EP3966797A1

EP3966797A1 - Method for ascertaining a vehicle trajectory

Info

Publication number: EP3966797A1
Application number: EP20723349.5A
Authority: EP
Inventors: Sven Klomp; Stephan Max; Frank Bärecke
Original assignee: Volkswagen AG
Current assignee: Volkswagen AG
Priority date: 2019-05-07
Filing date: 2020-04-29
Publication date: 2022-03-16
Also published as: DE102019206562A1; WO2020225065A1; US20220204048A1

Abstract

The invention relates to a method for ascertaining a vehicle trajectory, said method being carried out by a system (100) consisting of a motor vehicle (10) and a network server (70). The method has the following steps: detecting, by means of a plurality of motor vehicles (10), individual trajectories being traversed and secondary information linked to the individual trajectories; transmitting, by means of a plurality of motor vehicles (10), the individual trajectories and the linked secondary information to a network server (70); ascertaining, by means of the network server (70), a swarm trajectory as an average of the individual trajectories using the individual trajectories and the linked secondary information, said average being weighted using the secondary information; and transmitting, by means of a network server (70), the swarm trajectory to at least one motor vehicle (10). The invention additionally relates to a motor vehicle (10) designed for the system (100) and to a network server (70) designed for the system (100).

Description

description

Method for determining a vehicle trajectory

The invention relates to a method for determining a vehicle trajectory and to a system composed of a system that is set up to carry out the method according to the invention

Network server and a motor vehicle. The invention also relates to a motor vehicle and a network server set up for use in the system according to the invention.

Today's vehicles already have a large number of assistance systems that provide computer-based support to the driver in a large number of driving situations. Such assistance systems can use sensors to record a large number of measurement data, which by far exceed the human senses. In addition, the speed of these assistance systems significantly exceeds human reaction times. Known

Driver assistance systems are, for example, lane keeping assistants, brake assistants for pedestrian detection and adaptive cruise control systems, especially for traffic jams.

By using such assistance systems, the driver's autonomy with regard to his driving decisions is increasingly transferred to the vehicle or to the control units operating in it. At the end of these developments there is an automatically driving one

Vehicle that can maneuver completely without human intervention. As a projection of driver assistance systems, this leads to fully automated passenger transport.

In known methods, the calculation of a trajectory or a travel path of the automatically guided vehicle takes place primarily on the sensor values of a motor vehicle. However, this sensor-based database may not be sufficient for situations in which the data acquisition is disturbed by at least one sensor. Examples of such situations are night driving or driving in fog or heavy rain, in which the signal detection with optical sensors such as cameras, LI DAR and / or acoustic sensors such as ultrasonic sensors can be significantly disturbed.

In particular for such situations, but also in order to improve the redundancy of the database, it is therefore necessary to use further information to determine a trajectory for an automatically guided vehicle. The invention is therefore based on the object of enriching the prior art and a method for determining a To propose a trajectory for a motor vehicle that increases the database for determining a trajectory of a vehicle and thus increases the safety of driving the vehicle.

The object of the invention is achieved by the subjects of the independent

Claims. Preferred further developments are the subject matter of the respective dependent claims.

A first aspect of the invention relates to a method for determining a vehicle trajectory, in particular for the automatic operation of a motor vehicle, using a plurality of recorded vehicle trajectories. In a first step of the method according to the invention, a plurality of motor vehicles, in particular of

Motor vehicles according to the invention, as explained in detail below, the individual trajectories traveled by these vehicles. In other words, each of a plurality of vehicles records the trajectory traveled by it. These individual trajectories thus include information from the lane actually traveled on by the respective vehicle, in particular information that enables the lane to be clearly localized in space.

In the method according to the invention, the plurality of motor vehicles, in particular the motor vehicles according to the invention, are additionally linked to the individual trajectories

Secondary information. In other words, each of the plurality of motor vehicles captures secondary information items that are each linked to the trajectory traveled by this motor vehicle. The secondary information is preferably suitable for characterizing the roadway and / or the vehicle behavior along the trajectory being traveled on.

Secondary information that is preferably recorded is explained in detail below.

In a further step of the method according to the invention, the plurality of motor vehicles transmit the individual trajectories recorded by them and those recorded with them

Individual trajectories linked secondary information to a network server. In other words, each of the plurality of motor vehicles transmits the individual trajectory recorded by this motor vehicle and the secondary information recorded by this motor vehicle for this individual trajectory to a network server. Preferred are the

Individual trajectory and the secondary information transmitted to the network server in a common data transmission, in particular in a common data structure.

