EP4055346A1 - Method and device for determining emergency routes and for operating automated vehicles - Google Patents

Method and device for determining emergency routes and for operating automated vehicles

Info

Publication number
EP4055346A1
EP4055346A1 EP20785931.5A EP20785931A EP4055346A1 EP 4055346 A1 EP4055346 A1 EP 4055346A1 EP 20785931 A EP20785931 A EP 20785931A EP 4055346 A1 EP4055346 A1 EP 4055346A1
Authority
EP
European Patent Office
Prior art keywords
emergency
automated
trajectory
data values
automated vehicles
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.)
Pending
Application number
EP20785931.5A
Other languages
German (de)
French (fr)
Inventor
Michael Gabb
Ruediger-Walter Henn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP4055346A1 publication Critical patent/EP4055346A1/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • 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
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • 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
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • 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
    • G08G1/096775—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 a central station
    • 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
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
    • G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0082—Surveillance aids for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Definitions

  • the present invention relates, inter alia, to a method for determining emergency trajectories and a method for operating an automated vehicle.
  • the method according to the invention for determining emergency trajectories comprises a step of receiving route data values which represent route information of the automated vehicles, a step of determining emergency trajectories for each of the automated vehicles, depending on the route information of the automated vehicles, the emergency trajectories each having a temporal and / or maintain local predetermined minimum distance from one another and a step of transmitting the emergency trajectories to the automated vehicles for operating the automated vehicles.
  • An automated vehicle is to be understood as a vehicle which is designed according to one of SAE levels 1 to 5 (see standard SAE J3016).
  • a (normal and / or emergency) trajectory is to be understood as a predefined route for an automated vehicle, which is followed, for example, by means of an automated transverse and / or longitudinal control.
  • a trajectory represents, for example, discrete coordinate points and / or vectors, etc.
  • the normal trajectory in particular represents a connection between a starting point (for example a position of the corresponding automated vehicle at the time of determining the normal trajectory) and a target point, the normal trajectory being determined, for example, by adding environmental features [traffic density, road courses, intersections, other vehicles, etc.] must be taken into account.
  • the normal trajectory preferably provides a route for the automated one Vehicle, which is determined by a traffic management system (for automated vehicles) taking into account further (automated) vehicles or other objects by means of a (digital) map, with a communication link between the automated vehicle and the traffic management system - for example to adjust the route to changing conditions (pedestrians, vehicle movements, etc.) - is a prerequisite.
  • the emergency trajectory represents a route which is used, for example, to bring the automated vehicle to a safe stop (without collisions with objects, other vehicles, etc.) as quickly as possible, starting from a position at the time the emergency occurred.
  • the emergency trajectory preferably includes the fastest possible route into a safe area (edge area of a traffic route, parking lot, etc.).
  • the route information includes, for example, the normal trajectory and / or a (current) position of the automated vehicle, in particular along the normal trajectory.
  • a predetermined minimum distance in time and / or location between the emergency trajectories is to be understood as meaning that these emergency trajectories either do not cross each other or - if they are at least partially parallel - have a safety distance of, for example, a few meters from one another and / or that the emergency trajectories which may cross each other or cannot have a safety distance, can be determined in such a way that the affected automated vehicles (which receive these emergency trajectories) pass the corresponding hazard area with a time delay.
  • the steps of the method are preferably repeated cyclically, in particular with a predetermined cycle duration, until no more route data values are received.
  • the route data are repeatedly received by the automated vehicles in order - for example, depending on the current position (along the normal trajectory) - to determine a (current) emergency trajectory and to transmit it to the automated vehicles.
  • the method preferably additionally provides for the reception of environmental data values, the environmental data values representing surroundings of the automated vehicles.
  • the determination of the emergency trajectories also takes place depending on the surroundings of the automated vehicles.
  • Receiving environmental data values is to be understood as meaning, for example, that the automated vehicles themselves (at least partially) detect these surroundings by means of an environmental sensor system and transmit them for reception.
  • the environmental data values are additionally or alternatively recorded by means of an infrastructure unit (lighting device, traffic signs, bridge piers, tunnel walls, etc.), which include an environmental sensor system, and are transmitted for reception.
  • An environment sensor system is at least one video and / or at least one radar and / or at least one lidar and / or at least one ultrasound and / or at least one further sensor - which is designed to detect the environment of the automated vehicles in the form of To capture environmental data values - to understand.
  • the environment sensor system is designed in particular to detect environmental features in the environment (road course, traffic signs, lane markings, buildings, lane boundaries, etc.) and / or traffic objects (vehicles, cyclists, pedestrians, etc.).
  • the environment sensor system includes, for example, a computing unit (processor, main memory, hard disk) with suitable software and / or is connected to such a computing unit, whereby these environmental features can be recorded and / or classified or assigned.
  • Determining the emergency trajectory is understood to mean, for example, that an environment model is created based on map data and / or route data of the automated vehicles and / or environment data values and the emergency trajectories are then determined using the environment model.
  • the device according to the invention (for determining emergency trajectories), in particular a server, is set up to carry out all steps of the method according to one of the corresponding method claims.
  • the device (for determining emergency trajectories) comprises a computing unit (processor, main memory, hard disk) and suitable software to carry out the method according to one of the method claims.
  • the device comprises, for example, a transmitting and / or receiving unit which is designed to provide and / or transmit and / or receive route data values and / or environmental data values and / or emergency trajectories (in the form of data values or in the form of signals) .
  • the device is connected to a transmitting and / or receiving device by means of a suitable interface.
  • a server is to be understood as meaning, for example, an individual server or a network of servers (cloud).
  • a computer program comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out a method according to one of the method claims for determining emergency trajectories.
  • the computer program corresponds to the software comprised by the device (for determining emergency trajectories).
  • the method according to the invention for operating an automated vehicle comprises a step of transmitting route data values to an external server, the route data values representing route information depending on a normal trajectory of the automated vehicle, and a step of receiving an emergency trajectory from the external server, the emergency trajectory is determined by means of a method according to one of the method claims for determining emergency trajectories.
  • the method further comprises a step of checking the functionality of a communication link of the automated vehicle, the communication link being designed at least to receive the emergency trajectory, and a step of operating the automated vehicle using the normal trajectory or using the emergency trajectory, depending on the functionality of the communication link.
  • a functionality of the communication link of the automated vehicle is to be understood as meaning, for example, the existing or non-existing functionality for transmitting and / or receiving data values.
