WO2020108839A1 - Calcul d'une vitesse prescrite de véhicule en fonction d'une situation - Google Patents

Calcul d'une vitesse prescrite de véhicule en fonction d'une situation Download PDF

Info

Publication number
WO2020108839A1
WO2020108839A1 PCT/EP2019/077944 EP2019077944W WO2020108839A1 WO 2020108839 A1 WO2020108839 A1 WO 2020108839A1 EP 2019077944 W EP2019077944 W EP 2019077944W WO 2020108839 A1 WO2020108839 A1 WO 2020108839A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
vehicle speed
target vehicle
speed
determined
Prior art date
Application number
PCT/EP2019/077944
Other languages
German (de)
English (en)
Inventor
Marlon Ramon EWERT
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
Priority to CN201980078919.3A priority Critical patent/CN113474228A/zh
Publication of WO2020108839A1 publication Critical patent/WO2020108839A1/fr

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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00188—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to detected security violation of control systems, e.g. hacking of moving 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
    • G08G1/096708—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
    • 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]
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/10—Historical data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • 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
    • H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information

Definitions

  • the invention relates to a method for determining a target vehicle speed, in particular for an automated vehicle, a control unit and a server unit.
  • vehicles with automated driving functions can be operated autonomously and without a driver.
  • the vehicle can automatically follow a course of the road, independently recognize other road users or obstacles and that
  • Speed limits Such rigid speed limits adapted to human responsiveness can limit the potential of autonomous vehicles.
  • a method for determining a target vehicle speed, in particular for a vehicle that can be operated automatically is provided.
  • the target vehicle speed is determined depending on at least one situation-dependent influencing parameter.
  • At least one situation-dependent influencing parameter of sensors that can be connected to a control unit and / or an environment of the control unit is calculated or received by the control unit and / or an external server unit.
  • the target vehicle speed is calculated and / or adjusted based on the influencing parameter.
  • a control device in particular for an autonomously operable vehicle, for determining or calculating a target vehicle speed is provided.
  • the control device is set up to carry out the method.
  • a server unit for determining a target vehicle speed based on transmitted data from at least one vehicle and / or from at least one
  • the external server unit is set up to carry out the method.
  • Speed detection through optical sign recognition or through map data Due to the changed framework conditions of vehicles that can be operated automatically, a deviation from the static speed limits and adapted to human responsiveness can be advantageous. For example, a vehicle that can be operated automatically can react faster than a person or almost without a reaction time in order to initiate a braking operation or an evasive maneuver. Furthermore, a vehicle that can be operated in an automated manner can be operated without passengers, as a result of which forces acting on passengers can be neglected, for example. As a result, such a vehicle can have no disadvantages with regard to traffic safety are potentially operated faster than manually controlled vehicles.
  • Vehicle speed can impact.
  • the temperature and weather conditions can impact.
  • the automated and / or partially automated vehicle can be an autonomous or semi-autonomous vehicle.
  • the vehicle can be partially automated, partially automated according to the SAE J3016 standard,
  • Automatically operated vehicle are calculated based on influencing factors that are optimized for automated ferry operation and not for human responsiveness.
  • a scenario-based or situation-dependent speed control can be carried out by an in-vehicle control unit and / or by an in-vehicle control unit
  • External server unit connected to the communication link can be determined or adapted.
  • the regulation and calculation of the target vehicle speed can therefore not be based on rigid speed restrictions, but rather by means of a dynamic evaluation of influencing parameters. As a result, vehicles that can be operated automatically can be used more efficiently.
  • Influence parameters can in particular be influencing variables that restrict or reduce the functionality of the sensor.
  • fog, rain, snow, hail, dust and the like can be optical
  • Sensors such as cameras, radar and LIDAR sensors, affect.
  • influencing parameters can include temperature
  • Traffic volume a course of the road or forces acting on the course of the road, vehicle configuration such as motorization, tires, chassis, and the like.
  • vehicle configuration such as motorization, tires, chassis, and the like.
  • Influencing factors are used as influencing parameters in order to
  • the control device can preferably be a control device which can be used in an automated vehicle and which can be connected to the vehicle sensor system.