In the method according to the invention, the network server receives the individual trajectories and the individual trajectories recorded by these motor vehicles from a plurality of motor vehicles associated secondary information. As already stated, each individual trajectory defines a lane traveled by a motor vehicle and can thus be clearly localized in space. Thus, there are individual trajectories of different motor vehicles that spatially correspond to one another, that is, the same route, for example a specific one

Section of road, concern. In the method according to the invention, the network server groups those received individual trajectories that spatially correspond to one another. These individual trajectories thus characterize the driving tubes of the individual motor vehicles along a common route, for example along a specific road section, but differ in the driving movement actually performed by the vehicle. For example, different vehicles use different lanes on a multi-lane road or change lanes at different points. Thus, different individual trajectories that spatially correspond to one another still contain different information about the movements made by the motor vehicles.

In the method according to the invention, the network server also determines a swarm trajectory based on the individual trajectories and the secondary information linked to them. In other words, the network server uses the individual trajectories to determine a plurality of

Motor vehicles have a mean trajectory. Such a mean trajectory is im

Method according to the invention or then preferably used to guide a vehicle along the corresponding route, for example during a fully or partially automatic trip. Such a vehicle guidance on the basis of the swarm trajectory is advantageously independent of lane markings and the like and therefore particularly suitable for those situations in which the acquisition of environmental data by means of at least one first sensor is disturbed. In order to be able to use the swarm trajectory in this way in a motor vehicle, the method according to the invention also takes place

Transmission of the swarm trajectory determined by the network server

Network server to at least one motor vehicle, for example to a motor vehicle that is approaching a route that spatially corresponds to the individual trajectories.

In a preferred embodiment of the method according to the invention, the network server transmits the swarm trajectories determined by the network server to a vehicle as a function of a position of the vehicle. For example, when the vehicle is started up, swarm trajectories for a radius surrounding the current location of the vehicle can be transmitted as part of an initial data connection to the network server that takes place at regular intervals. Global swarm trajectories are also preferably transmitted to the vehicle, for example when uploading or updating a system software. Furthermore, the swarm trajectories are preferably transmitted as a push message from the network server or, likewise, preferably only on request from the vehicle.

In the method according to the invention, the swarm trajectory is determined in particular on the basis of the secondary information and in particular as a basis of the

Secondary information weighted mean of the individual trajectories. In other words, the influence of the individual trajectories when calculating the

Swarm trajectory weighted differently, for example by using the secondary information to determine a prefactor in the range from 0 to 1. Thus, in the method according to the invention, additional information is advantageously included in the determination of the swarm trajectory.

According to the invention, the secondary information is information that is suitable for characterizing the roadway and / or the vehicle behavior along the trajectory being traveled on. A particularly safe and / or particularly comfortable swarm trajectory can thus advantageously be determined in the method according to the invention.

Furthermore, the method according to the invention advantageously also enables different swarm trajectories to be determined for vehicles classified differently on the basis of the secondary information. In this embodiment, the secondary information can also have information that is suitable for classifying the vehicles.

In a preferred embodiment of the method according to the invention, the individual trajectories have position information and lane information linked to this. The position information defines the relative position of the individual trajectory in space, in particular by reference to a reference system (reference system). The reference system is preferably GPS coordinates of the earth's surface or, alternatively, preferably identification information of a route, for example a federal road or motorway, as well as route points stored for this purpose. The position information is preferably available continuously, that is, for each point of the individual trajectory, or discontinuously, for example only in the form of start and end points or in the form of support points of the individual trajectory. The lane information defines the relative position of the vehicle with respect to the position information and thus gives the actual driving path of the

Vehicle within the reference system. The track information is preferably available as a direction and / or speed vector for each point of continuous position information of the individual trajectory. The track information is also preferably in the form of

Route envelope sections indicate which support points are discontinuously present Connect location information. Any point of the trajectory thus results, for example, from a chronological sequence of vehicle movements defined by the lane information, starting at a support point of the movement defined by the position information.

For example, the lane information defines the actual movement of a vehicle along a road section (route guidance) defined by the location information.

In the method according to the invention, the individual trajectories can advantageously be grouped on the basis of the position information. In other words, spatially corresponding individual trajectories are preferably determined on the basis of the position information. The lane information of the spatially corresponding individual trajectories is also preferably averaged in the method according to the invention in order to obtain averaged lane information from

To determine swarm trajectory. The swarm trajectory preferably has the track information averaged in this way as well as position information, the position information from

Swarm trajectory for the position information of the averaged individual trajectories

correspond or possibly correspond to them. The track information of the swarm trajectory is therefore also preferably available as a direction and / or speed vector for each point of continuous position information of the swarm trajectory.