  • the functionality represents, for example - in the form of data values - one of two possible feedback messages from the communication link: (1) the communication link is functional; (2) Communication link is not functional.
  • the checking is carried out, for example, by carrying out an internal (software-based) analysis and / or by sending out a test signal and comparing it with a (possible) response signal.
  • the steps of the method are preferably repeated cyclically.
  • the automated vehicle is operated using the normal trajectory or the most recently received emergency trajectory.
  • Operating the automated vehicle using the normal trajectory or using the most recently received emergency trajectory is understood to mean, for example, that the automated vehicle is moved along the corresponding trajectory by means of an automated transverse and / or longitudinal control.
  • operation is also to be understood as performing an assistance function that increases safety (tightening the belts, preconditioning an airbag, adjusting the seat position, etc.).
  • Operation is to be understood in particular to mean that the vehicle is operated in such a way that one danger for the automated vehicle or for the occupants of the automated vehicle - for example due to a collision - is avoided or reduced as far as possible.
  • the device according to the invention (for operating an automated vehicle), in particular a control device, is set up to carry out all steps of the method according to one of the corresponding method claims.
  • the device for operating an automated vehicle
  • the device comprises, for example, a transmitting and / or receiving unit which is designed to send route data values and / or environmental data values and / or emergency trajectories (in the form of data values or in Form of signals) to provide and / or to transmit and / or to receive.
  • the device is connected to a transmitting and / or receiving device by means of a suitable interface.
  • the transmitting and / or receiving device or the interface corresponds to the communication connection, which is designed at least to receive the emergency trajectory.
  • the device has an interface for operating the automated vehicle, by means of which, for example, corresponding signals for transverse and / or longitudinal control can be provided.
  • the method according to the invention advantageously solve the problem of enabling automated vehicles to be operated - for example, starting from a traffic control center (here: server) - in such a way that even if a communication link between the automated vehicles and the traffic control center fails, the automated vehicles can be operated safely To enable vehicles (for example until the communication link is available again and / or until all automated vehicles involved have safely come to a halt (collision-free, etc.)).
  • a traffic control center here: server
  • This object is achieved by means of the system according to the invention, which comprises a device for determining emergency trajectories and a device for operating an automated vehicle in each case, in that emergency trajectories are determined for each of the automated vehicles, depending on the route information of the automated vehicles.
  • the automated vehicles are then operated using the emergency trajectory, depending on the functionality of the communication link that is responsible for exchanging the relevant data. This allows these emergency trajectories to be coordinated with one another in such a way that there will be no overlap or collision if the communication connection breaks off (in particular spontaneously).
  • FIG. 1 shows an exemplary embodiment of the method according to the invention for determining emergency trajectories in the form of a flow chart
  • FIG. 2 shows an exemplary embodiment of the method according to the invention for operating an automated vehicle in the form of a flow chart
  • FIG. 3 shows an exemplary embodiment of the interaction between the two methods in the form of a flow chart.
  • FIG. 1 shows an exemplary embodiment of a method 300 for determining 320 emergency trajectories.
  • the method 300 starts in step 301.
  • step 310 route data values which represent route information from automated vehicles are received.
  • step 320 follows.
  • step 315 follows.
  • step 315 environmental data values are received, the environmental data values representing surroundings of the automated vehicles.
  • step 315 follows first and then step 310, or steps 310 and 315 are carried out at least partially at the same time.
  • step 320 emergency trajectories are determined for each of the automated vehicles, depending on the route information of the automated vehicles, in such a way that the emergency trajectories each maintain a predetermined minimum distance from one another in terms of time and / or location.
  • the emergency trajectories are additionally determined as a function of the surroundings of the automated vehicles.
  • step 330 the emergency trajectories are transmitted to the automated vehicles - for operating the automated vehicles.
  • step 340 follows.
  • steps 310, 320, 330 of method 300 are repeated cyclically, in particular with a predetermined cycle duration, until no more route data values are received.
  • the method 300 ends in step 340.
  • FIG. 2 shows an exemplary embodiment of a method 400 for operating 440 an automated vehicle.
  • the method 400 starts in step 401.
  • route data values are transmitted to an external server, the route data values representing route information as a function of a normal trajectory of the automated vehicle.
  • step 420 an emergency trajectory is received from the external server, the emergency trajectory being determined by means of an embodiment of the method 300.
  • step 430 a functionality of a communication link of the automated vehicle is checked, the communication link being designed at least to receive the emergency trajectory.
  • step 440 the automated vehicle is operated using the normal trajectory or using the emergency trajectory, depending on the functionality of the communication link.
  • steps 410, 420, 430 of method 400 are repeated cyclically, the automated vehicle being operated using the normal trajectory or using the last received emergency trajectory.
  • the method 400 ends in step 450.
  • FIG. 3 shows an exemplary embodiment of the interaction of the method 300 for determining 320 emergency trajectories and the method 400 for operating 440 an (awarded) automated vehicle.
  • route data values are transmitted from the (labeled) automated vehicle to an external server, the route data values representing route information depending on a normal trajectory of the (labeled) automated vehicle.
  • step 310 the route data values from the (labeled) automated vehicle and further route data values which represent route information from (further) automated vehicles are received.
  • step 320 emergency trajectories (i.e. also an excellent emergency trajectory for the distinguished automated vehicle which has transmitted its route data values in step 410) are determined for each of the automated vehicles, depending on the route information of the automated vehicles, in such a way that the emergency trajectories each have a temporal and / or comply with the locally specified minimum distance from one another.
  • emergency trajectories i.e. also an excellent emergency trajectory for the distinguished automated vehicle which has transmitted its route data values in step 410 are determined for each of the automated vehicles, depending on the route information of the automated vehicles, in such a way that the emergency trajectories each have a temporal and / or comply with the locally specified minimum distance from one another.
  • step 330 the emergency trajectories are transmitted to the automated vehicles (that is to say also the designated emergency trajectory to the designated automated vehicle which has transmitted its route data values in step 410) - for operating the automated vehicles.
  • step 420 the emergency trajectory is received from the external server.
  • step 430 a functionality of a communication link of the (awarded) automated vehicle is checked, the communication link being designed at least to receive the emergency trajectory.
  • step 440 the (labeled) automated vehicle is operated by means of the normal trajectory or by means of the (labeled) emergency trajectory, depending on the functionality of the communication link.

Abstract

The invention relates to a method (300) and a device (320) for determining emergency routes, and to a method (400) and a device (440) for operating an automated vehicle.

