EP4739553A1 - Validation of a predicted trajectory of a motor vehicle - Google Patents
Validation of a predicted trajectory of a motor vehicleInfo
- Publication number
- EP4739553A1 EP4739553A1 EP24742685.1A EP24742685A EP4739553A1 EP 4739553 A1 EP4739553 A1 EP 4739553A1 EP 24742685 A EP24742685 A EP 24742685A EP 4739553 A1 EP4739553 A1 EP 4739553A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- automotive
- motor vehicle
- processing resources
- control software
- electronic
- 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
Links
Classifications
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system 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
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
Automotive control software storable in, and executable by, electronic automotive processing resources (1) of an electronic automotive system for controlling the dynamics of a motor vehicle (10) and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to receive automotive quantities provided by an automotive sensory platform (2) and comprising the position and driving speed of the motor vehicle (10) and determine lane boundaries (8) of a driving corridor (11) of the motor vehicle (10) and at least one predicted trajectory (14) of the motor vehicle (10) based on the automotive quantities received. The automotive control software is also designed to cause, when executed, the electronic automotive processing resources (1) to become configured to compute at least one comparison distance ((x
safe ) and validate the predicted trajectory based on the comparison distance ((x
safe ). In addition, the automotive control software is designed to cause, when executed, the electronic automotive processing resources (1) to also become configured to increase the comparison distance (x
safe ) as l°ng as one pre-established validation condition is satisfied.
Description
VALIDATION OF A PREDICTED TRAJECTORY OF A MOTOR VEHICLE
CROSS-REFERENCE TO RELATED APPLICATIONS
This Patent Application claims priority from Italian Patent Application No. 102023000014298 filed on July 7, 2023, the entire disclosure of which is incorporated herein by reference.
TECHNICAL FIELD OF THE INVENTION
The present invention relates in general to the automotive sector, in particular to an electronic automotive system for controlling the dynamics of a motor vehicle, in particular an assisted or autonomous driving motor vehicle, and designed to validate predicted trajectories of the motor vehicle.
STATE OF THE ART
As is known, predicting motor vehicle trajectories is a complex task involving the collection and analysis of data from sensors and other automotive detection systems. In the automotive field, the use of automotive systems to validate trajectories, after predicting them, is of paramount importance to ensure the safety and efficiency of autonomous vehicles and vehicles equipped with automotive driver assistance systems.
For the purpose of validating trajectories autonomously, collision detection algorithms are known to be used to identify potential collisions along the pre-determined trajectory followed by the motor vehicle. In addition, simulation tools are widely used to validate motor vehicle trajectories, allowing the creation of virtual scenarios and the testing of trajectories under realistic conditions. Simulations may include environmental factors, such as the presence of other vehicles, pedestrians or road obstacles, to assess the effectiveness and safety of the proposed trajectories.
OBJECT AND SUMMARY OF THE INVENTION
The Applicant noted that the solutions according to the prior art, although satisfactory in certain respects, can be improved.
Therefore, the object of the present invention is to provide a solution which is effective, but above all different from the solutions of the prior art.
According to the present invention, automotive control software is provided as claimed in the appended claims.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 shows a functional block diagram of the validation of automotive trajectories in an electronic automotive system for controlling the dynamics of a motor vehicle according to the present invention.
Figure 2 schematically shows a road driving corridor of a motor vehicle and a functional block diagram of the planning of automotive trajectories in the electronic automotive system for controlling the dynamics of a motor vehicle according to the present invention.
Figure 3 schematically shows different road scenarios related to the validation of automotive trajectories.
Figures 4 and 5 show time courses of automotive quantities involved in the validation of automotive trajectories.
DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION
The present invention will now be described in detail with reference to the attached figures in order to allow a skilled person to implement it and use it. Various modifications to the described embodiments will be readily apparent to those skilled in the art and the general principles described may be applied to other embodiments and applications without however departing from the protective scope of the present invention as defined in the attached claims. Therefore, the present invention should not be regarded as limited to the embodiments described and illustrated herein but should be allowed the broadest protection scope consistent with the features described and claimed herein.