In a likewise preferred embodiment of the method according to the invention, the secondary information has position information and information linked to it

Driving dynamics information and / or damping information. The position information is preferably such that it enables the secondary information to be linked with the associated individual trajectory. Individual trajectories with continuous position information are thus preferably also continuous

Position information, particularly preferably continuously recorded GPS coordinates of the vehicle. The position information is likewise preferably a time stamp or the position information has a time stamp. The position and / or track information of the individual trajectories also preferably has a time stamp. This advantageously enables the data to be linked using the time stamp. These

Implementation form is particularly suitable for a more complex form of the individual trajectories with support points and vectorial track information or the like.

In a particularly preferred embodiment of the method according to the invention, the damping information has an immersion depth of at least one damper of a motor vehicle for at least one position defined by position information. As already explained, the position information is preferably a time stamp and / or GPS position of the vehicle. The immersion depth of at least one damper characterizes the vehicle's response to driving on the linked individual trajectory and is, for example, meaningful for potholes or bumps present along this trajectory.

Such impairments of a smooth road surface not only lead to a loss of comfort but may also have a negative effect on tire grip. When determining the swarm trajectory, large immersion depths result

Attenuation information therefore preferably results in a lower weighting of the individual trajectory. Advantageously, modern damping systems usually have sensors that record the immersion depth, so that the damping information can be recorded without further ado. In the method according to the invention, a swarm trajectory is thus automatically determined which avoids or bypasses potholes or bumps along the route.

In a likewise preferred embodiment of the method according to the invention, the vehicle dynamics information has information on a vehicle body movement and / or a transverse acceleration of a motor vehicle for at least one position defined by position information. As already explained, the position information is preferably available as a time stamp and / or GPS position of the vehicle. The vehicle body movements and / or lateral acceleration of a vehicle can also be used to characterize the

Vehicle response to driving on the linked individual trajectory can be used, provided that the relevant information has been corrected for the consequences of the intended proper movement of the vehicle through acceleration and steering. Modern vehicles usually have a large number of sensors, so that the driving dynamics information can usually be acquired without great effort. Particularly preferably takes place in the invention

Method of cleaning up the data to remove the consequences of intentional proper movement in the motor vehicle.

The driving dynamics information can also be meaningful for potholes or elevations present along an individual trajectory. Such impairments of a smooth road surface not only lead to a loss of comfort but also affect it

possibly also the tire grip negative. When determining the swarm trajectory, large vehicle body movements or (adjusted) vehicle dynamics information representing transverse accelerations therefore preferably lead to a lower weighting of the individual trajectories, so that a comfortable and safe swarm trajectory is advantageously determined. In particular, the weighted averaging of the individual trajectories automatically results in a swarm trajectory which automatically bypasses the imperfections on the road surface. The secondary information also preferably has position information and road information linked to it. This road information is preferably recorded with an optical sensor and / or a distance sensor of the motor vehicle and is therefore also suitable for detecting road surface disturbances in the direction of travel, such as potholes or road bumps. In this embodiment, the position information preferably indicates the position of the recognized disruption of the road surface and not the position of the motor vehicle. In other words, the position information is corrected for the distance between the camera / sensor and the disturbance. In the method according to the invention, individual trajectories are their

Secondary information have lane information that disturbs the

Road surface, such as potholes or elevations represent, preferably weighted less than other individual trajectories without such disturbances of the road surface.

Furthermore, the secondary information preferably has position information and, linked to this, information relating to a coefficient of friction of a road surface. The coefficient of friction is characteristic of the grip between the tires of the motor vehicle and the

Road surface. A reduction in the coefficient of friction, for example due to poor road repairs with poor quality asphalt or tar, can thus reduce driving safety. Consequently, individual trajectories are used in the method according to the invention

Secondary information represents a low coefficient of friction when determining the

Swarm trajectories are preferably less weighted than other individual trajectories that are associated with a higher coefficient of friction. This advantageously results in a swarm trajectory which automatically bypasses the disturbances in the road surface. The coefficients of friction are preferably derived from wheel speeds in a known manner.

A cross-correlation between the secondary information items of the individual trajectories likewise preferably takes place in order, for example, to determine such secondary information which can be traced back to properties of the trajectory being traveled on that cannot be bypassed. Such a cross-correlation is preferably carried out in order to determine such secondary information that is present in the same or a similar manner for all individual trajectories and, if they were only available for one or a few trajectories, would lead to a lower weighting of the respective trajectory. Such cross-correlations can advantageously be used to identify structures such as bumps to limit speed along the individual trajectories. Such bumps would otherwise lead to a low weighting of most of the trajectories due to the correspondingly high immersion depths and instead favor those trajectories in which a possibly inadmissible bypassing of the bumps has occurred. Another embodiment of the method according to the invention is also preferred, the network server further classifying the individual trajectories recorded and received from the motor vehicles on the basis of the secondary information. The preferred classifies

Network server the individual trajectories based on the secondary information in first

Individual trajectories and into second individual trajectories. A classification into further classes, for example into third and fourth individual trajectories, is also possible. The classification is preferably carried out on the basis of secondary information that enables the individual trajectories to be classified, such as secondary information on one

Vehicle type (truck, car, sports car, van, etc.) or at an average speed (sporty driver, ecological driver). According to this embodiment, the network server also determines at least one first swarm trajectory based on the first

Individual trajectories and a second swarm trajectory based on the second individual trajectories. If the individual trajectories have possibly been classified into further classes, a second and a third swarm trajectory may also be determined accordingly.

