EP4025469A1 - VERFAHREN ZUM VORHERSAGEN EINER ZUKÜNFTIGEN FAHR-SITUATION EINES AM STRAßENVERKEHR TEILNEHMENDEN FREMD-OBJEKTES, VORRICHTUNG, FAHRZEUG - Google Patents
VERFAHREN ZUM VORHERSAGEN EINER ZUKÜNFTIGEN FAHR-SITUATION EINES AM STRAßENVERKEHR TEILNEHMENDEN FREMD-OBJEKTES, VORRICHTUNG, FAHRZEUGInfo
- Publication number
- EP4025469A1 EP4025469A1 EP20764614.2A EP20764614A EP4025469A1 EP 4025469 A1 EP4025469 A1 EP 4025469A1 EP 20764614 A EP20764614 A EP 20764614A EP 4025469 A1 EP4025469 A1 EP 4025469A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- foreign object
- vehicle
- driving situation
- foreign
- information
- 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- Withdrawn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
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000004891 communication Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 17
- 230000006399 behavior Effects 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 230000000717 retained effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00274—Planning or execution of driving tasks using trajectory prediction for other traffic participants considering possible movement changes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
- B60W60/00276—Planning or execution of driving tasks using trajectory prediction for other traffic participants for two or more other traffic participants
-
- 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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4023—Type large-size vehicles, e.g. trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4026—Cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
- B60W2554/4029—Pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4045—Intention, e.g. lane change or imminent movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4046—Behavior, e.g. aggressive or erratic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Definitions
- the invention relates to a method for predicting a future driving situation of a foreign object participating in road traffic, in particular a foreign vehicle, wherein at least one piece of first information is recorded which corresponds to at least one first foreign object participating in road traffic and detected, and wherein the first foreign object is assigned to an object class as a function of the first information.
- the invention also relates to a device for carrying out the above-mentioned method, as well as a vehicle with such a device
- the laid-open specification EP 2 840006 A1 discloses a method according to which a vehicle silhouette of a third-party vehicle participating in road traffic is recorded as information. It is provided that the third-party vehicle is assigned to an object class or vehicle class as a function of the detected vehicle silhouette. A probable trajectory of the third-party vehicle is then predicted as a future driving situation as a function of the vehicle class.
- the laid-open specification DE 102017 115988 A1 also discloses a method according to which a foreign object participating in road traffic is assigned to an object class. A planned trajectory of a vehicle in which the method is carried out is then modified as a function of the object class.
- the invention is based on the object of providing a method by which the reliability of the prediction of the future driving situation of the foreign object is increased.
- the aim is therefore to increase the probability with which an actual future driving situation of the first foreign object corresponds to the predicted future driving situation.
- At least one second item of information is recorded, which is recorded with at least one second item of information participating in traffic Foreign object corresponds that is located in the vicinity of the first foreign object, the second foreign object being assigned to an object class as a function of the second information, and a future position, a future travel speed and / or a future trajectory of the first foreign object can be predicted as a future driving situation of the first foreign object depending on the object class of the first foreign object on the one hand and the object class of the second foreign object on the other.
- both the object class of the first foreign object and the object class of the second foreign object are taken into account.
- the object classes differ from one another in such a way that a foreign object assigned to a first object class of the object classes is likely to change its driving situation differently in at least one specific traffic situation than a foreign object assigned to a second object class of the object classes Foreign object would do in the same specific traffic situation.
- the future driving situation of the first foreign object is thus influenced by the object class of the first foreign object.
- the second foreign object is located in the vicinity of the first foreign object. It is therefore to be assumed that the first foreign object or a driver of the first foreign object will take the second foreign object into account when changing his current driving situation.
- the object class of the second foreign object is relevant because the first foreign object or the driver of the first foreign object will associate a certain behavior of the second foreign object with the object class of the second foreign object in traffic .
- the future driving situation of the second foreign object is preferably predicted as a function of a current driving situation of the second foreign object.