  • the control unit can evaluate the measurement data of the vehicle sensor system and, for example, generate control commands for controlling the vehicle in its direction of travel and in its target vehicle speed.
  • the calculation of the target vehicle speed can be carried out by the external server unit outside the vehicle. This allows the external server unit with the
  • Measurement data of the vehicle sensors and influencing parameters or influencing factors relevant for the situation-dependent determination of the target vehicle speed can be transmitted to the external server unit via the communication connection. Based on the transmitted data, the optimal target vehicle speed can then be calculated outside the vehicle and communicated to the vehicle-internal control unit.
  • the automatically operated vehicle can then be
  • the control unit can adjust the vehicle speed or accelerate or brake the vehicle directly to the calculated target vehicle speed.
  • the vehicle which can be operated automatically, can be operated at an ideal situation-dependent target vehicle speed in an area or route section.
  • a flow of traffic can be maintained at a maximum level by higher vehicle speeds, thereby avoiding traffic jams and critical traffic situations.
  • Vehicle systems depends. For example, the vehicle is operated at a reduced target vehicle speed when the
  • Vehicle sensors do not function optimally or to a limited extent due to a fog. If the volume of traffic increases, the target vehicle speed can be reduced in order to take account of possible misconduct by other road users. In contrast, in the case of low traffic volume, the target vehicle speed can be flexibly and individually adjusted by the control device and / or external parameters within physical limits
  • Server unit can be set.
  • control unit and / or the external server unit can access legal provisions and regulations and the maximum possible
  • the target vehicle speed is determined by a control unit of a vehicle and / or by an external server unit.
  • the at least one influencing parameter can be calculated internally in the vehicle or transmitted to the server unit for determining the target vehicle speed outside the vehicle.
  • the vehicle is driven according to the determined target vehicle speed.
  • the influencing parameters relevant, for example, to the performance of the vehicle sensors can be determined by the control unit or the external server unit before starting a journey or before a section of a route.
  • the influencing parameters can also be obtained in real time, as a result of which the speed adjustment can be set flexibly.
  • the at least one influencing parameter can also be determined by the server unit and sent to the vehicle.
  • the route can, for example, by the control unit and / or the external server unit can be received.
  • the control device or the external server unit can thus have access to a map and a route of the vehicle. Based on the route and possible curves, the upcoming forces and moments can be calculated at a certain speed. In particular, it can be checked whether curves are being driven, the radius of curvature of the curves and the speed at which the curves can be driven.
  • the vehicle speed can be regulated by the control device or the external server unit in such a way that certain forces, for example those acting laterally, are not exceeded.
  • Influencing parameters weather information can in particular be received or provided from a database.
  • the weather conditions can have a relevant impact on the
  • the target vehicle speed can be reduced if the visibility or the range of the vehicle sensors is restricted by rain or snow.
  • the weather information can be called up from databases, such as a weather service, by the control device or the external server unit.
  • the weather information can be obtained via a Car-to-X communication link.
  • Influence parameters in the form of weather information determined by evaluating measurement data from at least one sensor. Alternatively or in addition to receiving weather information from one or more
  • control unit and / or the external server unit
  • Measurement data of the vehicle sensors such as radar sensors
  • control device and the external server unit can independently use environment sensors and temperature sensors for independently determining weather information.
  • Infrastructure sensors can also be used to determine weather information.
  • the corresponding measurement data can be transmitted to the control unit or the external server unit via a communication connection.
  • Traffic volume provided by at least one infrastructure sensor can be taken into account when calculating the target vehicle speed.
  • the traffic density in one or more sections of the route can be determined with the aid of measurement data from the surroundings sensors of the vehicle or via an exchange of position data via a car-to-X communication link with other vehicles and an infrastructure device. If the traffic density is high, the target vehicle speed can be reduced. A minor one
  • Traffic density can lead to an increase in the target vehicle speed by the control device and / or the external server unit.
  • Influencing parameters in the form of an empty run determined by the vehicle When the empty run is ascertained, a higher target vehicle speed is calculated than when traveling with at least one passenger. The vehicle that is operated without passengers can therefore have a higher one