According to this preferred embodiment, the network server also transmits the first swarm trajectory to at least one first motor vehicle that corresponds to a first individual trajectory, for example to a first motor vehicle that is approaching a route that spatially corresponds to the first individual trajectories. Furthermore, the network server transmits the second swarm trajectory to at least one to a second

A second motor vehicle corresponding to an individual trajectory, for example to a second motor vehicle, which is approaching a route that spatially corresponds to the second individual trajectories. Thus, with the method according to the invention, different categories (classes) of vehicles or drivers can advantageously be different

Swarm trajectories are made available, which take into account the specific properties of the various vehicles or the specific driving behavior of the driver.

Another aspect of the invention relates to a motor vehicle, in particular a

Carrying out the steps of a motor vehicle with a passenger vehicle set up in the method according to the invention and having an internal combustion, electric or hybrid motor. For this purpose, the motor vehicle has at least one first sensor configured to acquire environmental data and at least one second sensor configured to acquire vehicle data.

The at least one first sensor is designed to detect sensor signals relating to the surroundings of the vehicle. The at least one second sensor is designed to detect sensor signals relating to the vehicle itself. A staggered by means of the ambient signal received by the at least one first sensor, the motor vehicle is preferably able to obtain information about its surroundings and preferably depicts a large number of environmental information items. A status signal received by means of the at least one second sensor enables the motor vehicle to obtain information about its own status and for this purpose preferably forms a plurality of

Status information.

The motor vehicle according to the invention also has a for communication with a

Network server and GPS satellites set up first communication module. In addition, the communication module can be set up for communication with further devices, such as further vehicles or a smart infrastructure. The communication module preferably has a radio, cellular, WLAN and / or Bluetooth transceiver or alternative wireless communication devices.

The motor vehicle also has a first control unit that is set up to communicate with the at least one first sensor for capturing environmental data of a motor vehicle, with the at least one second sensor for capturing status data of the motor vehicle and with the first communication module of the motor vehicle. The control unit is also set up for the steps of the motor vehicle in the inventive

Procedure. The first control unit is designed in particular to use the first sensors and / or second sensors for an individual trajectory driven by the motor vehicle and determined by position information and lane information

Secondary information, having corresponding to the position information

To record driving dynamics, damping and / or road information. The control unit is also set up to transmit the individual trajectory and the secondary information linked to it to a network server, preferably by appropriate control of the communication module for transmitting this data to the network server. Preferred embodiments of the motor vehicle correspond to the preferred implementation forms explained above with reference to the method according to the invention.

In a particularly preferred embodiment, the motor vehicle according to the invention also has a driving system set up for automatic driving of the motor vehicle. The driving system of the motor vehicle according to the invention is preferably set up to carry out at least one automatic driving maneuver / automatic driving of the vehicle.

Particularly preferred is the driving system for fully automatic guidance of the

Motor vehicle and can the longitudinal guide and the transverse guide of the Control motor vehicle. Furthermore, the driving system can preferably act on the at least one first sensor and / or on the at least one second sensor for determining

Access status information and / or environmental information of the motor vehicle. These first and second sensors can therefore preferably be used by the driving system and by the control unit.

Furthermore, according to this embodiment, the driving system preferably communicates with the control unit, which according to this embodiment is also set up for a swarm trajectory determined by location information and lane information from the

To receive network server and to determine a trajectory for the motor vehicle by means of the driving system and based on the received swarm trajectory. The trajectory of the motor vehicle is also preferably used to carry out an automatic drive of the motor vehicle and / or to display navigation instructions.

Current motor vehicles already have a large number of sensors which, as the first sensors, constantly detect various information about the surroundings, such as a surface of a roadway in front of the vehicle. In addition, today's vehicles already have second sensors for detecting status information, such as the

Immersion depth of vehicle dampers or wheel speeds or the like. Modern vehicles are also equipped with high-performance communication modules that enable information to be transmitted over a large number of channels. The

The method according to the invention performs these existing sensors and the

Communication module of a new advantageous use.