- the precisely predicted future driving situation of the first foreign object can then be used by other road users, for example to adapt a driving situation of these road users so that a desired distance from the first foreign object is not undershot.
- a foreign object is to be understood in principle as any foreign object that participates in road traffic.
- a motor vehicle, a bicycle or a pedestrian is a foreign object.
- the future driving situation of the first foreign object is determined at least by the future position, the future driving speed and / or the future trajectory of the first foreign object described.
- at least one visual image of the first and / or the second foreign object is recorded as first and / or second information.
- the visual image can be recorded in a technically simple manner, for example by means of a camera sensor.
- the external objects can be assigned to an object class in a particularly reliable manner on the basis of the visual image, for example on the basis of a silhouette of the external objects and / or a dimensioning of the external objects.
- the visual image is used to determine whether a detected motor vehicle is a truck, an agricultural vehicle, a passenger car or a motorcycle.
- the motor vehicle is then assigned to one of the object classes “truck”, “agricultural vehicle”, “passenger car” or “motorcycle”.
- An actual position, an actual trajectory and / or an actual travel speed of the first and / or the second foreign object is preferably recorded as first and / or second information.
- This enables the foreign objects to be assigned particularly precisely to a suitable object class. For example, it is determined that a detected third-party motor vehicle is a third-party motor vehicle operated by a novice driver if it is determined on the basis of the actual position of the third-party vehicle that the third-party motor vehicle is a relatively large distance from a third party driving ahead - Motor vehicle complies if a particularly cautious driving style is determined on the basis of the actual trajectory and / or if a relatively slow driving behavior is determined on the basis of the actual driving speed.
- the third-party vehicle is then assigned to the “motor vehicle, driver: novice driver” object class, for example. However, if an average driving behavior is determined based on the actual position, the actual trajectory and / or the actual speed of the third-party motor vehicle, the third-party motor vehicle is assigned to the object class “motor vehicle, driver: normal driver”, for example.
- a driving style of a driver of the first foreign object is determined as a function of the first information, the first foreign object being assigned to the object class as a function of the determined driving style. For example, depending on the first information, a risky driving style of the driver or a restrained driving style of the driver is determined as the driving style. It is assumed that the future driving situation is influenced by the driving style of the driver of the first foreign object. For example, a driver with a risky driving style is likely to have more overtaking maneuvers, whereas a driver with a cautious driving style will generally avoid overtaking maneuvers.
- a driving style of a driver of the second foreign object is preferably determined as a function of the second information, the second foreign object being assigned to the object class as a function of the determined driving style.
- the method is preferably carried out in an ego vehicle.
- the predicted future position can be taken into account when the ego vehicle is operated. For example, a warning signal perceptible by a driver of the ego vehicle is generated if, depending on the predicted future driving situation of the first foreign vehicle, a distance between the ego vehicle and the first foreign vehicle is likely to fall below a distance threshold value.
- the first item of information and / or the second item of information is preferably recorded by means of an environment sensor system of the ego vehicle.
- the environment sensor system preferably has at least one camera sensor, a radar sensor, an ultrasonic sensor and / or a laser sensor.
- the ego vehicle itself therefore has the sensors through which the first information and / or the second information is detected. External devices that are not part of the ego vehicle are therefore not necessary to carry out the method. As a result, the error rate of the method is low.
- the first foreign object is monitored for the transmission of first data and / or the second foreign object for the transmission of second data, wherein, if it is detected that the first data and / or the second data are sent out, the first data and / or the second data are recorded as first information and / or as second information.
- the method according to this embodiment can also be carried out if the first foreign object and / or the second foreign object are not located within a detection range of the environment sensor system of the ego vehicle, for example if one of the foreign objects is passed through the other -Objects is obscured.
- an actual future driving situation of the first foreign object is compared with the predicted future driving situation, with at least one first parameter assigned to the object class of the first foreign object, depending on which the future driving situation was predicted, is replaced by a second parameter corresponding to the actual future driving situation.
