvers in connection with an automated parking maneuver cannot be recorded intuitively for a driver of a vehicle.
- a method for guiding a vehicle from a start position to a target position is proposed, the vehicle being along a
- Reference trajectory is performed, which comprises a sequence of reference poses, the reference poses each comprising a vehicle position and a vehicle orientation and the reference trajectory with the
- Reference poses is predefined by a parking assistant or a parking assistant.
- the method comprises the detection of a
- one or more alternative poses are determined, each of which lies in a freely accessible area and which are shifted laterally to the obstacle with reference to the reference trajectory, the alternative poses being related to
- Reference trajectory lateral displacement of reference poses and / or by inserting further poses can be obtained.
- an alternative trajectory is determined which leads through the alternative poses, the alternative trajectory being determined in such a way that it fits seamlessly and without a kink into the reference trajectory.
- the vehicle is guided along the determined alternative trajectory.
- the reference trajectory is a trajectory along which the vehicle can be guided from the start position to the target position.
- the reference trajectory includes a variety of reference poses, with the
- a pose includes a vehicle position and a vehicle orientation.
- the vehicle position is related to a reference point of the vehicle, which is for example between the wheels of the rear axle.
- the vehicle orientation is given, for example, as an angle to the longitudinal axis of the vehicle.
- Vehicle orientation is preferably predetermined such that the longitudinal axis of the vehicle is parallel to a tangent to the trajectory that touches the trajectory at the reference point of the vehicle.
- the vehicle When the vehicle is guided along the reference trajectory, the vehicle is guided from one vehicle position to the next vehicle position, the vehicle at the vehicle positions being determined by the respective vehicle position
- the reference trajectory is specified by a parking assistant or a parking assistant.
- the target position is therefore the position at which the vehicle is to be parked. In the case of one
- the target position is a position on a road from which a journey can continue.
- the position at which the vehicle is at the start of the automated process is preferably used as the start position
- a range of reference poses to be traversed in the future is preferably used using at least one
- Monitored environment sensor of the vehicle This area is the area that the vehicle will pass when the reference poses are passed. To estimate this area, a driving hose to be driven by the vehicle in the future can be determined.
- the driving hose is preferred under
- Existing reference poses can be moved to determine alternative poses.
- One or more reference poses are preferably moved laterally to the obstacle by moving them along a line
- the distance by which a reference pose is shifted laterally is preferably dependent on the position and dimensions of the obstacle and is also preferably selected on the basis of the width of the vehicle.
- the avoidance poses are preferably determined in such a way that the avoidance pose lies in a freely accessible area.
- An environment map which is created using environment sensors of the vehicle, is preferably used to determine the freely accessible area.
- information from a stored digital map can be used, which, for example, contains information about the exact position of a roadway.
- alternative poses can also be obtained by inserting further poses.
- the position of a further pose to be inserted can be determined, for example, by first inserting the further pose at a point on the reference trajectory that has the smallest distance between the reference trajectory and the obstacle, and then moving the further pose sideways. This ensures that at the point that has the greatest restriction of the maneuver space available due to the obstacle, it is as parallel as possible and thus space-saving
- a lane width and / or a distance from an object delimiting the lane is preferably taken into account.
- data can be accessed that is provided by the parking assistant or
- Parking assistants were taken into account when planning the reference trajectory, such as the position and dimensions of objects delimiting a parking space and / or the position of a curb.
- At least two alternative poses are preferably determined. For example, exactly two avoidance poses are determined, with a first avoidance pose in front of the obstacle and a second as seen from the vehicle
- the alternative trajectory is determined in accordance with step c).
- the alternative trajectory is determined in such a way that it fits seamlessly and without a kink in the
- the evasive trajectory has a beginning and an end, the beginning being the smallest distance from the vehicle.
- the start of the alternative trajectory can be both on the
- Evasion trajectory is preferably behind the obstacle, so that a
- Distance of the end to the vehicle is preferably greater than the distance from the obstacle to the vehicle.