Description

Beschreibung description
Titel title
Verfahren und Vorrichtung zum Bestimmen von Notfalltrajektorien und zum Betreiben von automatisierten Fahrzeugen Method and device for determining emergency trajectories and for operating automated vehicles
Die vorliegende Erfindung betrifft unter anderem ein Verfahren zum Bestimmen von Notfalltrajektorien und ein Verfahren zum Betreiben eines automatisierten Fahrzeugs. The present invention relates, inter alia, to a method for determining emergency trajectories and a method for operating an automated vehicle.
Offenbarung der Erfindung Disclosure of the invention
Das erfindungsgemäße Verfahren zum Bestimmen von Notfalltrajektorien umfasst einen Schritt des Empfangens von Routendatenwerten, welche Routenangaben der automatisierten Fahrzeuge repräsentieren, einen Schritt des Bestimmens von Notfalltrajektorien für jedes der automatisierten Fahrzeuge, abhängig von den Routenangaben der automatisierten Fahrzeuge, wobei die Notfalltrajektorien jeweils einen zeitlichen und/oder örtlichen vorgegebenen Mindestabstand zueinander einhalten und einen Schritt des Übertragens der Notfalltrajektorien an die automatisierten Fahrzeuge zum Betreiben der automatisierten Fahrzeuge. The method according to the invention for determining emergency trajectories comprises a step of receiving route data values which represent route information of the automated vehicles, a step of determining emergency trajectories for each of the automated vehicles, depending on the route information of the automated vehicles, the emergency trajectories each having a temporal and / or maintain local predetermined minimum distance from one another and a step of transmitting the emergency trajectories to the automated vehicles for operating the automated vehicles.
Unter einem automatisierten Fahrzeug ist ein Fahrzeug, welches gemäß einem der SAE- Level 1 bis 5 (siehe Norm SAE J3016) ausgebildet ist, zu verstehen. An automated vehicle is to be understood as a vehicle which is designed according to one of SAE levels 1 to 5 (see standard SAE J3016).
Unter einer (Normal- und/oder Notfall-) Trajektorie ist eine vorgegebene Route für ein automatisiertes Fahrzeug zu verstehen, welche beispielsweise mittels einer automatisierten Quer- und/oder Längssteuerung abgefahren wird. In einer Ausführungsform repräsentiert eine Trajektorie beispielsweise diskrete Koordinatenpunkte und/oder Vektoren, etc. A (normal and / or emergency) trajectory is to be understood as a predefined route for an automated vehicle, which is followed, for example, by means of an automated transverse and / or longitudinal control. In one embodiment, a trajectory represents, for example, discrete coordinate points and / or vectors, etc.
Dabei stellt die Normaltrajektorie insbesondere eine Verbindung zwischen einem Startpunkt (beispielsweise eine Position des entsprechenden automatisierten Fahrzeugs zum Zeitpunkt des Bestimmens der Normaltrajektorie) und einem Zielpunkt dar, wobei das Bestimmen der Normaltrajektorie beispielsweise erfolgt, indem Umgebungsmerkmale [Verkehrsdichte, Straßenverläufe, Kreuzungen, andere Fahrzeuge, etc.] berücksichtigt werden. Vorzugsweise stellt die Normaltrajektorie eine Route für das automatisierte Fahrzeug dar, welche von einem Verkehrsleitsystem (für automatisierte Fahrzeug) unter Berücksichtigung weiterer (automatisierter) Fahrzeuge bzw. sonstige Objekte mittels einer (digitalen) Karte bestimmt wird, wobei beim Bestimmen eine Kommunikationsverbindung zwischen dem automatisierten Fahrzeug und dem Verkehrsleitsystem - beispielsweise zum Anpassen der Route an sich ändernde Bedingungen (Fußgänger, Fahrzeugbewegungen, etc.) - vorausgesetzt wird. The normal trajectory in particular represents a connection between a starting point (for example a position of the corresponding automated vehicle at the time of determining the normal trajectory) and a target point, the normal trajectory being determined, for example, by adding environmental features [traffic density, road courses, intersections, other vehicles, etc.] must be taken into account. The normal trajectory preferably provides a route for the automated one Vehicle, which is determined by a traffic management system (for automated vehicles) taking into account further (automated) vehicles or other objects by means of a (digital) map, with a communication link between the automated vehicle and the traffic management system - for example to adjust the route to changing conditions (pedestrians, vehicle movements, etc.) - is a prerequisite.
Die Notfalltrajektorie stellt eine Route dar, welche beispielsweise dazu dient - ausgehend von einer Position zum Zeitpunkt des Eintretens des Notfalls - schnellstmöglich einen sicheren Halt des automatisierten Fahrzeugs (ohne Kollisionen mit Objekten, weiteren Fahrzeugen, etc.) herbeizuführen. Vorzugsweise umfasst die Notfalltrajektorie eine schnellstmögliche Route in einen sicheren Bereich (Randbereich eines Verkehrsweges, Parkplatz, etc.). The emergency trajectory represents a route which is used, for example, to bring the automated vehicle to a safe stop (without collisions with objects, other vehicles, etc.) as quickly as possible, starting from a position at the time the emergency occurred. The emergency trajectory preferably includes the fastest possible route into a safe area (edge area of a traffic route, parking lot, etc.).
Die Routenangaben umfassen beispielsweise die Normaltrajektorie und/oder eine (aktuelle) Position des automatisierten Fahrzeugs, insbesondere entlang der Normaltrajektorie. The route information includes, for example, the normal trajectory and / or a (current) position of the automated vehicle, in particular along the normal trajectory.
Unter einem einzuhaltenden zeitlichen und/oder örtlichen vorgegebenen Mindestabstand der Notfalltrajektorien zu einander ist zu verstehen, dass sich diese Notfalltrajektorien entweder nicht kreuzen oder - falls diese wenigstens teilweise parallel verlaufen - einen Sicherheitsabstand von beispielsweise einigen Metern zueinander aufweisen und/oder dass die Notfalltrajektorien, welche sich gegebenenfalls kreuzen oder ein Sicherheitsabstand nicht aufweisen können, derart bestimmt werden, dass die betroffenen automatisierten Fahrzeuge (welche diese Notfalltrajektorien empfangen) zeitlich versetzt den entsprechenden Gefährdungsbereich passieren. A predetermined minimum distance in time and / or location between the emergency trajectories is to be understood as meaning that these emergency trajectories either do not cross each other or - if they are at least partially parallel - have a safety distance of, for example, a few meters from one another and / or that the emergency trajectories which may cross each other or cannot have a safety distance, can be determined in such a way that the affected automated vehicles (which receive these emergency trajectories) pass the corresponding hazard area with a time delay.