- the first parameter is preferably replaced if a discrepancy between the predicted future driving situation and the actual future driving situation exceeds a predetermined threshold value. If the deviation falls below the threshold value, the first parameter is preferably retained.
- a future driving situation of the second foreign object is predicted as a function of the object class of the first foreign object on the one hand and the object class of the second foreign object on the other hand.
- a future driving situation is therefore predicted with respect to both foreign objects.
- the driving situation of other road users for example the ego vehicle, can thus be adapted taking into account the predicted future driving situation of the first foreign object and the predicted future driving situation of the second foreign object, so that the desired distance to the foreign object Objects is not fallen below.
- the future driving situation of the second foreign object is preferably predicted as a function of the predicted future driving situation of the first foreign object.
- more than two foreign objects that take part in road traffic are recorded, with at least one piece of information then being recorded for each of the foreign objects, which corresponds to the respective foreign object, and each of the foreign objects is dependent on the respective information is assigned to an object class.
- a future driving situation is then preferably predicted for each of the foreign objects. The future driving situation is predicted as a function of the object class of the respective foreign object and the object class of the foreign objects that are in the vicinity of the respective foreign object.
- a driving situation of the ego vehicle is changed automatically as a function of the predicted future driving situation of the first foreign object and optionally the predicted future driving situation of the second foreign object.
- a driving speed of the ego vehicle and / or a steering angle of the ego vehicle is changed automatically if, depending on the predicted future driving situation of the first foreign object, it is determined that otherwise a distance between the first foreign object Object and the ego vehicle would fall below the specified distance threshold in the future.
- the future driving situation of the first foreign object and optionally the future driving situation of the second foreign object are preferably continuously predicted.
- Predicted future driving situations of the first foreign object and optionally of the second foreign object are therefore continuously available in order to continuously achieve the advantages of the method.
- the at least one first item of information and the at least one second item of information are preferably recorded continuously, that is to say at several successive points in time, so that at least one current first item of information and at least one current second item of information are always available for carrying out the method.
- the respectively current first information item and the respectively current second information item are used to predict the future driving situation.
- the foreign object of the foreign objects whose distance from the ego vehicle is smaller is detected as the first foreign object.
- the second foreign object is then the foreign object of the foreign objects whose distance from the ego vehicle is greater.
- the distance is preferably the distance in the direction of travel. Predicting the future driving situation of the foreign object whose distance from the ego vehicle is smaller is particularly advantageous because the future driving situation of this foreign object is particularly relevant to any changes in the driving situation of the ego vehicle .
- the device according to the invention for a motor vehicle has a unit for acquiring a first piece of information that corresponds to a first foreign object participating in road traffic and acquired, and a second piece of information that corresponds to a second foreign object that is acquired and participating in road traffic, and is characterized by the features of claim 13 by a control device, the device being specially designed to predict a future driving situation of the first foreign object according to the method according to the invention by means of the unit and the control device when used as intended.
- the unit has an environment sensor system and / or a communication device.
- the environment sensor system is preferably designed to detect at least one visual image of the first and / or the second foreign object as first information and / or as second information.
- the communication device is preferably designed to receive first data transmitted by the first foreign object and / or second data transmitted by the second foreign object as first information and / or as second information.
- Figure 1 shows a road on which an ego vehicle, a first foreign object and a second
- FIG. 2 shows a method for predicting a future driving situation for the first foreign object.
- FIG. 1 shows a road 1 on which an ego vehicle 2, a first foreign object 3 and a second foreign object 4 are moved in a direction of travel 5.
- the first third-party object 3 is a third-party vehicle 3, namely a passenger car 3.
- the second third-party object 4 is also a third-party vehicle 4, namely an agricultural vehicle 4.
- the second Foreign vehicle 4 is located in the vicinity of the first foreign vehicle 3
- the ego vehicle 2 has a device 6 with an environment sensor system 7.
- the environment sensor system 7 has at least one environment sensor 8 which is designed to monitor an environment of the host vehicle 2.
- the environment sensor 8 is a camera sensor 8.