- Alternative trajectory does not correspond to the current vehicle position.
- a part of the reference trajectory lying in front of the vehicle in the direction of travel is continuously connected to the start of the alternative trajectory without a kink.
- the end of the alternate trajectory passes continuously and without a kink into a part of the reference trajectory that has not yet been started.
- a transition that is seamless and without a kink is characterized in that a curve or a function that describes the transition is continuously differentiable. This means that both the curve itself and its derivation are continuous.
- trajectory sections of the reference trajectory and / or the alternative trajectory are preferably determined, which each lie between a first pose and a second pose and where successive trajectory sections merge into one another continuously and without kinking.
- the shape of a trajectory section is preferably obtained via a function, the function preferably being selected from a polynomial, in particular a 5th degree polynomial, a sine function, a cosine function, a spline, a function which describes a Bezier curve, a function, which describes a clothoid, and combination of several of these functions.
- d (s) Co + cis + C2S 2 + C3S 3 + C 4 S 4 + C5S 5
- s is the distance traveled along the reference trajectory
- d (s) is the displacement achieved compared to the reference trajectory.
- shift is meant an offset that is perpendicular to the reference trajectory. With the distance L covered, the shift achieved should be one by the
- the parameters c o , Ci, c 2 , C3, c 4 and cs are calculated so that the default conditions are met.
- d 0 here denotes a deviation between the actual current one
- the trajectory sections are preferably traversed one after the other, the vehicle position being predetermined in each case by points on the trajectory section and the vehicle orientation preferably being given by a tangent which touches the corresponding point of the trajectory section.
- the trajectory sections are preferably checked for non-passability, a trajectory section not being passable if a collision is imminent and / or a curvature of the trajectory section exceeds a predetermined maximum curvature.
- the maximum curvature is, for example, the smallest possible
- a collision threatens in particular if an obstacle protrudes into an area that the vehicle has to drive when following the trajectory section. If the obstacle is a moving object, a collision can also occur if an extrapolated movement has an intersection with the trajectory section or with a boundary line of a travel tube of the vehicle determined using the trajectory section.
- a new planning is preferably carried out in which the first pose and / or the second pose of the
- Trajectory section is moved.
- the trajectory section is then preferably checked again for non-passability and, if necessary, the first pose and / or the second pose is shifted again.
- a computer program is also proposed, according to which one of the methods described here is carried out when the computer program is executed on a programmable computer device.
- the computer program can be, for example, a module for implementing a driver assistance system or one
- the computer program can be stored on a machine-readable storage medium, for example on a permanent or rewritable storage medium or in association with a computer device or on a removable CD-Rom, DVD, Blu-Ray disc or a USB stick. Additionally or alternatively, this can
- Computer program on a computer device such as a server for downloading, e.g. over a data network such as the Internet or a communication link such as a telephone line or a wireless connection.
- driver assistance system which is set up to carry out one of the methods described herein.
- the driver assistance system is preferably set up with a
- a parking assistance system interact or is implemented together with a parking assistance system and / or a parking assistance system as a common system.
- the vehicle preferably comprises at least one environment sensor, with which obstacles in particular in the environment of the vehicle can be detected. Furthermore, the vehicle preferably comprises actuators which are set up to take over longitudinal guidance, that is to say acceleration and braking, and transverse guidance, that is to say steering.
- the proposed method allows a reference trajectory to be reacted to in a simple and intuitive manner for a driver of a vehicle recognized obstacle can be modified.
- a reference trajectory to be reacted to in a simple and intuitive manner for a driver of a vehicle recognized obstacle can be modified.
- the reference trajectory that has already been determined is modified by moving reference poses or inserting further poses.
- the vehicle Since the existing reference trajectory is only modified in the area of the obstacle, the vehicle reaches the intended target position without completely rescheduling the reference trajectory.
- the simple modification of the reference pose also means that an obstacle with a minimal space requirement and a minimal load on the vehicle actuators is avoided.