  • the vehicle can handle the planned route more quickly without passengers.
  • the vehicle can be operated within the physical limits of the vehicle or the driving dynamics, whereby no consideration is given to the
  • Accelerating, braking and cornering occur inside the vehicle than when operating with vehicle occupants, the vehicle still being steered safely on the road and no further road users being endangered.
  • Control device are restricted in such a way that the forces acting on the passengers do not exceed previously defined limit values.
  • Such forces can be g-forces, for example, which are calculated or measured via sensors.
  • the target vehicle speed can be reduced.
  • the forces acting in different sections of the route can be calculated in advance and the target vehicle speed can be adapted to the maximum acting forces.
  • the target vehicle speed is reduced when the at least one passenger is traveling
  • a well-being of the at least one passenger Taking into account a well-being of the at least one passenger.
  • a maximum speed can be selected on straight sections of the route or in curves in such a way that the passengers of the automatically operated vehicle feel comfortable.
  • the well-being of the passenger can be adjusted, for example, by
  • Vehicle parameters such as maximum cornering speed, are taken into account by the control unit. Furthermore, passengers can tell the vehicle while driving if the driving behavior is classified as inappropriate.
  • the ascertained empty run is transmitted to neighboring road users via a communication unit. It is thus possible to empty the vehicle from surrounding areas
  • the target vehicle speed becomes lower or higher than a permissible one
  • the calculated target vehicle speed of the vehicle can be above or below the prescribed
  • Speed limit in the respective area is preferably defined by the road signs. In this way, the traffic flow in this area can be optimized, while accidents are avoided. For example, operation of the vehicle is problematic if that
  • Control unit tries to maintain or reach a speed of, for example, 100 km / h, which was prescribed by signs, although the scenario does not allow this, for example due to weather conditions or high traffic density. Such an attempt by the control unit to reach the prescribed speed would lead to jerky driving behavior and can endanger other road users.
  • the method can be used to calculate and set an optimized target vehicle speed.
  • the vehicle can set a speed of less than 100 km / h in order to improve a traffic flow with a high volume of traffic.
  • the target vehicle speed is determined by an artificial intelligence based on the at least one received or calculated influencing parameter.
  • the artificial intelligence can be integrated in the control unit and / or the external server unit.
  • the scenario-based adaptation of the target vehicle speed can be implemented using artificial intelligence using predefined input variables or influencing parameters.
  • the artificial intelligence can be executed on a central vehicle computer or the control unit.
  • the control unit can also be used for trajectory planning and for
  • a maximum speed of the vehicle can be learned in artificial intelligence in such a way that the occupants of the vehicle continue to feel comfortable and are not exposed to excessive forces that would be physically possible.
  • artificial intelligence can be used for
  • the artificial intelligence of the external server unit preferably has the dynamic data of the respective vehicle type. Furthermore, the influencing parameters, such as the weather situation in a specific area, the trajectories of autonomous vehicles in an area and the traffic density can be determined or received by the external server unit.
  • An automated vehicle can send its position and relevant measurement data to the external server unit via the Car-to-X
  • the external server unit can calculate and provide an individual and optimized target vehicle speed for a large number of vehicles.
  • the calculated target vehicle speed can be the requesting or
  • In-vehicle computing capacity can be saved.
  • the prescribed or optimally calculated speed can be the same for all automated vehicles in an area, as a result of which the traffic flow is kept constant.
  • Fig. 1 is a schematic representation of a vehicle with a control unit and with sensors and
  • Fig. 2 is a schematic flow diagram of a method according to a
  • FIG. 1 shows a schematic illustration of a vehicle 1 with a control unit 2 and with a vehicle sensor system 4, 6.
  • vehicle 1 is designed here as an automated vehicle 1 and can be operated without a driver. Control of the vehicle 1 can be carried out by the control unit 2 with the aid of the vehicle sensor system 4, 6.
  • the vehicle sensor system 4, 6 consists of a camera 4 and a radar sensor 6.
  • the vehicle sensor system 4, 6 serves
  • the vehicle 1 in particular for the environment detection of the vehicle 1 and can have further sensors, such as LIDAR sensors, rain sensors, temperature sensors and the like.
  • sensors such as LIDAR sensors, rain sensors, temperature sensors and the like.
  • the control device 2 has an artificial intelligence, which calculates a target vehicle speed of the vehicle 1 based on the measurement data of the vehicle sensors 4, 6 and controls the vehicle 1 accordingly in order to achieve or maintain the calculated target vehicle speed.
