WO2021058223A1 - Procédé d'application de fonctions de conduite automatisée de manière efficace et simulée - Google Patents

Procédé d'application de fonctions de conduite automatisée de manière efficace et simulée Download PDF

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Publication number
WO2021058223A1
WO2021058223A1 PCT/EP2020/073845 EP2020073845W WO2021058223A1 WO 2021058223 A1 WO2021058223 A1 WO 2021058223A1 EP 2020073845 W EP2020073845 W EP 2020073845W WO 2021058223 A1 WO2021058223 A1 WO 2021058223A1
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WO
WIPO (PCT)
Prior art keywords
parameter set
parameters
influential
simulation
driving
Prior art date
Application number
PCT/EP2020/073845
Other languages
German (de)
English (en)
Inventor
Nicolas Fraikin
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
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 Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2021058223A1 publication Critical patent/WO2021058223A1/fr

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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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/36—Preventing errors by testing or debugging software
    • G06F11/3668—Software testing
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0018—Method for the design of a 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
    • 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
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0031—Mathematical model of the vehicle

Definitions

  • the invention relates to a method for the efficient, simulative application of automated driving functions. According to the invention, it is possible to save simulation processes and to achieve simulation results in real time with a justifiable computing effort, which are not only efficiently generated, but are also reliable with regard to their quality.
  • the present invention also relates to a correspondingly configured system arrangement.
  • a computer program product with control commands is proposed which implement the method or operate the proposed system arrangement.
  • DE 102012220655 A1 shows a system and a method for managing vehicle configurations, as well as a database that contains a large number of configuration templates.
  • the configuration template contains parameters of configurable functions and settings for a corresponding vehicle.
  • WO 2019/060938 A1 shows a method for generating a dynamic speed profile of a vehicle, which is suitable for simulating an, in particular real, ferry operation on a route or is suitable for specifying target speeds for driver assistance systems, in particular for predictive driving functions.
  • WO 2007060 134 A1 shows a method for determining a value of a model parameter of a reference vehicle model.
  • the reference value of the state variable is usually determined using a vehicle model.
  • vehicle models that can be used generally contain several parameters that have to be adapted to a specific vehicle type so that the model correctly reproduces the reference behavior of a specific vehicle.
  • model accuracy There is a trade-off between model accuracy and complexity / computing time.
  • simple models which do not exactly map the dynamics of the vehicle in all situations, but are not complex and enable quick simulation.
  • a highly accurate analytical vehicle model is created, which consists of many individual components, has to be parameterized and validated in a complex manner and is very computationally intensive.
  • the computational effort or the computational complexity should be reduced without having to accept significant losses in quality.
  • a method for efficient, simulative application of automated driving functions comprising reading out a plurality of driving scenarios and reading out a plurality of parameter sets from a data memory, the parameter sets each providing parameters as inputs for a simulation of a driving scenario; a division of the parameters of the parameter sets into influential and non-influential parameters per parameter set in relation to a driving scenario; and identifying a reference parameter set for an input parameter set, the reference parameter set and the input parameter set generating essentially the same output in a driving scenario and the input parameter set and the reference parameter set differing in their parameters only within parameters that are not influential.
  • a simulative application of automated driving functions relates to the identification and application of driving functions, i.e.
  • the computational complexity decreases without the quality of the results decreasing. Simply calculated simulation results are used again.
  • Computing complexity typically refers to the fact that it is described on the basis of necessary computation steps or the required system resources are described. Computing complexity can demand a certain processor power or it can be particularly memory-intensive. A general measure of the computational complexity is the number of computation steps required.
  • the optimization problem that is addressed belongs to the class of "Simulation Optimization Problems". These are characterized in that a system evaluation (i.e. the evaluation of the target function depending on the input variables) is characterized by a simulation run. In order to solve these problems efficiently, a substitute model of the simulation or of reality is often generated, which has a lower model quality, but enables a fast evaluation of parameter sets.
  • An alternative approach is the application of influence analyzes in advance of the optimization and the a priori reduction of the parameter space to influential areas.
  • an influence analysis declares certain areas of the parameter space based on the aggregated KPIs to be irrelevant, even though the scenarios have an important influence on specific KPIs.
  • the invention provides for counteracting this problem by integrating the results of a scenario-specific sensitivity analysis into an optimization algorithm and thus saving individual scenario simulations. The cumulative number of scenarios and the total computing time for the virtual application can thus be reduced according to the invention.
  • KPI key performance indicator
  • key performance indicator generally refers to key figures which can be used to measure and / or determine the progress or the degree of fulfillment with regard to objectives or critical success factors. These factors, which are known in a different context, are used, for example, to carry out the division of the parameters of the parameter sets into influential and non-influential parameters per parameter set in relation to a driving scenario. In this way it can be determined empirically which parameters of the parameter sets are classified into influential and non-influential parameters.
  • the result of an earlier simulation using the identified reference parameter set is used. This has the advantage that results that have already been calculated can be used again for other parameter sets. Parameter sets are used as input for a simulation and if other parameters have no significant effects, a result of a parameter set that has already been calculated can be used.
  • a new simulation is carried out for at least one driving scenario carried out and the input parameter set is saved as a reference parameter set.
  • the driving scenarios are provided as simulation functions. This has the advantage that driving scenarios can be treated virtually empirically and models of individual driving scenarios are created. In this way, a real-world driving scenario can be modeled and, consequently, the parameter sets can be used to determine how a motor vehicle should behave.