- the environment sensor 8 is designed, for example, as a laser sensor, as a radar sensor or as an ultrasonic sensor.
- There are preferably several such environment sensors that are distributed around the ego vehicle 2 on the ego vehicle 2 are arranged.
- the ego vehicle 2 also has a communication device 9.
- the communication device 9 is designed to pass through the first third-party vehicle 3, through the second third-party vehicle 4, through not shown to receive further foreign objects participating in road traffic and / or data transmitted by infrastructure facilities (not shown).
- the device 6 also has a data memory 10.
- Object classes are stored in the data memory 10.
- Third-party vehicles 3 and 4 and other third-party objects participating in road traffic can be assigned to at least one of these object classes.
- the device 6 also has a control unit 11.
- the control device 11 is connected to the environment sensor 8, the communication device 9 and the data memory 10.
- a method for predicting a future driving situation of the first foreign vehicle 3 is described with the aid of a flow chart.
- the method is started in a first step S1.
- the environment sensor 8 begins to detect the environment of the ego vehicle 2 and the communication device 9 begins to monitor whether the first third-party vehicle 3, the second third-party vehicle 4 or an infrastructure device (not shown) are sending out data.
- the first third-party vehicle 3 is detected by the surroundings sensor 8.
- the environment sensor 8 designed as a camera sensor 8 detects visual images of the first third-party vehicle 3 on the basis of a time sequence of the recorded visual images
- the control device 11 determines an actual trajectory of the first third-party vehicle 3 and an actual speed of the first third-party vehicle 3 Depending on the actual trajectory and the actual driving speed, the control unit 11 also determines a driving style of a driver of the first foreign vehicle 3. For example, the control unit 11 determines that the driver has a restrained driving style, as is often the case with novice drivers Case, or a risky driving style, as is often the case, for example, with frequent drivers.
- the visual images of the first third-party vehicle 3, the actual trajectory of the third-party vehicle 3, the actual speed of the third-party vehicle 3 and the driving style of the driver of the third-party vehicle 3 are first information.
- the control device 11 assigns the first third-party vehicle 3 to an object class, of the object classes stored in the data memory 10, as a function of the first information recorded or determined in the step S2.
- the control device 11 assigns the third-party vehicle 3 to the object class “passenger vehicle, driver: novice driver” on the basis of the first information.
- stored object classes are, for example, the object classes "Passenger car, driver: normal driver”, “Passenger car, driver: frequent driver”, “Omnibus”, “waste disposal vehicle”, “transporter”, “moving vehicle”, “sewer cleaning vehicle”, “construction vehicle”, “bicycle, driver: child”, “bicycle, driver: adult”, “pedestrian "," Motorcyclist "or” Animal ".
- This list of object classes is of course not exhaustive. Rather, further additional object classes are preferably provided.
- Different first parameters are assigned to each object class. Depending on the first parameters, it can be predicted how a foreign object assigned to the respective object class is likely to react in a specific traffic situation. Because it can be assumed that a foreign object assigned to a first one of the object classes will react differently in a certain traffic situation than a foreign object assigned to a second one of the object classes, different first parameters are assigned to the various object classes.
- the second foreign vehicle 4 is detected.
- the second third-party vehicle 4 is initially detected by an environment sensor system (not shown) of the first third-party vehicle 3.
- the second third-party vehicle 4 cannot be detected by the environment sensors of the ego vehicle 2 because the second third-party vehicle 4 is covered by the first third-party vehicle 3.
- the control device 11 also assigns the second foreign vehicle 4 to an object class depending on the data received by the communication device 9, in the present case the object class “agricultural vehicle”.
- the control device 11 says a future driving situation of the first third-party vehicle 3 depending on the object class of the first third-party vehicle 3 on the one hand and the object class of the second third-party vehicle 4 on the other hand beforehand.
- the control device 11 predicts, for example, a future speed of travel, a future position and / or a future trajectory of the first foreign vehicle 3. Because the second third-party vehicle 4 was assigned to the “agricultural vehicle” object class, it can generally be assumed that the first third-party vehicle 3 will overtake the second third-party vehicle 4. In the present case, however, the first third-party vehicle 3 was assigned to the object class “Passenger car, driver: novice driver”.