- the vehicle is guided parallel to the reference trajectory at the location of the restriction by the obstacle in the described method, so that driving around the obstacle requires only a minimal additional space. This is particularly advantageous when entering and leaving a parking space, since there is little space available for such maneuvers.
- Figure 1 is a schematic representation of a vehicle with actuators for the automatic execution of driving maneuvers
- Figures 2a to 2d the determination of an evasive trajectory to avoid an obstacle.
- a vehicle 10 is shown schematically in FIG.
- the vehicle 10 comprises a first actuator 16, which is set up to carry out the transverse guidance, that is to say the steering. Furthermore, the vehicle 10 comprises a second actuator 18, which is set up to carry out the longitudinal guidance, that is to say the acceleration and braking.
- the first actuator 16 is shown schematically as a connection to a steering wheel and the second actuator 18 is shown schematically as a connection to a pedal.
- the vehicle 10 further comprises a driver assistance system 11 with a
- Control unit 12 which is connected to the first actuator 16 and the second actuator 18. Furthermore, the vehicle 10 comprises a sensor 14, with which obstacles 40 in particular in the vicinity of the vehicle 10 can be detected, compare FIGS. 2a to 2d.
- the control unit 12 preferably implements driver assistance functions such as a parking assistant and / or a parking assistant.
- the driving assistance function determines a reference trajectory 26 for executing automated driving maneuvers, with which the vehicle 10 is guided from a starting position 22 to a target position 24.
- the own position of the vehicle 10 is specified with reference to a reference point 20, which in the example shown is located between the wheels of the rear axle of the vehicle 10.
- the control unit 12 is configured, among other things, to guide the vehicle 10 along the reference trajectory 26 by actuating the first actuator 16 and the second actuator 18.
- FIGS. 2a to 2d show the determination of an evasive trajectory 36 for avoiding an obstacle 40.
- the vehicle 10 moves from a starting position 22 to a target position 24 along a previously determined reference trajectory 26, which comprises a plurality of reference poses 28 guided, whereby the obstacle 40 was detected by the sensor 14 of the vehicle 10.
- avoidance poses 30, 30 are now determined.
- the reference poses 28, which are in the area of the obstacle 40 are shifted such that none
- a first avoidance pose 30 is made by moving the
- the displacement takes place perpendicular to the reference trajectory 26 by a distance z that is sufficient that, taking into account the width of the vehicle 10, no collision with the obstacle 40 can take place.
- a further alternative pose 30 ' is then determined, with the reference pose 28, which is also shown in FIG.
- Obstacle 40 lies perpendicular to the reference trajectory 26 by the distance z.
- the reference pose 28 is shifted for this purpose, which lies in the area of the obstacle 40 and whose distance from the vehicle 10 is greatest.
- Alternate trajectory 36 is determined, with several trajectory sections 34 being determined for this purpose.
- a trajectory section 34 leads the vehicle 10 from a first pose 31 to a second pose 32.
- the poses 31, 32 each comprise a vehicle position and a vehicle orientation.
- the vehicle position is related to the reference point 20 of the vehicle 10, which lies for example between the wheels of the rear axle.
- a trajectory section 34 is obtained via a function, the function preferably being selected from a polynomial, in particular a 5th degree polynomial, a sine function, a cosine function, a spline, a function which describes a Bezier curve, a function, which describes a clothoid, and a combination of several of these functions.
- the trajectory sections 34 are each determined so that they merge seamlessly and without a kink.
- the trajectory section 34 closest to the vehicle 10 is determined in such a way that a part of the reference trajectory 26 lying in front of the avoidance trajectory 36 seen from the vehicle 10 merges seamlessly and without kinking into the avoidance trajectory 36. Furthermore, the last one seen from the vehicle 10
- Trajectory section 34 of the alternative trajectory 36 is determined in such a way that it merges seamlessly and without kinking into a remaining part of the reference trajectory 26.
- the completely determined alternative trajectory 36 is shown in FIG. 2d.