  • the driving scenarios describe a longitudinal maneuver, a braking, an acceleration, a transverse maneuver, a steering movement and / or a parking maneuver.
  • This has the advantage that common driving scenarios can be mapped and modeled. In general, all driving scenarios can be mapped and a simulation can therefore be carried out using the parameters.
  • the parameters of the parameter sets are divided into influential and non-influential parameters on the basis of empirical test runs, which decide on the basis of a provided threshold value for which deviation of a simulation result parameters are influential or not.
  • This has the advantage that those parameters that have little influence on the simulation result can be hidden and do not have to be taken into account when comparing the parameter sets. This significantly increases the probability that reference parameter sets will be found, since the parameter sets only have to be similar in terms of relevant parameters.
  • the essentially identical output describes an output of a simulation process with regard to a driving scenario, which only deviates within the scope of a predetermined tolerance range. This has the advantage that it is possible to specify the criteria according to which outputs are the same.
  • this describes an optional feature which in the present case expresses that equality should also exist in the event of a deviation within a tolerance range.
  • the feature “essentially” is thus clearly defined, although this feature is negligible or can be deleted in the present case.
  • the output may be the same or vary within a tolerance range.
  • the proposed method is carried out iteratively for all the parameter sets that have been read out and all of the driving scenarios that have been read out.
  • This has the advantage that all the parameter sets read out and all the driving scenarios read out are combined with one another and all the results of comparable parameter sets are stored, this being done for each driving scenario.
  • the result is consequently a database that provides a result for a subset of the parameter sets for each driving scenario.
  • the database contains results for a subset of the driving scenarios for a subset of the parameter sets. The parameter set-scenario combination including the result is only entered in the database if a simulation is required for the scenario under consideration.
  • each of the parameter sets ultimately finds a result. This is the case because there is a simulation result for one or more input parameter sets, which, however, was only calculated for one reference parameter set.
  • the number of simulation runs is thus advantageously less than the number of input parameter sets, since a simulation is not carried out for each of the input parameter sets, but rather a simulation of the reference parameter set can be used in some cases.
  • a system arrangement for the efficient, simulative application of automated driving functions having a Interface unit set up for reading out a plurality of driving scenarios and for reading out a plurality of parameter sets from a data memory, the parameter sets each providing parameters as inputs for a simulation of a driving scenario; a computing unit set up to split the parameters of the parameter sets into influential and non-influential parameters per parameter set in relation to a driving scenario and a comparison unit set up to identify a reference parameter set for an input parameter set, the reference parameter set and the input parameter set generating essentially the same output in a driving scenario and the parameters of the input parameter set and the reference parameter set only differ within parameters that are not influential.
  • the object is also achieved by a computer program product with control commands which execute the method and operate the proposed arrangement when they are executed on a computer.
  • the method can be used to operate the proposed devices and units or the system arrangement.
  • the proposed devices and devices are also suitable for carrying out the method according to the invention.
  • the device thus in each case implements structural features which are suitable for carrying out the corresponding method.
  • the structural features can, however, also be designed as method steps.
  • the proposed method also provides steps for implementing the function of the structural features.
  • FIG. 1 a schematic flow diagram of a method for efficient, simulative application of automated driving functions according to one aspect of the present invention
  • FIG. 2 a schematic flow diagram of a method for the efficient, simulative application of automated driving functions according to a further aspect of the present invention.
  • FIG. 1 shows the proposed method in a schematic flow diagram.
  • the basic principle of the present invention and the flow of information are illustrated in FIG.
  • each new parameter set to be simulated is checked during the optimization to determine whether a simulation of the entire scenario catalog is necessary or whether individual scenario simulations can be saved.
  • already simulated parameter set-scenario combinations are sought whose parameter values differ from the current parameter set only within non-influential areas.
  • a scenario is thus, for example, a longitudinal maneuver (braking / accelerating), lateral maneuver (steering movement), a parking maneuver or the like.
  • FIG. 2 shows in a schematic flow diagram a method for the efficient, simulative application of automated driving functions, having a readout 100 of a plurality of driving scenarios and a readout 101 of a plurality of parameter sets from a data memory, the parameter sets each providing parameters as inputs for a simulation of a driving scenario ; dividing 102 the parameters of the parameter sets into influential and non-influential parameters per parameter set in relation to a driving scenario; and identifying 103 a reference parameter set for an input parameter set, the reference parameter set and the input parameter set generating essentially the same output in a driving scenario and the input parameter set and the reference parameter set differing in their parameters only within parameters that are not influential.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Hardware Design (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention se rapporte à un procédé d'application de fonctions de conduite automatisée de manière efficace et simulée. Selon l'invention, il est possible de réduire les processus de simulation et d'obtenir des résultats de simulation en temps réel avec une complexité de calcul justifiable, lesdits résultats de simulation étant non seulement générés efficacement mais également de qualité fiable. La présente invention porte également sur un agencement de système de conception correspondante. L'invention se rapporte également à un produit programme d'ordinateur comprenant des instructions de commande qui mettent en œuvre le procédé ou le fonctionnement de l'agencement de système proposé.
PCT/EP2020/073845 2019-09-27 2020-08-26 Procédé d'application de fonctions de conduite automatisée de manière efficace et simulée WO2021058223A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019126195.3 2019-09-27
DE102019126195.3A DE102019126195A1 (de) 2019-09-27 2019-09-27 Verfahren zur effizienten, simulativen Applikation automatisierter Fahrfunktionen