Another aspect of the invention relates to a method of a control unit

Motor vehicle, which has at least one first sensor configured to capture environmental data, at least one second sensor configured to capture status data of the motor vehicle, and a communication module, a driving system configured to automatically drive the motor vehicle, and the control unit, the method having at least the following steps : Acquisition of an individual trajectory driven by the motor vehicle and determined by position information and lane information, acquisition of secondary information, having driving dynamics, damping and / or lane information corresponding to the individual trajectory, in particular by suitably controlling the first sensors and / or second sensors, and transmitting the

Individual trajectory and the associated secondary information to a network server. Another aspect of the invention relates to a computer program, comprising instructions which, when the program is executed by a computer, such as a control unit of a motor vehicle, cause the computer to carry out the steps of the motor vehicle in the

carry out the method according to the invention, in particular the steps: acquisition for an individual trajectory of secondary information, which is driven by the motor vehicle and which is determined by position information and lane information, having driving dynamics, damping and / or lane information corresponding to the individual trajectory, in particular by suitable control of the first sensors and / or second sensors, and transmitting the individual trajectory and the linked secondary information to a network server.

Another aspect of the invention relates to a network server, having a for

Data communication with a plurality of motor vehicles established second

Communication module and a second control unit. The network server also has a second control unit which is set up to communicate with the first communication module of at least one motor vehicle by means of a second communication module. The control unit is also set up for the steps of the network server in the

carry out the method according to the invention and is in particular set up to receive specific individual trajectories from a plurality of motor vehicles by means of location information and lane information, to determine a swarm trajectory based on the individual trajectories and the associated secondary information as an average of the individual trajectories weighted using the secondary information, and to determine the determined swarm trajectory to transmit at least one motor vehicle. The implementation of the individual steps and preferred implementation forms correspond to the preferred implementation forms explained with reference to the method according to the invention.

Another aspect of the invention relates to a method of a network server

Motor vehicle, which has at least one memory, a second set up for communication with a first communication module of at least one motor vehicle

Communication module, as well as the second control unit, wherein the method has at least the following steps: receiving individual trajectories determined by location information and lane information from a plurality of motor vehicles, determining a swarm trajectory based on the individual trajectories and the associated secondary information as an average weighted based on the secondary information Individual trajectories and transmission of the determined swarm trajectory to a motor vehicle. Another aspect of the invention relates to a computer program, comprising commands which, when the program is executed by a computer, such as a control unit of a network server, cause the computer to carry out the steps of the network server in the

carry out the method according to the invention, in particular the steps of: receiving individual trajectories determined by location information and lane information from a plurality of motor vehicles, determining a swarm trajectory based on the individual trajectories and the associated secondary information as an average of the individual trajectories weighted using the secondary information, and transmitting the determined swarm trajectory to a Motor vehicle.

Another aspect of the present invention relates to a system comprising a

motor vehicle according to the invention as described above and a network server according to the invention as described above. Preferred embodiment of the system correspond to the preferred embodiment or preferred implementation forms of the method explained with reference to the motor vehicle and the server.

In the method according to the invention, which is carried out in particular by the system according to the invention consisting of the motor vehicle according to the invention and the network server according to the invention, the swarm trajectory is preferably determined on the basis of individual trajectories whose position information corresponds. In other words, those individual trajectories that are basically the same are weighted averaged

Routing, for example, relate to the same road section. The determination of the corresponding individual trajectories differs depending on the type of location information. If the location information includes identification information of a road or a road section as a reference system, corresponding individual trajectories are preferably determined on the basis of identical location information. If, on the other hand, the location information includes continuous or discontinuous GPS coordinates, corresponding

Individual trajectories are preferably determined on the basis of similar position information, for example taking into account a maximum permissible distance of the GPS coordinates or the like.

In the method according to the invention, which is carried out in particular by the system according to the invention consisting of the motor vehicle according to the invention and the network server according to the invention, the transmission of the determined

Swarm trajectory preferably to a motor vehicle whose location information is related to the

Location information of the determined swarm trajectory, i.e. the location information of the underlying individual trajectories, corresponds. This advantageously ensures that the vehicle can use the transmitted swarm trajectory, for example for fully or partially automatic vehicle guidance or for displaying navigation instructions.

In the method according to the invention, the network server thus preferably determines at least one vehicle with corresponding location information and transmits to it a determined swarm trajectory. Alternatively, the network server preferably receives a request for a swarm trajectory from a motor vehicle together with current position information of the requesting motor vehicle and determines a swarm trajectory corresponding to the position information and transmits this to the requesting motor vehicle.

The method steps of the method according to the invention can be implemented by electrical or electronic parts or components (hardware), by firmware (ASIC) or by executing a suitable program (software). The method according to the invention is likewise preferably realized or implemented by a combination of hardware, firmware and / or software.