Vorzugsweise werden die Schritte des Verfahrens so lange zyklisch wiederholt, insbesondere mit einer vorgegebenen Zyklusdauer, bis keine Routendatenwerte mehr empfangen werden. The steps of the method are preferably repeated cyclically, in particular with a predetermined cycle duration, until no more route data values are received.
Dies bedeutet beispielsweise, dass immer wieder die Routendaten von den automatisierten Fahrzeugen empfangen werden, um so - beispielsweise abhängig von der jeweils aktuellen Position (entlang der Normaltrajektorie) - eine (aktuelle) Notfalltrajektorie zu bestimmen und an die automatisierten Fahrzeuge zu übertragen. Vorzugsweise sieht das Verfahren zusätzlich ein Empfangen von Umgebungsdatenwerten vor, wobei die Umgebungsdatenwerte Umgebungen der automatisierten Fahrzeuge repräsentieren. Dabei erfolgt das Bestimmen der Notfalltrajektorien zusätzlich abhängig von den Umgebungen der automatisierten Fahrzeuge. This means, for example, that the route data are repeatedly received by the automated vehicles in order - for example, depending on the current position (along the normal trajectory) - to determine a (current) emergency trajectory and to transmit it to the automated vehicles. The method preferably additionally provides for the reception of environmental data values, the environmental data values representing surroundings of the automated vehicles. The determination of the emergency trajectories also takes place depending on the surroundings of the automated vehicles.
Unter einem Empfangen von Umgebungsdatenwerten ist beispielsweise zu verstehen, dass die automatisierten Fahrzeuge selbst (wenigstens teilweise) diese Umgebungen mittels einer Umfeldsensorik erfassen und zum Empfangen übertragen. In einerweiteren Ausführungsform werden die Umgebungsdatenwerte zusätzlich oder alternativ mittels einer Infrastruktureinheit (Beleuchtungseinrichtung, Verkehrszeichen, Brückenpfeiler, Tunnelwände, etc.), welche eine Umfeldsensorik umfassen, erfasst und zum Empfangen übertragen. Receiving environmental data values is to be understood as meaning, for example, that the automated vehicles themselves (at least partially) detect these surroundings by means of an environmental sensor system and transmit them for reception. In a further embodiment, the environmental data values are additionally or alternatively recorded by means of an infrastructure unit (lighting device, traffic signs, bridge piers, tunnel walls, etc.), which include an environmental sensor system, and are transmitted for reception.
Unter einer Umfeldsensorik ist wenigstens ein Video- und/oder wenigstens ein Radar- und/oder wenigstens ein Lidar- und/oder wenigste einen Ultraschall- und/oder wenigstens ein weiterer Sensor - welcher dazu ausgebildet ist, eine Umgebung der automatisierten Fahrzeuge in Form von Umgebungsdatenwerten zu erfassen - zu verstehen. Die Umfeldsensorik ist insbesondere dazu ausgebildet, Umgebungsmerkmale in der Umgebung (Straßenverlauf, Verkehrszeichen, Fahrbahnmarkierung, Gebäude, Fahrbahnbegrenzungen, etc.) und/oder Verkehrsobjekte (Fahrzeuge, Radfahrer, Fußgänger, etc.) zu erfassen. In einer Ausführungsform umfasst die Umfeldsensorik beispielsweise eine Recheneinheit (Prozessor, Arbeitsspeicher, Festplatte) mit einer geeigneten Software und/oder ist mit solch einer Recheneinheit verbunden, wodurch diese Umgebungsmerkmale erfasst und/oder klassifiziert bzw. zugeordnet werden können. An environment sensor system is at least one video and / or at least one radar and / or at least one lidar and / or at least one ultrasound and / or at least one further sensor - which is designed to detect the environment of the automated vehicles in the form of To capture environmental data values - to understand. The environment sensor system is designed in particular to detect environmental features in the environment (road course, traffic signs, lane markings, buildings, lane boundaries, etc.) and / or traffic objects (vehicles, cyclists, pedestrians, etc.). In one embodiment, the environment sensor system includes, for example, a computing unit (processor, main memory, hard disk) with suitable software and / or is connected to such a computing unit, whereby these environmental features can be recorded and / or classified or assigned.
Unter einem Bestimmen der Notfalltrajektorie ist beispielsweise zu verstehen, dass basierend auf Kartendaten und/oder Routendaten der automatisierten Fahrzeuge und/oder Umgebungsdatenwerten ein Umfeldmodell erstellt wird und anschließend die Notfalltrajektorien mittels des Umfeldmodells bestimmt werden. Determining the emergency trajectory is understood to mean, for example, that an environment model is created based on map data and / or route data of the automated vehicles and / or environment data values and the emergency trajectories are then determined using the environment model.
Die erfindungsgemäße Vorrichtung (zum Bestimmen von Notfalltrajektorien), insbesondere ein Server, ist dazu eingerichtet, alle Schritte des Verfahrens gemäß einem der entsprechenden Verfahrensansprüche auszuführen. ln einer möglichen Ausführungsform umfasst die Vorrichtung (zum Bestimmen von Notfalltrajektorien) eine Recheneinheit (Prozessor, Arbeitsspeicher, Festplatte) sowie eine geeignete Software um das Verfahren gemäß einem der Verfahrensansprüche auszuführen. Dazu umfasst die Vorrichtung beispielsweise eine Sende- und/oder Empfangseinheit, welche dazu ausgebildet ist, Routendatenwerte und/oder Umgebungsdatenwerte und/oder Notfalltrajektorien (in Form von Datenwerten bzw. in Form von Signalen) bereitzustellen und/oder zu übertragen und/oder zu empfangen. In einer alternativen Ausführungsform ist die Vorrichtung mittels einer geeigneten Schnittstelle mit einer Sende- und/oder Empfangseinrichtung verbunden. The device according to the invention (for determining emergency trajectories), in particular a server, is set up to carry out all steps of the method according to one of the corresponding method claims. In one possible embodiment, the device (for determining emergency trajectories) comprises a computing unit (processor, main memory, hard disk) and suitable software to carry out the method according to one of the method claims. For this purpose, the device comprises, for example, a transmitting and / or receiving unit which is designed to provide and / or transmit and / or receive route data values and / or environmental data values and / or emergency trajectories (in the form of data values or in the form of signals) . In an alternative embodiment, the device is connected to a transmitting and / or receiving device by means of a suitable interface.