Unless otherwise defined, all technical and scientific terms used herein have the same meaning commonly understood by one of ordinary skill in the art to which the invention belongs. In case of conflict, the present specification, including the definitions provided, will control. Furthermore, the examples are provided for illustrative purposes only and as such should not be construed as limiting.
In particular, the block diagrams included in the attached figures and described below are not to be understood as a representation of the structural features, i.e. construction restrictions, but must be understood as a representation of functional features, i.e. intrinsic properties of the devices defined by the effects obtained, that is to say functional restrictions, which can be implemented in different ways, so as to protect the functionalities thereof (operational capability).
In order to facilitate the understanding of the embodiments described herein,
reference will be made to some specific embodiments and a specific language will be used to describe the same. The terminology used herein is used for the purpose of describing particular embodiments only and is not intended to limit the scope of the present invention.
Figure 1 shows a functional block diagram relating to the validation of automotive trajectories carried out by electronic processing resources 1 of an electronic automotive system for controlling the dynamics of a motor vehicle 10 according to the present invention and storing software for the validation of the trajectories of the motor vehicle 10 which, when executed, causes the electronic processing resources 1 to become programmed to validate the trajectories travelled by the motor vehicle 10 as described below and, in the event that a trajectory 14 is not validated, to generate a flag, i.e., an indicator of the occurrence of a condition of invalidity of the trajectory 14, which can then be used to trigger an appropriate automotive intervention, for example of the autonomous driving system of the motor vehicle 10, to cause, for example, the motor vehicle 10 to pull over to a side of the road, or to cause the planning of a different trajectory 14.
As regards the control of the dynamics of the motor vehicle 10 in general, and the validation of the trajectories of the motor vehicle 10 in particular, it is stressed that what matters are the operations that need to be implemented to achieve this functionality and not the hardware and software architectures with which these operations are implemented, to the extent that these could be implemented via a concentrated architecture, that is, by a single automotive electronic control unit 1, or via a distributed cooperative architecture, i.e., distributed among several automotive electronic control units communicating and cooperating with each other according to a proprietary logical architecture that the manufacturer of the motor vehicle 10 will decide to adopt.
For descriptive convenience, the following description will refer to a single automotive electronic control unit 1, without thereby losing generality.
The automotive validation software is designed to cause, when executed by the automotive electronic control unit 1, the latter to become configured to receive, via an automotive on-board communication network (CAN), data indicative of automotive quantities provided by an automotive sensory platform 2 and other automotive on-board systems, comprising in particular:
- position data (block 7) indicative of the geographical position of the motor vehicle 10 and provided, for example, by an automotive geolocation system 5;
- driving speed data (block 7) indicative of the longitudinal driving speed of the motor vehicle 10 and provided, for example, by the automotive geolocation system 5 or by speed sensors associated with the wheels of the motor vehicle 10;
- curvature data indicative of a reference curvature kdes for the trajectory 14 of the motor vehicle 10 and provided, for example, by a higher-level control 6; and,
- boundary data representative of the lane boundaries 8, 8A of the driving lane of the motor vehicle 10 and provided, for example, by a frontal automotive vision system comprising an ADAS camera designed to capture digital images and perform several simultaneous processing operations on the captured digital images for the creation of various applications, such as driving lane recognition, so as to provide data representative of elements occurring in the captured digital images such as, in particular, the left and right lane boundaries 8, 8A of the driving lane travelled by the motor vehicle 10, as well as motor vehicles ahead, guardrails, obstacles, vulnerable road users, in particular pedestrians, road signs, etc.