- the control device 11 determines the future driving situation of the first third-party vehicle 3 predicted that the first foreign object 3 will reduce its speed and drive behind the second foreign vehicle 4. If the first foreign vehicle 3 were assigned to the object class “Passenger car, driver: frequent driver” in the third step S3, then based on the first parameters assigned to this object class it would be predicted as a future driving situation that the first foreign vehicle Vehicle 3 will increase its driving speed and change its trajectory in order to overtake the second foreign vehicle 4.
- a driving situation of the ego vehicle 2 is automatically changed as a function of the predicted future driving situation of the first foreign vehicle 3. Because it was predicted that the first third-party vehicle 3 will drive behind the second third-party vehicle 3, the first third-party vehicle 3 and the second third-party vehicle 4 can be overtaken by the ego vehicle 2 in the present case.
- a driving speed of the ego vehicle 2 is therefore increased in an automated manner and a trajectory of the ego vehicle 2 is adapted in such a way that the ego vehicle 2 overtakes the first external vehicle 3 and the second external vehicle 4.
- an eighth step S8 the actual future driving situation of the first foreign vehicle 3 is recorded.
- a ninth step S9 the actual future driving situation detected in the eighth step S8 is compared with the predicted future driving situation.
- the first parameters assigned to the object class of the first foreign object 3 are replaced by second parameters corresponding to the actual future driving situation. If, for example, it is determined in the comparison that the actual future driving situation deviates from the predicted future driving situation, at least one of the first parameters is replaced. However, if the comparison shows that the actual future driving situation corresponds to the predicted future driving situation, then the first parameters are preferably retained.
- the future driving situation of the second foreign vehicle 4 is preferably also predicted by means of the method. Because the object class of the second third-party vehicle 4 and the object class of the first third-party vehicle 3 are determined in the method anyway, this is easily possible without any particular additional additional effort.
- the method steps S2 to S10 shown in FIG. 2 are preferably carried out continuously. This results in a reliable ongoing forecast of future driving Situation of the first foreign object 3 and, as a result, an advantageous automated control of the driving situation of the ego vehicle 2.
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Abstract
Description
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Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102019213222.7A DE102019213222B4 (de) | 2019-09-02 | 2019-09-02 | Verfahren zum Vorhersagen einer zukünftigen Fahr-Situation eines am Straßenverkehr teilnehmenden Fremd-Objektes, Vorrichtung, Fahrzeug |
PCT/EP2020/073897 WO2021043650A1 (de) | 2019-09-02 | 2020-08-26 | VERFAHREN ZUM VORHERSAGEN EINER ZUKÜNFTIGEN FAHR-SITUATION EINES AM STRAßENVERKEHR TEILNEHMENDEN FREMD-OBJEKTES, VORRICHTUNG, FAHRZEUG |
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EP4025469A1 true EP4025469A1 (de) | 2022-07-13 |
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EP20764614.2A Withdrawn EP4025469A1 (de) | 2019-09-02 | 2020-08-26 | VERFAHREN ZUM VORHERSAGEN EINER ZUKÜNFTIGEN FAHR-SITUATION EINES AM STRAßENVERKEHR TEILNEHMENDEN FREMD-OBJEKTES, VORRICHTUNG, FAHRZEUG |
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US (1) | US20220281445A1 (de) |