Unter einem Server ist beispielsweise ein einzelner Server oder ein Verbund von Server (Cloud) zu verstehen. A server is to be understood as meaning, for example, an individual server or a network of servers (cloud).
Weiterhin wird ein Computerprogramm beansprucht, umfassend Befehle, die bei der Ausführung des Computerprogramms durch einen Computer diesen veranlassen, ein Verfahren gemäß einem der Verfahrensansprüche zum Bestimmen von Notfalltrajektorien auszuführen. In einer Ausführungsform entspricht das Computerprogramm der von der Vorrichtung (zum Bestimmen von Notfalltrajektorien) umfassten Software. Furthermore, a computer program is claimed, comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out a method according to one of the method claims for determining emergency trajectories. In one embodiment, the computer program corresponds to the software comprised by the device (for determining emergency trajectories).
Weiterhin wird ein maschinenlesbares Speichermedium, auf dem das Computerprogramm gespeichert ist, beansprucht. Furthermore, a machine-readable storage medium on which the computer program is stored is claimed.
Das erfindungsgemäße Verfahren zum Betreiben eines automatisierten Fahrzeugs umfasst einen Schritt des Übertragens von Routendatenwerten an einen externen Server, wobei die Routendatenwerte Routenangaben, abhängig von einer Normaltrajektorie des automatisierten Fahrzeugs, repräsentieren, und einen Schritt des Empfangens einer Notfalltrajektorie von dem externen Server, wobei die Notfalltrajektorie mittels einem Verfahren gemäß einem der Verfahrensansprüche zum Bestimmen von Notfalltrajektorien bestimmt wird. Das Verfahren umfasst weiterhin einen Schritt des Überprüfens einer Funktionalität einer Kommunikationsverbindung des automatisierten Fahrzeugs, wobei die Kommunikationsverbindung wenigstens zum Empfangen der Notfalltrajektorie ausgebildet ist, und einen Schritt des Betreibens des automatisierten Fahrzeugs mittels der Normaltrajektorie oder mittels der Notfalltrajektorie, abhängig von der Funktionalität der Kommunikationsverbindung. Unter einer Funktionalität der Kommunikationsverbindung des automatisierten Fahrzeugs ist beispielsweise die vorhandene oder nicht-vorhandene Funktionsfähigkeit zum Übertragen und/oder Empfangen von Datenwerten zu verstehen. Die Funktionalität repräsentiert dabei beispielsweise - in Form von Datenwerten - eine von zwei möglichen Rückmeldung der Kommunikationsverbindung: (1) Kommunikationsverbindung ist funktionsfähig; (2) Kommunikationsverbindung ist nicht funktionsfähig. Das Überprüfen wird beispielsweise durchgeführt, indem eine interne (softwarebasierte) Analyse ausgeführt wird und/oder indem ein Testsignal ausgesendet und mit einem (möglichen) Antwortsignal verglichen wird. The method according to the invention for operating an automated vehicle comprises a step of transmitting route data values to an external server, the route data values representing route information depending on a normal trajectory of the automated vehicle, and a step of receiving an emergency trajectory from the external server, the emergency trajectory is determined by means of a method according to one of the method claims for determining emergency trajectories. The method further comprises a step of checking the functionality of a communication link of the automated vehicle, the communication link being designed at least to receive the emergency trajectory, and a step of operating the automated vehicle using the normal trajectory or using the emergency trajectory, depending on the functionality of the communication link. A functionality of the communication link of the automated vehicle is to be understood as meaning, for example, the existing or non-existing functionality for transmitting and / or receiving data values. The functionality represents, for example - in the form of data values - one of two possible feedback messages from the communication link: (1) the communication link is functional; (2) Communication link is not functional. The checking is carried out, for example, by carrying out an internal (software-based) analysis and / or by sending out a test signal and comparing it with a (possible) response signal.
Vorzugsweise werden die Schritte des Verfahrens zyklisch wiederholt. Dabei erfolgt das Betreiben des automatisierten Fahrzeugs mittels der Normaltrajektorie oder mittels der zuletzt empfangenen Notfalltrajektorie. The steps of the method are preferably repeated cyclically. The automated vehicle is operated using the normal trajectory or the most recently received emergency trajectory.
Unter einem Betreiben des automatisierten Fahrzeugs mittels der Normaltrajektorie oder mittels der zuletzt empfangenen Notfalltrajektorie ist beispielsweise zu verstehen, dass mittels einer automatisierten Quer- und/oder Längssteuerung das automatisierte Fahrzeug entlang der entsprechenden Trajektorie bewegt wird. In einer weiteren Ausführungsform ist unter einem Betreiben zusätzlich ein Ausführen einer sicherheitssteigernden Assistenzfunktion (Straffen der Gurte, Vorkonditionierung eines Airbags, Anpassung der Sitzlage, etc.) zu verstehen. Unter einem Betreiben ist insbesondere zu verstehen, dass das Fahrzeug derart betrieben wird, dass die eine Gefahr für das automatisierte Fahrzeug bzw. für die Insassen des automatisierten Fahrzeugs - beispielsweise aufgrund einer Kollision - vermieden oder so weit wie möglich reduziert werden. Operating the automated vehicle using the normal trajectory or using the most recently received emergency trajectory is understood to mean, for example, that the automated vehicle is moved along the corresponding trajectory by means of an automated transverse and / or longitudinal control. In a further embodiment, operation is also to be understood as performing an assistance function that increases safety (tightening the belts, preconditioning an airbag, adjusting the seat position, etc.). Operation is to be understood in particular to mean that the vehicle is operated in such a way that one danger for the automated vehicle or for the occupants of the automated vehicle - for example due to a collision - is avoided or reduced as far as possible.
Die erfindungsgemäße Vorrichtung (zum Betreiben eines automatisierten Fahrzeugs), insbesondere ein Steuergerät, ist dazu eingerichtet, alle Schritte des Verfahrens gemäß einem der entsprechenden Verfahrensansprüche auszuführen. The device according to the invention (for operating an automated vehicle), in particular a control device, is set up to carry out all steps of the method according to one of the corresponding method claims.