- the evasive trajectory 36 connects seamlessly and without a kink to the reference trajectory 26.
- the vehicle 10 is now in accordance with the
- Evasion trajectory 36 performed so that the obstacle 40 is safely avoided.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018212060.9A DE102018212060A1 (de) | 2018-07-19 | 2018-07-19 | Verfahren zum Führen eines Fahrzeugs von einer Startposition zu einer Zielposition |
PCT/EP2019/067546 WO2020015990A1 (de) | 2018-07-19 | 2019-07-01 | Verfahren zum führen eines fahrzeugs von einer startposition zu einer zielposition |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3823880A1 true EP3823880A1 (de) | 2021-05-26 |
Family
ID=67145796
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19735542.3A Withdrawn EP3823880A1 (de) | 2018-07-19 | 2019-07-01 | Verfahren zum führen eines fahrzeugs von einer startposition zu einer zielposition |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3823880A1 (de) |
DE (1) | DE102018212060A1 (de) |
WO (1) | WO2020015990A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113515111B (zh) * | 2020-03-25 | 2023-08-25 | 宇通客车股份有限公司 | 一种车辆避障路径规划方法及装置 |
EP3960562A1 (de) * | 2020-08-31 | 2022-03-02 | Aptiv Technologies Limited | Verfahren und systeme zur pfadplanung |
DE102021117448A1 (de) | 2021-07-06 | 2023-01-12 | Bayerische Motoren Werke Aktiengesellschaft | Steuerverfahren für ein teleoperiertes kraftfahrzeug |
CN114022676B (zh) * | 2021-11-02 | 2023-05-12 | 浙江东鼎电子股份有限公司 | 基于人工智能的车辆动态称重驾驶引导方法 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006034254A1 (de) | 2005-09-15 | 2007-04-12 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum Durchführen eines Ausweichmanövers |
EP2008915A3 (de) * | 2007-06-28 | 2012-02-22 | Robert Bosch Gmbh | Vorrichtung zur semiautonomen Unterstützung der Lenkbewegung eines Fahrzeuges |
JP4759547B2 (ja) * | 2007-09-27 | 2011-08-31 | 日立オートモティブシステムズ株式会社 | 走行支援装置 |
DE102014016567A1 (de) | 2014-11-08 | 2016-05-12 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Verfahren zum Bestimmen einer Ausweichtrajektorie und Fahrerassistenzsystem dafür |
DE102014224075A1 (de) * | 2014-11-26 | 2016-06-02 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum assistierten Führen eines Fahrzeugs |
DE102016211179A1 (de) | 2015-09-08 | 2017-03-09 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zum Durchführen einer automatisierten Fahrt eines Fahrzeugs entlang einer bereitgestellten Trajektorie |
JP6332875B2 (ja) * | 2016-02-17 | 2018-05-30 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、および車両制御プログラム |
DE102017100061A1 (de) * | 2017-01-03 | 2018-07-05 | Connaught Electronics Ltd. | Verfahren zum Unterstützen eines Fahrers eines Kraftfahrzeugs beim Einparken unter Verwendung einer Fahrerassistenzvorrichtung, entsprechendes Computerprogrammprodukt und Fahrerassistenzvorrichtung |
DE102017200218A1 (de) * | 2017-01-09 | 2018-07-12 | Bayerische Motoren Werke Aktiengesellschaft | Steuereinheit und Verfahren zur Berücksichtigung von Hindernissen bei einem Rückfahrassistenzsystem |
-
2018
- 2018-07-19 DE DE102018212060.9A patent/DE102018212060A1/de active Pending
-
2019
- 2019-07-01 EP EP19735542.3A patent/EP3823880A1/de not_active Withdrawn
- 2019-07-01 WO PCT/EP2019/067546 patent/WO2020015990A1/de active Application Filing
Also Published As
Publication number | Publication date |
---|---|
DE102018212060A1 (de) | 2020-01-23 |
WO2020015990A1 (de) | 2020-01-23 |
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