EP (1) | EP4025469A1 (de) |
CN (1) | CN114269622A (de) |
DE (1) | DE102019213222B4 (de) |
WO (1) | WO2021043650A1 (de) |
Family Cites Families (21)
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JP4207088B2 (ja) * | 2007-06-20 | 2009-01-14 | トヨタ自動車株式会社 | 車両走行推定装置 |
DE102007042792A1 (de) * | 2007-09-07 | 2009-03-12 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Umfeldüberwachung für ein Kraftfahrzeug |
US8229663B2 (en) * | 2009-02-03 | 2012-07-24 | GM Global Technology Operations LLC | Combined vehicle-to-vehicle communication and object detection sensing |
US8457827B1 (en) * | 2012-03-15 | 2013-06-04 | Google Inc. | Modifying behavior of autonomous vehicle based on predicted behavior of other vehicles |
US10347127B2 (en) * | 2013-02-21 | 2019-07-09 | Waymo Llc | Driving mode adjustment |
DE102013013243A1 (de) | 2013-08-08 | 2015-02-12 | Man Truck & Bus Ag | Fahrerassistenzsystem und Betriebsverfahren für ein Fahrerassistenzsystem zur Fahrzeug-Längsregelung |
DE102014204107A1 (de) | 2014-03-06 | 2015-09-10 | Conti Temic Microelectronic Gmbh | Verfahren zur Verkehrsraumprognose |
WO2015155833A1 (ja) * | 2014-04-08 | 2015-10-15 | 三菱電機株式会社 | 衝突防止装置 |
US9720415B2 (en) * | 2015-11-04 | 2017-08-01 | Zoox, Inc. | Sensor-based object-detection optimization for autonomous vehicles |
US9910441B2 (en) * | 2015-11-04 | 2018-03-06 | Zoox, Inc. | Adaptive autonomous vehicle planner logic |
DE102016005580A1 (de) | 2016-05-06 | 2017-11-09 | Audi Ag | Verfahren und System zum Vorhersagen eines Fahrverhaltens eines Fahrzeugs |
DE102016215287A1 (de) * | 2016-08-16 | 2018-02-22 | Volkswagen Aktiengesellschaft | Verfahren zum Ermitteln einer maximal möglichen Fahrgeschwindigkeit für eine Kurvenfahrt eines Kraftfahrzeugs, Steuervorrichtung und Kraftfahrzeug |
DE102017115988A1 (de) | 2017-07-17 | 2019-01-17 | Connaught Electronics Ltd. | Modifizieren einer Trajektorie abhängig von einer Objektklassifizierung |
US10216189B1 (en) * | 2017-08-23 | 2019-02-26 | Uber Technologies, Inc. | Systems and methods for prioritizing object prediction for autonomous vehicles |
DE102017217056B4 (de) * | 2017-09-26 | 2023-10-12 | Audi Ag | Verfahren und Einrichtung zum Betreiben eines Fahrerassistenzsystems sowie Fahrerassistenzsystem und Kraftfahrzeug |
JP6917878B2 (ja) * | 2017-12-18 | 2021-08-11 | 日立Astemo株式会社 | 移動体挙動予測装置 |
US11718303B2 (en) * | 2018-01-03 | 2023-08-08 | Toyota Research Institute, Inc. | Vehicles and methods for building vehicle profiles based on reactions created by surrounding vehicles |
US10745011B2 (en) * | 2018-05-31 | 2020-08-18 | Nissan North America, Inc. | Predicting yield behaviors |
US10569773B2 (en) * | 2018-05-31 | 2020-02-25 | Nissan North America, Inc. | Predicting behaviors of oncoming vehicles |
US11592832B2 (en) * | 2018-08-20 | 2023-02-28 | Uatc, Llc | Automatic robotically steered camera for targeted high performance perception and vehicle control |
US20210031760A1 (en) * | 2019-07-31 | 2021-02-04 | Nissan North America, Inc. | Contingency Planning and Safety Assurance |
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2020
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- 2020-08-26 CN CN202080061551.2A patent/CN114269622A/zh active Pending
- 2020-08-26 WO PCT/EP2020/073897 patent/WO2021043650A1/de unknown
- 2020-08-26 US US17/639,657 patent/US20220281445A1/en active Pending
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DE102019213222B4 (de) | 2022-09-29 |
WO2021043650A1 (de) | 2021-03-11 |
DE102019213222A1 (de) | 2021-03-04 |
US20220281445A1 (en) | 2022-09-08 |
CN114269622A (zh) | 2022-04-01 |
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