  • the corresponding actuator system of the vehicle 1 for controlling the vehicle 1 has, for example, an actuator 5 for generating a braking force, an actuator 7 for setting a speed and an actuator 9 for steering the vehicle 1.
  • the artificial intelligence can be stored and executed on an internal memory of the control unit 2.
  • the control unit 2 of the vehicle 1 can be connected to an external server unit 10 in a data-conducting manner via the Carto-X communication link 8.
  • the communication link 8 can
  • a cellular connection for example, a cellular connection or a Car-to-X connection.
  • the Car-to-X connection can be based on a WLAN transmission standard.
  • the method according to the invention for ascertaining or calculating the target vehicle speed can, in particular, be carried out by the vehicle internal
  • control unit 2 There is no restriction to a control unit 2 or an external server unit 10. Rather, several control units 2 can also be used
  • Server units 10 are used, which have a larger area
  • the control unit 2 can communicate with other road users 14 or infrastructure units 16 via a further communication link 12 in order to obtain traffic information, for example.
  • FIG. 2 shows a schematic flow diagram of a method 18 according to an embodiment. The method is used to determine a target vehicle speed and is carried out here by the control unit 2, for example. The following is an illustration based on three
  • the situation-dependent adaptation of the target vehicle speed of the vehicle 1 takes place here on the basis of weather data, a road map and on the basis of a traffic density.
  • control unit 2 of the automatically operated vehicle 1 receives weather data from the infrastructure device 16 via a car-to-X communication link 12 or evaluates the data from its own environmental sensors 4 or temperature sensors of the vehicle 1
  • control unit 2 19 independently and derives weather data from them. Provide this information according to the exemplary embodiment represent different influencing parameters which are received or ascertained by control unit 2 19.
  • control unit evaluates the course of the road that corresponds to the
  • the traffic density is determined by the control unit 2, a car-to-X communication link 12 being established with other road users 14. There is an exchange of position data between the vehicles 2,
  • information about the traffic density or a traffic volume can be collected via sensors of the infrastructure unit 16 and received by the control device 2 via the communication device 12.
  • the combination of the weather data, the road map and the traffic density can then be used to calculate the target vehicle speed of the vehicle 1 depending on the situation 21.
  • the following scenarios can occur based on the influencing parameters used: a) There is no restriction Efficiency of the sensors 4, 6 due to the weather ahead, there is a low traffic density in the area surrounding the vehicle 1 and the vehicle 1 is driving straight ahead.
  • the vehicle 1 can calculate an increased one by the control unit 2
  • Speed are operated.
  • the speed may be higher than the maximum speed prescribed for manual operation.
  • the vehicle 1 can be operated at an increased speed.
  • the prescribed speed There is no restriction on the performance of the sensors 4, 6 due to the weather, there is a low traffic density in the vicinity of the vehicle 1 and the vehicle 1 is cornering.
  • the vehicle 1 can be operated at an increased speed.
  • the maximum speed can be exceeded.
  • the calculated target vehicle speed is dependent on whether the vehicle 1 is emptying or is carrying passengers. With an empty run, the target Vehicle speed can be set higher than with a
  • the speed can be controlled by the control unit 2 if necessary due to the
  • the control unit 2 calculates a target vehicle speed, which is limited by the performance of the environment sensors 4, 6 in bad weather. In particular, the calculated speed can be compared to a permissible one
  • Top speed must be reduced. f) There is a limitation in the performance of the vehicle sensors 4, 6 due to weather conditions, there is a low traffic density in the area surrounding the vehicle 1 and the vehicle 1 is in a
  • the target vehicle speed calculated by the control unit 2 is based on the performance of the
  • the target vehicle speed is set such that the
  • the vehicle 1 has sufficient time for reactions to critical situations. Due to the high traffic density, the target vehicle speed can also be reduced. h) There is a limitation in the performance of the vehicle sensors 4, 6 due to weather conditions, there is a high traffic density in the area surrounding the vehicle 1 and the vehicle 1 is cornering. All influencing parameters have a disadvantageous effect on the optimal target
  • control unit 2 calculates a low target vehicle speed in order not to impair traffic safety.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé pour déterminer une vitesse prescrite de véhicule, notamment pour un véhicule (1) pouvant fonctionner de manière automatisée, la vitesse prescrite de véhicule étant déterminée en fonction d'au moins un paramètre d'influence dépendant d'une situation. L'invention concerne en outre un appareil de commande (2) et une unité serveur (10).
PCT/EP2019/077944 2018-11-28 2019-10-15 Calcul d'une vitesse prescrite de véhicule en fonction d'une situation WO2020108839A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201980078919.3A CN113474228A (zh) 2018-11-28 2019-10-15 根据状况计算应有车速