In einer möglichen Ausführungsform umfasst die Vorrichtung (zum Betreiben eines automatisierten Fahrzeugs) eine Recheneinheit (Prozessor, Arbeitsspeicher, Festplatte) sowie eine geeignete Software um das Verfahren gemäß einem der Verfahrensansprüche auszuführen. Dazu umfasst die Vorrichtung beispielsweise eine Sende- und/oder Empfangseinheit, welche dazu ausgebildet ist, Routendatenwerte und/oder Umgebungsdatenwerte und/oder Notfalltrajektorien (in Form von Datenwerten bzw. in Form von Signalen) bereitzustellen und/oderzu übertragen und/oder zu empfangen. In einer alternativen Ausführungsform ist die Vorrichtung mittels einer geeigneten Schnittstelle mit einer Sende- und/oder Empfangseinrichtung verbunden. Abhängig von der Ausführungsform entspricht die Sende- und/oder Empfangseinrichtung oder die Schnittstelle der Kommunikationsverbindung, welche wenigstens zum Empfangen der Notfalltrajektorie ausgebildet ist. Zudem weist die Vorrichtung eine Schnittstelle zum Betreiben des automatisierten Fahrzeugs auf, mittels derer beispielsweise entsprechende Signale für eine Quer- und/oder Längssteuerung bereitgestellt werden können. In one possible embodiment, the device (for operating an automated vehicle) comprises a computing unit (processor, main memory, hard disk) and suitable software to carry out the method according to one of the method claims. For this purpose, the device comprises, for example, a transmitting and / or receiving unit which is designed to send route data values and / or environmental data values and / or emergency trajectories (in the form of data values or in Form of signals) to provide and / or to transmit and / or to receive. In an alternative embodiment, the device is connected to a transmitting and / or receiving device by means of a suitable interface. Depending on the embodiment, the transmitting and / or receiving device or the interface corresponds to the communication connection, which is designed at least to receive the emergency trajectory. In addition, the device has an interface for operating the automated vehicle, by means of which, for example, corresponding signals for transverse and / or longitudinal control can be provided.
Die erfindungsgemäße Verfahren lösen unter anderem vorteilhafterweise die Aufgabe, ein Betreiben von automatisierten Fahrzeugen - beispielsweise ausgehend von einer Verkehrsleitzentrale (hier: Server) - derart zu ermöglichen, dass selbst bei einem Ausfall einer Kommunikationsverbindung zwischen den automatisierten Fahrzeugen und der Verkehrsleitzentrale ein sicheres Betreiben der automatisierten Fahrzeugen zu ermöglichen (beispielsweise bis die Kommunikationsverbindung wieder vorhanden ist und/oder bis alle beteiligten automatisierten Fahrzeuge sicher (kollisionsfrei, etc.) zum Halten gekommen sind). Diese Aufgabe wird mittels des erfindungsgemäßen Systems, welches eine Vorrichtung zum Bestimmen von Notfalltrajektorien und jeweils einer Vorrichtung zum Betreiben eines automatisierten Fahrzeugs umfasst, gelöst, indem für jedes der automatisierten Fahrzeuge, abhängig von den Routenangaben der automatisierten Fahrzeuge, Notfalltrajektorien bestimmt werden. Die automatisierten Fahrzeuge werden dann mittels der Notfalltrajektorie, abhängig von der Funktionalität der Kommunikationsverbindung, welche für den Austausch der relevanten Daten zuständig ist, betrieben. Dies erlaubt, dass diese Notfalltrajektorien so aufeinander abgestimmt werden, dass es zu keiner Überschneidung bzw. Kollision kommen wird, falls die Kommunikationsverbindung (insbesondere spontan) abbricht. The method according to the invention advantageously solve the problem of enabling automated vehicles to be operated - for example, starting from a traffic control center (here: server) - in such a way that even if a communication link between the automated vehicles and the traffic control center fails, the automated vehicles can be operated safely To enable vehicles (for example until the communication link is available again and / or until all automated vehicles involved have safely come to a halt (collision-free, etc.)). This object is achieved by means of the system according to the invention, which comprises a device for determining emergency trajectories and a device for operating an automated vehicle in each case, in that emergency trajectories are determined for each of the automated vehicles, depending on the route information of the automated vehicles. The automated vehicles are then operated using the emergency trajectory, depending on the functionality of the communication link that is responsible for exchanging the relevant data. This allows these emergency trajectories to be coordinated with one another in such a way that there will be no overlap or collision if the communication connection breaks off (in particular spontaneously).
Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben und in der Beschreibung aufgeführt. Advantageous developments of the invention are given in the subclaims and listed in the description.
Zeichnungen drawings
Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden in den nachfolgenden Beschreibungen näher erläutert. Es zeigen: Figur 1 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Bestimmen von Notfalltrajektorien in Form eines Ablaufdiagramms; Exemplary embodiments of the invention are shown in the drawings and are explained in more detail in the following descriptions. Show it: FIG. 1 shows an exemplary embodiment of the method according to the invention for determining emergency trajectories in the form of a flow chart;
Figur 2 ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens zum Betreiben eines automatisierten Fahrzeugs in Form eines Ablaufdiagramms; und FIG. 2 shows an exemplary embodiment of the method according to the invention for operating an automated vehicle in the form of a flow chart; and
Figur 3 ein Ausführungsbeispiel des Zusammenwirkens beider Verfahren in Form eines Ablaufdiagramms. FIG. 3 shows an exemplary embodiment of the interaction between the two methods in the form of a flow chart.
Ausführungsformen der Erfindung Embodiments of the invention
Figur 1 zeigt ein Ausführungsbeispiel eines Verfahrens 300 zum Bestimmen 320 von Notfalltrajektorien. FIG. 1 shows an exemplary embodiment of a method 300 for determining 320 emergency trajectories.
In Schritt 301 startet das Verfahren 300. The method 300 starts in step 301.
In Schritt 310 werden Routendatenwerte, welche Routenangaben von automatisierten Fahrzeugen repräsentieren, empfangen. In step 310, route data values which represent route information from automated vehicles are received.
In einer Ausführungsform folgt Schritt 320. In einer alternativen Ausführungsform folgt Schritt 315. In one embodiment, step 320 follows. In an alternative embodiment, step 315 follows.
In Schritt 315 werden Umgebungsdatenwerten empfangen, wobei die Umgebungsdatenwerte Umgebungen der automatisierten Fahrzeuge repräsentieren. In step 315, environmental data values are received, the environmental data values representing surroundings of the automated vehicles.
In weiteren alternativen Ausführungsformen folgt erst Schritt 315 und anschließend Schritt 310 oder es werden die Schritt 310 und 315 wenigstens teilweise zeitgleich ausgeführt. In further alternative embodiments, step 315 follows first and then step 310, or steps 310 and 315 are carried out at least partially at the same time.