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WO2021058223A1 true WO2021058223A1 (fr) 2021-04-01

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Cited By (3)

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CN113378301A (zh) * 2021-06-22 2021-09-10 北京航空航天大学 一种基于重要度抽样的无人车超车场景关键测试案例生成方法
CN113535569A (zh) * 2021-07-22 2021-10-22 中国第一汽车股份有限公司 自动驾驶的控制效果确定方法
AT524932A4 (de) * 2021-06-02 2022-11-15 Avl List Gmbh Verfahren und System zum Testen eines Fahrerassistenzsystems für ein Fahrzeug

Families Citing this family (3)

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Publication number Priority date Publication date Assignee Title
DE102022102503A1 (de) 2022-02-03 2023-08-03 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zur Entwicklung und/oder Prüfung eines Fahrassistenz- und/oder Fahrfunktionssystems, System, Computerprogramm
DE102022126747A1 (de) 2022-10-13 2024-04-18 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zu einer Generierung von Szenariomodellen bei autonomen Fahrvorgängen
DE102022127857A1 (de) 2022-10-21 2024-05-02 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren, System und Computerprogrammprodukt zur Sensitivitätsanalyse von Applikationsparametern für automatisierte Fahrfunktionen

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT524932A4 (de) * 2021-06-02 2022-11-15 Avl List Gmbh Verfahren und System zum Testen eines Fahrerassistenzsystems für ein Fahrzeug
AT524932B1 (de) * 2021-06-02 2022-11-15 Avl List Gmbh Verfahren und System zum Testen eines Fahrerassistenzsystems für ein Fahrzeug
CN113378301A (zh) * 2021-06-22 2021-09-10 北京航空航天大学 一种基于重要度抽样的无人车超车场景关键测试案例生成方法
CN113378301B (zh) * 2021-06-22 2022-05-24 北京航空航天大学 一种基于重要度抽样的无人车超车场景关键测试案例生成方法
CN113535569A (zh) * 2021-07-22 2021-10-22 中国第一汽车股份有限公司 自动驾驶的控制效果确定方法

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