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018220510.8 2018-11-28
DE102018220510.8A DE102018220510A1 (de) 2018-11-28 2018-11-28 Situationsabhängige Berechnung einer Soll-Fahrzeuggeschwindigkeit

Publications (1)

Publication Number Publication Date
WO2020108839A1 true WO2020108839A1 (fr) 2020-06-04

Family

ID=68289966

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/077944 WO2020108839A1 (fr) 2018-11-28 2019-10-15 Calcul d'une vitesse prescrite de véhicule en fonction d'une situation

Country Status (3)

Country Link
CN (1) CN113474228A (fr)
DE (1) DE102018220510A1 (fr)
WO (1) WO2020108839A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020215522A1 (de) 2020-12-09 2022-06-09 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Bereitstellung eines Warnsignals und/oder Signals zur Ansteuerung eines Fahrzeugs
DE102022107273A1 (de) 2022-03-28 2022-12-08 Audi Aktiengesellschaft Verfahren und Rechenvorrichtung zum Bereitstellen einer situationsangepassten Geschwindigkeit für ein Kraftfahrzeug
EP4265493A1 (fr) * 2022-04-21 2023-10-25 Volvo Car Corporation Planification de la trajectoire pendant le guidage de direction par frein ou par couple

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3028914A1 (fr) * 2014-12-03 2016-06-08 HERE Global B.V. Procédé et appareil permettant d'obtenir une configuration de fonctionnement d'un véhicule autonome
DE102015120996A1 (de) * 2014-12-08 2016-06-09 Ford Global Technologies, Llc Fahrzeuggeschwindigkeitsanpassung
US9381918B1 (en) * 2012-09-24 2016-07-05 Google Inc. Modifying speed of an autonomous vehicle based on traffic conditions
DE102016203833A1 (de) * 2016-03-09 2017-09-14 Robert Bosch Gmbh Geschwindigkeitsanpassung für Autonomes Fahren
EP3312764A2 (fr) * 2016-09-30 2018-04-25 Lg Electronics Inc. Véhicule autonome

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016215046A1 (de) * 2016-08-12 2018-02-15 Audi Ag Verfahren zur Unterstützung eines Fahrers bei einer Kurvenfahrt oder zur automatischen Durchführung der Kurvenfahrt
CN106169243B (zh) * 2016-08-25 2019-03-15 武汉理工大学 一种基于车联网的实时路况估计系统及方法
DE102017207097A1 (de) * 2017-04-27 2018-10-31 Robert Bosch Gmbh Verfahren und Vorrichtung zur Steuerung eines Fahrzeugs

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9381918B1 (en) * 2012-09-24 2016-07-05 Google Inc. Modifying speed of an autonomous vehicle based on traffic conditions
EP3028914A1 (fr) * 2014-12-03 2016-06-08 HERE Global B.V. Procédé et appareil permettant d'obtenir une configuration de fonctionnement d'un véhicule autonome
DE102015120996A1 (de) * 2014-12-08 2016-06-09 Ford Global Technologies, Llc Fahrzeuggeschwindigkeitsanpassung
DE102016203833A1 (de) * 2016-03-09 2017-09-14 Robert Bosch Gmbh Geschwindigkeitsanpassung für Autonomes Fahren
EP3312764A2 (fr) * 2016-09-30 2018-04-25 Lg Electronics Inc. Véhicule autonome