For example, individual components for performing individual method steps are designed as a separately integrated circuit or on a common integrated circuit

Circuit arranged. Individual components set up to carry out individual method steps are furthermore preferably arranged on a (flexible) printed circuit carrier (FPCB / PCB), a tape carrier package (TCP) or another substrate.

The individual method steps of the method according to the invention are also preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated when one or more computer programs are executed. The computing devices are preferably designed to work together with other components, for example a communication module, and one or more sensors or cameras, in order to implement the functionalities described herein. The instructions of the computer programs are preferably stored in a memory, such as a RAM element. The computer programs can, however, also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory or the like.

The person skilled in the art can also see that the functionalities of several computers (data processing devices) can be combined or combined in a single device or that the functionality of a specific data processing device can be extended to a plurality can be distributed by devices in order to carry out the steps of the method according to the invention without deviating from the method according to the invention.

The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless stated otherwise in the individual case.

The invention is described below in exemplary embodiments using the associated

Drawings explained. Show it:

FIG. 1 shows a schematic representation of a system according to the invention comprising a motor vehicle according to the invention and a mobile network server according to the invention according to one embodiment;

FIG. 2 shows a schematic representation of a method according to the invention according to one embodiment; and

Figure 3 is a schematic representation of the communication between a

according to the invention network server and motor vehicles according to the invention in the method according to the invention.

FIG. 1 shows a schematic illustration, in particular a block diagram, of an exemplary motor vehicle 10, in particular a two-lane motor vehicle with an internal combustion, electric or hybrid motor. The motor vehicle 10 comprises a multiplicity of first sensors, in particular a first sensor 11, a second sensor 12, and a third sensor 13. The first sensors 11, 12, 13 are set up for capturing environmental data of the motor vehicle 10 and comprise, for example, a camera for capturing an image of an environment immediately surrounding the motor vehicle 10, distance sensors, such as ultrasonic sensors or LI DAR, for detecting distances to objects surrounding the motor vehicle 10. The first sensors 11, 12, 13 transmit the environmental signals recorded by them to a first control unit 40 of the motor vehicle 10.

The motor vehicle 10 also has a plurality of second sensors, in particular a fourth sensor 51, a fifth sensor 52, and a sixth sensor 53. The second sensors 51, 52, 53 are sensors for determining status data relating to the motor vehicle 10 itself, such as current position and location data

Movement information of the motor vehicle. The second sensors are consequently involved for example speed sensors, acceleration sensors, inclination sensors, sensors for measuring an immersion depth of a shock absorber, wheel speed sensors or the like. The second sensors 51, 52, 53 transmit the ones they have detected

Status signals to the first control unit 40 of the motor vehicle 10. In addition, the second sensors 51, 52, 53 transmit their measurement results directly to

Driving system 30 of motor vehicle 10.

The motor vehicle 10 also has a first communication module 20 with a memory 21 and one or more transponders or transceivers 22. The transponders 22 are radio, WLAN, GPS or Bluetooth transceivers or the like. The transponder 22 communicates with the internal memory 21 of the first communication module 20, for example via a suitable data bus. By means of the transponder 22, for example, the current position of the

Motor vehicle 10 determined by communication with a GPS satellite 61 and stored in the internal memory 21. Authorization information stored in the memory 21 can also be transmitted to an external communication module by means of the transponder 22. The first communication module 20 also communicates with the first control unit 40. In addition, the first communication module 20 is set up to communicate with a mobile network server 70, in particular a backend server

Vehicle manufacturer, contractual partner or fleet operator. The

Communication takes place in particular with a second communication module 90 of the network server 70. The first communication module 20 is preferably set up to communicate via an LTE cellular network.

The motor vehicle 10 also has the driving system 30, which is set up for fully automatic ferry operation, in particular for longitudinal and lateral guidance, of the motor vehicle 10. The driving system 30 has a navigation module 32 which is set up to calculate routes between a starting point and a destination point and to determine the maneuvers to be carried out by the motor vehicle 10 along this route. In addition, the driving system 30 comprises an internal memory 31, for example for map materials, which communicates with the navigation module 32, for example via a suitable data bus. Furthermore, the driving system 30 communicates with the control unit 40 and receives from the

Control unit 40 by means of the first communication module 20 received trajectory information from the network server 70. The navigation module 32 is preferably set up to determine a route of the motor vehicle 10 on the basis of this trajectory information. At least some of the second sensors 51, 52, 53 of the motor vehicle 10 transmit their measurement results directly to the driving system 30. These data, which are transmitted directly to the driving system 30, are, in particular, current position and information

Movement information of the motor vehicle. These are preferred by

Speed sensors, acceleration sensors, inclination sensors, etc. are recorded.