In particular, the electronic control unit 1 is configured to process the received data to:
- determine the spatial coordinates of lateral lane boundaries 8 (block 3) of a driving corridor 11 of the motor vehicle 10, which may consist either of the driving lane itself or of a safety corridor in which the motor vehicle 10 is confined to move and which is computed, for example, in a known manner and therefore not described in detail, based on the dimensions of the motor vehicle 10 and the width of the driving lane;
- predict a trajectory 14 (block 4) of the motor vehicle 10; and
- validate the predicted trajectory 14 (block 5) on the basis of the spatial coordinates of the lateral lane boundaries 8 of a driving corridor 11 of the motor vehicle 10, and of a proprietary validation criterion described below, conveniently based on the driving speed of the motor vehicle 10.
In a preferred embodiment, the predicted trajectory 14 is a dynamic trajectory, i.e., it is a predicted trajectory based on the reference curvature kdes and the position and longitudinal dynamics, in particular the speed, of the motor vehicle 10, and on a mathematical model defined by a set of equations modelling the lateral dynamics of the motor vehicle 10, these equations being of the type shown in block 4 in Figure 2.
In a different embodiment, the predicted trajectory 14 is a geometric trajectory, i.e., it is a predicted trajectory based on the reference curvature kdes and the position of the motor vehicle 10, but without taking into account the dynamics, in particular the speed,
of the motor vehicle 10.
Conveniently, the geometric trajectory is computed according to the following formula:
wherein x and y are the longitudinal and lateral spatial coordinates, respectively, of the geometric trajectory, expressed in a Cartesian system.
In one embodiment, the electronic control unit 1 is configured to determine the spatial coordinates of the lane boundaries 8 based on a pre-defined, conveniently third- order polynomial of the following type: y = ax3 + bx2 + ex + d wherein a, b, c, and d are determined coefficients, and x and y are the longitudinal and lateral spatial coordinates, respectively, of the lane boundaries 8, expressed in a Cartesian system.
As mentioned above and as shown in Figure 2, the reference curvature kdes is computed by a higher-level control (block 6) as a function of a trajectory planned by a trajectory planner (block 9) based on one or more digital road maps and on data provided by the automotive sensory platform 2 and comprising the boundary data.
In a more basic embodiment, in order to validate the predicted trajectory 14, the electronic control unit 1 is also configured to: compute whether the predicted trajectory 14 intersects one of the lane boundaries 8 of the driving corridor 11 and, if at least one intersection is determined, compute the position of the intersection point 13;
- compute the intersection distance xe, conveniently in the longitudinal direction, between the position of the motor vehicle 10 and the position of the intersection point 13;
- compute a comparison distance xscje with which the intersection distance xe shall be compared on the basis of the driving speed of the motor vehicle 10, conveniently a safety distance xsaye, which is equal to the square of the longitudinal speed multiplied by a constant;
- validate the predicted trajectory 14 on the basis of the position of the intersection point 13, the at least one computed comparison distance xscje and a predefined criterion,
conveniently as long as the intersection distance xe is equal to or greater than the at least one computed comparison distance xsa^e.
In particular, the higher the safety distance value xsaje, the more likely it is for a trajectory 14 not to be validated and for the signal to trigger an automotive intervention to be generated and transmitted; the assessment performed by the automotive control software will be more prone to give false positives as a result.
In contrast to the above, the lower the safety distance value xsaje, the more likely it is for a trajectory 14 to be validated, slowing down the ability of the motor vehicle 10 to determine that a trajectory 14 is not valid, so that it can transmit the signal to trigger an automotive intervention.
In a more advanced embodiment, in order to validate the predicted trajectory 14, the automotive electronic control unit 1 is also configured to:
- compute a further predicted trajectory 15, conveniently a geometric trajectory not based on the driving speed of the motor vehicle 10; and in particular, in this embodiment, the trajectory 14 is then computed so that it is a dynamic trajectory, and the further trajectory 15 is then computed so that it is a geometric trajectory;
- determine whether the further predicted trajectory 15 intersects at least one of the lane boundaries 8 of the driving corridor 11 and, if at least one intersection is determined, compute the position of at least one further intersection point 12 of the further trajectory 15; and compute a further intersection distance xeStatic between the position of the motor vehicle 10 and the position of the further intersection point 12.