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
CHRIS DAVIES: "For autonomous cars, driving dumb is key - SlashGear", 16 April 2014 (2014-04-16), XP055264996, Retrieved from the Internet <URL:http://www.slashgear.com/for-autonomous-cars-driving-dumb-is-key-16325366/> [retrieved on 20160413] *

Also Published As

Publication number Publication date
CN113474228A (zh) 2021-10-01
DE102018220510A1 (de) 2020-05-28

Similar Documents

Publication Publication Date Title
DE102017106684B4 (de) Verfahren und system zur steuerung einer lenkung eines autonomen fahrzeugs sowie autonomes fahrzeug
DE102019201124A1 (de) Ein System für ein Fahrzeug
DE102018133576A1 (de) Trajektorienplaner mit dynamischem kostenlernen für autonomes fahren
WO2017167801A1 (fr) Système d&#39;assistance à la conduite pour aider un conducteur pendant la conduite d&#39;un véhicule
WO2020108839A1 (fr) Calcul d&#39;une vitesse prescrite de véhicule en fonction d&#39;une situation
DE102016113902A1 (de) Feldbasierte Drehmoment-Lenkregelung
DE102017205508A1 (de) Verfahren zur automatischen Bewegungssteuerung eines Fahrzeugs
EP3703989A1 (fr) Système d&#39;aide à la conduite d&#39;un véhicule automobile au moins partiellement autonome, véhicule automobile et procédé de régulation d&#39;une dynamique de conduite
EP3718095A1 (fr) Procédé de réglage de fonctions de guidage de véhicule entièrement automatisées dans un environnement de navigation prédétiné et véhicule automobile
WO2019170346A1 (fr) Procédé de calcul d&#39;une limitation de trajectoire et procédé de régulation d&#39;une dynamique de conduite
DE102020131949A1 (de) System und verfahren zum erlernen einer fahrerpräferenz und zum anpassen einer spurzentrierungssteuerung an ein fahrerverhalten
DE102015221626A1 (de) Verfahren zur Ermittlung einer Fahrzeug-Trajektorie entlang einer Referenzkurve
DE102018213971A1 (de) Verfahren und Vorrichtung zur Auswahl eines Fahrmanövers
DE102019219534A1 (de) Verfahren zum Bestimmen von Regelparametern für ein Regelsystem
WO2020069812A1 (fr) Procédé de guidage au moins partiellement automatisé d&#39;un véhicule automobile sur une voie de circulation
DE102022116418A1 (de) Maschinensteuerung
DE102022112323A1 (de) Vorhersage der treiberbefehle
DE102016222484A1 (de) Automatisiertes Steuern eines Fahrzeugs mit Lernfunktion
DE102019104974A1 (de) Verfahren sowie System zum Bestimmen eines Fahrmanövers
WO2021165113A1 (fr) Procédé pour entraîner au moins un algorithme destiné à un appareil de commande d&#39;un véhicule à moteur, procédé pour optimiser un flux de trafic dans une région, produit-programme d&#39;ordinateur et véhicule à moteur
DE102015223480A1 (de) Verfahren zur adaptiven Bahnplanung und/oder Bahnführung eines Fahrzeugs
DE102023100061A1 (de) Fahrzeugsysteme und zugehörige verfahren mit autonomer höflichkeitsvermeidung
DE102019207276A1 (de) Verwendung einer Lastverteilung eines automatisierten Nutzfahrzeugs für eine situationsbedingt adaptierte Trajektorienplanung und Trajektorienregelung
DE112020002139T5 (de) Fahrzeugfahrsteuervorrichtung, Fahrzeugfahrsteuerverfahren und Computerprogrammprodukt
DE102019213749A1 (de) Verfahren zum Einhalten einer optimalen Geschwindigkeitsvorgabe für eine von einem Fahrzeug zurückzulegende Strecke

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19789935

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19789935

Country of ref document: EP

Kind code of ref document: A1