The motor vehicle 10 also has a first control unit 40 which is set up to carry out the steps of the motor vehicle 10 in the method according to the invention. For this purpose, the first control unit 40 has an internal memory 41 and a CPU 42, which communicate with one another, for example via a suitable data bus. In addition, the first control unit 40 is in communication with at least the first sensors 11, 12, 13, the second sensors 51, 52, 53, the first communication module 20 and the driving system 30, for example via one or more respective CAN connections, one or more multiple respective SPI connections, or other suitable data connections.

The network server 70 has a second control unit 80 which is set up to carry out the steps of the network server 70 in the method according to the invention. For this purpose, the second control unit 80 has an internal memory 81 and a CPU 82, which communicate with one another, for example via a suitable data bus. The

Network server 70 also has a second communication module 90. The second

Communication module 90 has a memory 92 and one or more transponders or transceivers 91. The transponders 91 are radio, WLAN, GPS or Bluetooth transceivers or the like. The transponder 91 communicates with the internal memory 92 of the second communication module 90, for example via a suitable data bus. The second is preferred

Communication module 90 set up to communicate via an LTE cellular network.

FIG. 2 shows a schematic flow diagram of a method according to the invention carried out by the system 100 according to the invention.

In a first step S100 of the method according to the invention, a plurality of motor vehicles each record an individual trajectory traveled by the motor vehicle and secondary information linked to the respective individual trajectory. In a second step S200 of the method according to the invention, each of the plurality of motor vehicles transmits the recorded individual trajectory and the associated (also recorded)

Secondary information to a network server. The network server determines in a third Step S300 of the method according to the invention computationally a swarm trajectory based on the individual trajectories and the secondary information associated therewith as an average of the individual trajectories weighted based on the secondary information. In step S400, the network server transmits the swarm trajectory determined to at least one motor vehicle.

Figure 3 shows a schematic representation of the communication between a

network server 70 according to the invention and motor vehicles 10 according to the invention in the method according to the invention, in particular communication between a network server 70 explained with reference to FIG. 1 and three according to the invention

Vehicles 10, 10 ‘, 10 ″, each of which is designed as explained with reference to FIG.

In a step S101, a first motor vehicle 10, in particular a small van, detects the individual trajectory it has traveled through, in particular position information and

Track information of the individual trajectory. Furthermore, in step S102, the first motor vehicle 10 records secondary information that characterizes the roadway and / or the

Enable driving behavior of the motor vehicle 10 when moving along the recorded individual trajectory. In a step S201, the motor vehicle 10 transmits the detected

Individual trajectory and the acquired secondary information to the network server 70.

At another point in time, a second motor vehicle 10 ‘, in particular a

Sports car, in a step S101 ‘also an individual trajectory traveled by it, in particular position information and lane information of the individual trajectory, the position information being similar or identical to the position information acquired by the first motor vehicle 10. Furthermore, in a step S102, the second vehicle 10 also captures secondary information for characterizing the roadway or the driving behavior of the vehicle 10 ″ along the individual trajectory. In a step S202, the vehicle 10 ‘transmits the recorded individual trajectories and secondary information to the network server 70.

In a step S300, the network server 70 computationally determines a swarm trajectory based on the individual trajectories received from the vehicles 10 and 10 and the associated secondary information as an average of the individual trajectories weighted using the secondary information. The swarm trajectory determined in this way is shown in

Step S400 is transmitted from the network server to another motor vehicle 10 ″ which is approaching a route section which corresponds to the position information of the individual trajectories and the determined swarm trajectory. The further motor vehicle 10 ″ uses the received swarm trajectory in step S500 to determine one of it in the route section driving trajectory and carries out an automatic drive along this trajectory or gives navigation instructions to a driver for driving the determined trajectory.

In FIG. 3, an alternative embodiment of the method according to the invention is separated by a dashed line. According to this alternative embodiment, the network server 70 also performs a classification of the received data in step S301

Individual trajectories based on the corresponding secondary information. According to this implementation form, those received by the vehicle 10 contain

Secondary information an indicator that the vehicle 10 is a

Vans are and contain the received from the vehicle 10 ‘

Secondary information an indicator that the vehicle 10 ‘is a

Sports car deals. The network server 70 then classifies the individual trajectory received from the vehicle 10 as a first individual trajectory and the individual trajectory received from the vehicle 10 ‘as a second individual trajectory.

In a step S302, the network server 70 determines a first swarm trajectory based on the first individual trajectory of the motor vehicle 10 and based on that of others

Small vans receive first individual trajectories, the position information of which corresponds to the position information of the individual trajectory received from the motor vehicle 10. The swarm trajectory is determined as a weighted average of the first individual trajectories based on the secondary information linked to the first individual trajectories.