The automotive electronic control unit 1 is configured to increase the comparison distance xsaje as long as one pre-established validation condition is satisfied; and in particular, as a function of at least one of the computed intersection distances xe, xeStatic.
In particular, the automotive electronic control unit 1 is configured to increase the computed comparison distance xsa^e as long as the computed comparison distance xsa^e is smaller than the intersection distance xe and greater than the further intersection distance xeStatic.
In addition, the automotive electronic control unit 1 is configured to validate the predicted trajectory 14 as long as the computed comparison distance xsa^e is smaller than the intersection distance xe; and to invalidate the predicted trajectory 14 as long as the computed comparison distance xsa^e is greater than the intersection distance xe.
Figure 3 schematically shows a first 19 and a second 20 example of a control operation carried out to validate a trajectory 14 according to the preferred embodiment of
the present invention. In particular, according to the situation represented by the first example 19 of the control operation carried out, if the safety distance value xsa^e is smaller than the intersection distance xe of the predicted trajectory 14 and greater than the intersection distance xeStatic of the further predicted trajectory 15, a new safety distance value x'safe shall be determined by increasing the safety distance value xsaje according to the further trajectory 15, the safety distance value xsaje and a predefined criterion. In particular, the automotive electronic control unit 1 is configured to determine the new safety distance value x'safe, according to the first example 19, if the safety distance value xsaje is greater than the intersection distance xeStatic of the further predicted trajectory 15 and if the automotive electronic control unit 1 has not determined the intersection distance xe of the predicted trajectory 14. According to one aspect of the present invention, the new safety distance value x' saje is determined by increasing the safety distance value xsaje as a function of the speed at which the motor vehicle 10 is travelling, the current position of the motor vehicle 10 and the predetermined further trajectory 15; and in particular, also as a function of the further intersection distance xestatic- In addition, the new safety distance value x' saje is determined by increasing the safety distance value xsaje as a function of a value indicative of the time for which the condition for increasing xsaje has been met. In particular, the control unit 1 is configured to determine this value by monitoring whether the condition for increasing xsaje is met at different time points.
Therefore, according to the situation represented by the second example 19 of the control operation carried out, the automotive electronic control unit 1 is configured to generate and transmit the signal to trigger an automotive intervention if the new safety distance value x' saje is not smaller than the intersection distance xe.
Figures 4 and 5 show time courses of automotive quantities involved in the validation of automotive trajectories; both Figures 4 and 5 comprise three diagrams illustrating, respectively, a variation 16 of a reference curvature value kdes, a variation of a value indicative of the validity 17 of the trajectory 14, and a variation of a value indicative of the lateral distance 18 between a first and a second lane boundary 8.
The present automotive control software for validating trajectories of a motor vehicle 10 has several advantages.
In particular, the present automotive control software can advantageously be used for determining whether a trajectory 14 is valid or not as a function of fast controls, in
particular suitable to be applied in real time.
In addition, the use of a further control applied to a further determined geometric trajectory 15 causes the automotive electronic processing resources 1 to be suitable to verify the validity of a trajectory 14 with greater accuracy than the verification only applied to the determined trajectory 14.
Claims
1. An automotive control software storable in, and executable by, electronic automotive processing resources (1) of an electronic automotive system for controlling the dynamics of a motor vehicle (10) and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: receive automotive quantities provided by an automotive sensory platform (2) and comprising the position and driving speed of the motor vehicle (10); determine lane boundaries (8) of a driving corridor (11) of the motor vehicle (10) and at least one predicted traj ectory (14) of the motor vehicle (10) based on the automotive quantities received; compute at least one comparison distance
and validate the predicted trajectory based on the comparison distance
the automotive control software is also designed to cause, when executed, the electronic automotive processing resources (1) to also become configured to: increase the comparison distance
as long as one pre-established validation condition is satisfied.