In Schritt 320 werden Notfalltrajektorien für jedes der automatisierten Fahrzeuge, abhängig von den Routenangaben der automatisierten Fahrzeuge, derart bestimmt, dass die Notfalltrajektorien jeweils einen zeitlichen und/oder örtlichen vorgegebenen Mindestabstand zueinander einhalten. In einerweiteren Ausführungsform werden die Notfalltrajektorien zusätzlich abhängig von den Umgebungen der automatisierten Fahrzeuge bestimmt. ln Schritt 330 werden die Notfalltrajektorien an die automatisierten Fahrzeuge - zum Betreiben der automatisierten Fahrzeuge - übertragen. In einer Ausführungsform folgt Schritt 340. In einer alternativen Ausführungsform werden die Schritte 310, 320, 330 des Verfahrens 300 so lange zyklisch wiederholt, insbesondere mit einer vorgegebenen Zyklusdauer, bis keine Routendatenwerte mehr empfangen werden. In step 320, emergency trajectories are determined for each of the automated vehicles, depending on the route information of the automated vehicles, in such a way that the emergency trajectories each maintain a predetermined minimum distance from one another in terms of time and / or location. In a further embodiment, the emergency trajectories are additionally determined as a function of the surroundings of the automated vehicles. In step 330, the emergency trajectories are transmitted to the automated vehicles - for operating the automated vehicles. In one embodiment, step 340 follows. In an alternative embodiment, steps 310, 320, 330 of method 300 are repeated cyclically, in particular with a predetermined cycle duration, until no more route data values are received.
In Schritt 340 endet das Verfahren 300. The method 300 ends in step 340.
Figur 2 zeigt ein Ausführungsbeispiel eines Verfahrens 400 zum Betreiben 440 eines automatisierten Fahrzeugs. FIG. 2 shows an exemplary embodiment of a method 400 for operating 440 an automated vehicle.
In Schritt 401 startet das Verfahren 400. The method 400 starts in step 401.
In Schritt 410 werden Routendatenwerte an einen externen Server übertragen, wobei die Routendatenwerte Routenangaben, abhängig von einer Normaltrajektorie des automatisierten Fahrzeugs, repräsentieren. In step 410, route data values are transmitted to an external server, the route data values representing route information as a function of a normal trajectory of the automated vehicle.
In Schritt 420 wird eine Notfalltrajektorie von dem externen Server empfangen, wobei die Notfalltrajektorie mittels einer Ausführungsform des Verfahrens 300 bestimmt wird. In step 420, an emergency trajectory is received from the external server, the emergency trajectory being determined by means of an embodiment of the method 300.
In Schritt 430 wird eine Funktionalität einer Kommunikationsverbindung des automatisierten Fahrzeugs überprüft, wobei die Kommunikationsverbindung wenigstens zum Empfangen der Notfalltrajektorie ausgebildet ist. In step 430, a functionality of a communication link of the automated vehicle is checked, the communication link being designed at least to receive the emergency trajectory.
In Schritt 440 wird das automatisierte Fahrzeug mittels der Normaltrajektorie oder mittels der Notfalltrajektorie, abhängig von der Funktionalität der Kommunikationsverbindung, betrieben. In einer alternativen Ausführungsform werden die Schritte 410, 420, 430 des Verfahrens 400 zyklisch wiederholt, wobei das automatisierte Fahrzeug mittels der Normaltrajektorie oder mittels der zuletzt empfangenen Notfalltrajektorie betrieben wird. In step 440, the automated vehicle is operated using the normal trajectory or using the emergency trajectory, depending on the functionality of the communication link. In an alternative embodiment, steps 410, 420, 430 of method 400 are repeated cyclically, the automated vehicle being operated using the normal trajectory or using the last received emergency trajectory.
In Schritt 450 endet das Verfahren 400. The method 400 ends in step 450.
Figur 3 zeigt ein Ausführungsbeispiel des Zusammenwirkens des Verfahrens 300 zum Bestimmen 320 von Notfalltrajektorien und des Verfahrens 400 zum Betreiben 440 eines (ausgezeichneten) automatisierten Fahrzeugs. ln Schritt 410 werden Routendatenwerte von dem (ausgezeichneten) automatisierten Fahrzeug an einen externen Server übertragen, wobei die Routendatenwerte Routenangaben, abhängig von einer Normaltrajektorie des (ausgezeichneten) automatisierten Fahrzeugs, repräsentieren. FIG. 3 shows an exemplary embodiment of the interaction of the method 300 for determining 320 emergency trajectories and the method 400 for operating 440 an (awarded) automated vehicle. In step 410, route data values are transmitted from the (labeled) automated vehicle to an external server, the route data values representing route information depending on a normal trajectory of the (labeled) automated vehicle.
In Schritt 310 werden die Routendatenwerte von dem (ausgezeichneten) automatisierten Fahrzeug sowie weitere Routendatenwerte, welche Routenangaben von (weiteren) automatisierten Fahrzeugen repräsentieren, empfangen. In step 310, the route data values from the (labeled) automated vehicle and further route data values which represent route information from (further) automated vehicles are received.
In Schritt 320 werden Notfalltrajektorien (also auch eine ausgezeichnete Notfalltrajektorie für das ausgezeichnete automatisierte Fahrzeug, welches in Schritt 410 seine Routendatenwerte übertragen hat) für jedes der automatisierten Fahrzeuge, abhängig von den Routenangaben der automatisierten Fahrzeuge, derart bestimmt, dass die Notfalltrajektorien jeweils einen zeitlichen und/oder örtlichen vorgegebenen Mindestabstand zueinander einhalten. In step 320, emergency trajectories (i.e. also an excellent emergency trajectory for the distinguished automated vehicle which has transmitted its route data values in step 410) are determined for each of the automated vehicles, depending on the route information of the automated vehicles, in such a way that the emergency trajectories each have a temporal and / or comply with the locally specified minimum distance from one another.
In Schritt 330 werden die Notfalltrajektorien an die automatisierten Fahrzeuge (also auch die ausgezeichnete Notfalltrajektorie an das ausgezeichnete automatisierte Fahrzeug, welches in Schritt 410 seine Routendatenwerte übertragen hat) - zum Betreiben der automatisierten Fahrzeuge - übertragen. In step 330, the emergency trajectories are transmitted to the automated vehicles (that is to say also the designated emergency trajectory to the designated automated vehicle which has transmitted its route data values in step 410) - for operating the automated vehicles.