In a step S303, the network server 70 determines a second swarm trajectory based on the second individual trajectory of the motor vehicle 10 ‘and based on the second individual trajectories received from other sports cars, the position information of which corresponds to the position information of the individual trajectory received from the motor vehicle 10‘. The swarm trajectory is then linked to the second individual trajectories using the one

Secondary information weighted mean of the second individual trajectories determined.

In step S401, the network server 70 receives a request from a motor vehicle 10 ″ for a swarm trajectory for a specific route section. For this purpose, the request contains location information of the motor vehicle 10 'and / or of the specific route section. The request also has an identifier which identifies the vehicle 10 ″ as a small van. The network server 70 then determines a first swarm trajectory corresponding to the received location information, which was generated on the basis of the individual trajectories of other small vans along the specific route section, and transmits the Black trajectory thus determined in step S402 to motor vehicle 10 ″. The vehicle 10 ″ uses the received first swarm trajectory to determine in step S501 a trajectory to be traveled in the specific route section and performs an automatic journey along this trajectory or outputs navigation instructions to a driver.

List of reference symbols motor vehicle

first sensor

second sensor

third sensor

Communication module

Storage

Transponder

Driving system

Storage

Navigation module

Control unit

Storage

CPU

fourth sensor

fifth sensor

sixth sensor

Satellite network server

Control unit

Storage

CPU

Communication module

Transponder

Storage system

Claims

1. A method for determining a vehicle trajectory, comprising the method steps:

Detecting, by a plurality of motor vehicles (10), of traveled

Individual trajectories and linked to the individual trajectories

Secondary information,

Transmitting, by a plurality of motor vehicles (10), the individual trajectories and the secondary information associated therewith to a network server (70);

Determine, by the network server (70), a swarm trajectory based on the

Individual trajectories and the associated secondary information as an average of the individual trajectories weighted on the basis of the secondary information; and transmitting, from the network server (70), the swarm trajectory to at least one motor vehicle (10).

2. The method according to claim 1, characterized in that

the individual trajectories have location information and lane information linked to this; and or

the secondary information position information and linked to it

Have driving dynamics information, damping information or lane information.

3. The method according to claim 2, characterized in that the damping information for at least one position defined by position information has an immersion depth of at least one damper of a motor vehicle (10).

4. The method according to claim 2, characterized in that the

Driving dynamics information for at least one position defined by position information has information on a vehicle body movement and / or transverse acceleration of a motor vehicle (10) and / or information on a coefficient of friction of a road surface.

5. The method according to any one of the preceding claims, further comprising the steps:

Classify, by the network server (70), the recorded individual trajectories based on the

Secondary information in first individual trajectories and second individual trajectories; Determining, by the network server (70), a first swarm trajectory based on the first individual trajectories and a second swarm trajectory based on the second individual trajectories, and based on secondary information associated therewith; Transmission from the network server (70) of the first swarm trajectory to at least one first motor vehicle (10) corresponding to a first individual trajectory and the second swarm trajectory to at least one second motor vehicle (10) corresponding to a second individual trajectory.

6. Motor vehicle (10), having at least one first sensor (11, 12, 13) set up to detect environmental data; at least one to capture

Second sensor (51, 52, 53) set up for vehicle data;

one for communication with a network server (70) and GPS satellites (61)

established first communication module (20); and

a control unit (40), wherein the control unit (40) is set up for:

for an individual trajectory driven by the motor vehicle (10) and determined by position information and lane information by means of the first

Sensors (11, 12, 13) and / or second sensors (51, 52, 53)

To acquire secondary information, comprising vehicle dynamics, damping and / or road information corresponding to the individual trajectory;

the individual trajectory and associated secondary information to one

To transmit network server (70).

7. Motor vehicle (10) according to claim 6, further comprising:

a driving system (30) set up to automatically drive the motor vehicle, the control unit (40) also being set up to

receive a swarm trajectory determined by location information and lane information from the network server (70); and

to determine a trajectory for the motor vehicle (10) by means of the driving system (30) and using the swarm trajectory.

8. Network server (70), having a second communication module (90) set up for data communication with a plurality of motor vehicles (10); and

a control unit (80), wherein the control unit (80) is set up for:

to receive individual trajectories from a plurality of motor vehicles (10) determined by position information and lane information; to determine a swarm trajectory on the basis of the individual trajectories and the secondary information linked to them as an average of the individual trajectories weighted on the basis of the secondary information; and

to transmit the determined swarm trajectory to at least one motor vehicle (10).

9. System (100) comprising a motor vehicle (10) according to one of claims 6 and 7 and a network server (70) according to claim 8.

10. The method according to any one of claims 1 to 5, motor vehicle (10) according to claim 7, network server (70) according to claim 8 or system (100) according to claim 9, wherein the swarm trajectory based on individual trajectories with corresponding

Location information is determined and transmitted to a motor vehicle (10) with corresponding location information.