2. The automotive control software according to claim 1 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: determine whether the predicted trajectory (14) intersects at least one of the lane boundaries (8) of the driving corridor (11) and, if at least one intersection is determined, compute the position of one intersection point (13) of the predicted trajectory (14); and validate the predicted trajectory (14) based on the intersection point (13) and the comparison distance
3. The automotive control software according to claim 2 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to:
compute an intersection distance (xe) between the position of the motor vehicle (10) and the position of the intersection point (13) of the predicted trajectory (14); and validate the predicted trajectory (14) based on the comparison distance
and the intersection distance (xe).
4. The automotive control software according to claim 3 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to validate the predicted trajectory (14) as long as the intersection distance (xe) is equal to or greater than the at least one computed comparison distance
5. The automotive control software according to claim 3 or 4 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: compute a further predicted traj ectory (15) and determine whether the further predicted trajectory (15) intersects one of the lane boundaries (8) of the driving corridor (11) and, if at least one intersection is determined, compute the position of a further intersection point (12); compute a further intersection distance (xeStatic) between the position of the motor vehicle (10) and the position of the further intersection point (12); and increase the comparison distance
based on at least one of the computed intersection distances (xe, xeStatic).
6. The automotive control software according to claim 5 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to increase the comparison distance
as long as the comparison distance is smaller than the intersection distance (xe) and is greater than the further intersection distance ( estatic)-
7. The automotive control software according to any one of the previous claims and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to compute the at least one comparison distance
based on the driving speed of the motor vehicle (10).
8. The automotive control software according to any one of the previous claims and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: determine the predicted trajectory (14) based on the driving speed of the motor vehicle (10); and determine the further predicted traj ectory (15) without considering the driving speed of the motor vehicle (10).
9. The automotive control software according to any one of the previous claims and designed to cause, when executed, the electronic automotive processing resources
(1) to become configured to compute both the predicted trajectories (14, 15) based on a pre-determined reference curvature (kdes) and the position of the motor vehicle (10).
10. A control system for controlling the dynamics of a motor vehicle (10) and comprising electronic automotive processing resources (1) having stored and configured to execute the automotive control software of any one of the previous claims.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT102023000014298A IT202300014298A1 (en) | 2023-07-07 | 2023-07-07 | VALIDATION OF A PREDICTED TRAJECTORY OF A MOTOR VEHICLE |
| PCT/IB2024/056498 WO2025012750A1 (en) | 2023-07-07 | 2024-07-03 | Validation of a predicted trajectory of a motor vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP4739553A1 true EP4739553A1 (en) | 2026-05-13 |
Family
ID=88291349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP24742685.1A Pending EP4739553A1 (en) | 2023-07-07 | 2024-07-03 | Validation of a predicted trajectory of a motor vehicle |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP4739553A1 (en) |
| IT (1) | IT202300014298A1 (en) |
| WO (1) | WO2025012750A1 (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014200687A1 (en) * | 2014-01-16 | 2015-07-16 | Robert Bosch Gmbh | Method for operating a vehicle |
| DE102020104267A1 (en) * | 2020-02-18 | 2021-08-19 | EFS Elektronische Fahrsysteme GmbH | Computer-implemented control or follow-up control method or optimization method for safeguarding control algorithms of a control and / or control algorithms |
| US11402840B2 (en) * | 2020-06-30 | 2022-08-02 | Woven Planet North America, Inc. | Independent trajectory validation system for vehicles |
| CN115195743B (en) * | 2022-09-16 | 2022-12-23 | 毫末智行科技有限公司 | Automatic lane changing method, device, equipment and medium for vehicle based on unmanned driving |
-
2023
- 2023-07-07 IT IT102023000014298A patent/IT202300014298A1/en unknown
-
2024
- 2024-07-03 EP EP24742685.1A patent/EP4739553A1/en active Pending
- 2024-07-03 WO PCT/IB2024/056498 patent/WO2025012750A1/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| IT202300014298A1 (en) | 2025-01-07 |
| WO2025012750A1 (en) | 2025-01-16 |
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