In Schritt 420 wird die Notfalltrajektorie von dem externen Server empfangen. In step 420, the emergency trajectory is received from the external server.
In Schritt 430 wird eine Funktionalität einer Kommunikationsverbindung des (ausgezeichneten) automatisierten Fahrzeugs überprüft, wobei die Kommunikationsverbindung wenigstens zum Empfangen der Notfalltrajektorie ausgebildet ist. In step 430, a functionality of a communication link of the (awarded) automated vehicle is checked, the communication link being designed at least to receive the emergency trajectory.
In Schritt 440 wird das (ausgezeichnete) automatisierte Fahrzeug mittels der Normaltrajektorie oder mittels der (ausgezeichneten) Notfalltrajektorie, abhängig von der Funktionalität der Kommunikationsverbindung, betrieben. In step 440, the (labeled) automated vehicle is operated by means of the normal trajectory or by means of the (labeled) emergency trajectory, depending on the functionality of the communication link.

Claims

Ansprüche Expectations
1. Verfahren (300) zum Bestimmen (320) von Notfalltrajektorien, umfassend: A method (300) for determining (320) emergency trajectories, comprising:
- Empfangen (310) von Routendatenwerten, welche Routenangaben von automatisierten Fahrzeugen repräsentieren; - Receiving (310) route data values which represent route information from automated vehicles;
- Bestimmen (320) von Notfalltrajektorien für jedes der automatisierten Fahrzeuge, abhängig von den Routenangaben der automatisierten Fahrzeuge, wobei die Notfalltrajektorien jeweils einen zeitlichen und/oder örtlichen vorgegebenen Mindestabstand zueinander einhalten; und - Determination (320) of emergency trajectories for each of the automated vehicles, depending on the route information of the automated vehicles, the emergency trajectories each maintaining a temporal and / or local predetermined minimum distance from one another; and
- Übertragen (330) der Notfalltrajektorien an die automatisierten Fahrzeuge zum Betreiben der automatisierten Fahrzeuge. - Transmitting (330) the emergency trajectories to the automated vehicles for operating the automated vehicles.
2. Verfahren (300) nach Anspruch 1, dadurch gekennzeichnet, dass die Schritte des Verfahrens (300) so lange zyklisch wiederholt werden, insbesondere mit einer vorgegebenen Zyklusdauer, bis keine Routendatenwerte mehr empfangen werden. 2. The method (300) according to claim 1, characterized in that the steps of the method (300) are repeated cyclically, in particular with a predetermined cycle duration, until no more route data values are received.
3. Verfahren (300) nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Verfahren (300) zusätzlich ein Empfangen (315) von Umgebungsdatenwerten vorsieht, wobei die Umgebungsdatenwerte Umgebungen der automatisierten Fahrzeuge repräsentieren, und das Bestimmen (320) der Notfalltrajektorien zusätzlich abhängig von den Umgebungen der automatisierten Fahrzeuge erfolgt. 3. The method (300) according to claim 1 or 2, characterized in that the method (300) additionally provides for receiving (315) environmental data values, the environmental data values representing surroundings of the automated vehicles, and the determination (320) of the emergency trajectories additionally dependent from the environments of the automated vehicles.
4. Vorrichtung, insbesondere ein Server, die eingerichtet ist, alle Schritte des Verfahrens (300) gemäß einem der Ansprüche 1 bis 3 auszuführen. 4. Device, in particular a server, which is set up to carry out all steps of the method (300) according to one of claims 1 to 3.
5. Computerprogramm, umfassend Befehle, die bei der Ausführung des Computerprogramms durch einen Computer diesen veranlassen, ein Verfahren (300) gemäß einem der Ansprüche 1 bis 3 auszuführen. 5. Computer program, comprising instructions which, when the computer program is executed by a computer, cause the computer to carry out a method (300) according to one of claims 1 to 3.
6. Maschinenlesbares Speichermedium, auf dem das Computerprogramm nach Anspruch 5 gespeichert ist. 6. Machine-readable storage medium on which the computer program according to claim 5 is stored.
7. Verfahren (400) zum Betreiben (440) eines automatisierten Fahrzeugs, umfassend:7. A method (400) for operating (440) an automated vehicle, comprising:
- Übertragen (410) von Routendatenwerten an einen externen Server, wobei die Routendatenwerte Routenangaben, abhängig von einer Normaltrajektorie des automatisierten Fahrzeugs, repräsentieren; - Empfangen (420) einer Notfalltrajektorie von dem externen Server, wobei die- Transmission (410) of route data values to an external server, the route data values representing route information as a function of a normal trajectory of the automated vehicle; - Receiving (420) an emergency trajectory from the external server, wherein the
Notfalltrajektorie mittels einem Verfahren (300) nach einem der Ansprüche 1 bis 3 bestimmt wird; Emergency trajectory is determined by means of a method (300) according to one of claims 1 to 3;
- Überprüfen (430) einer Funktionalität einer Kommunikationsverbindung des automatisierten Fahrzeugs, wobei die Kommunikationsverbindung wenigstens zum Empfangen der Notfalltrajektorie ausgebildet ist; und Checking (430) a functionality of a communication link of the automated vehicle, the communication link being designed at least to receive the emergency trajectory; and
- Betreiben (440) des automatisierten Fahrzeugs mittels der Normaltrajektorie oder mittels der Notfalltrajektorie, abhängig von der Funktionalität der Kommunikationsverbindung. - Operating (440) the automated vehicle using the normal trajectory or using the emergency trajectory, depending on the functionality of the communication link.
8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass die Schritte des8. The method according to claim 7, characterized in that the steps of
Verfahrens (400) zyklisch wiederholt werden und das Betreiben (440) des automatisierten Fahrzeugs mittels der Normaltrajektorie oder mittels der zuletzt empfangenen Notfalltrajektorie erfolgt. Method (400) are repeated cyclically and the automated vehicle is operated (440) by means of the normal trajectory or by means of the most recently received emergency trajectory.
9. Vorrichtung, insbesondere ein Steuergerät, die eingerichtet ist, alle Schritte des9. Device, in particular a control unit, which is set up to carry out all the steps of
Verfahrens (400) gemäß einem der Ansprüche 7 bis 8 auszuführen. The method (400) according to any one of claims 7 to 8 to be carried out.
EP20785931.5A 2019-11-04 2020-09-28 Method and device for determining emergency routes and for operating automated vehicles Pending EP4055346A1 (en)

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