WO2021148178A1 - Procédé et dispositif d'exécution du guidage de voie automatisé d'un vehicule automobile - Google Patents

Procédé et dispositif d'exécution du guidage de voie automatisé d'un vehicule automobile Download PDF

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Publication number
WO2021148178A1
WO2021148178A1 PCT/EP2020/084204 EP2020084204W WO2021148178A1 WO 2021148178 A1 WO2021148178 A1 WO 2021148178A1 EP 2020084204 W EP2020084204 W EP 2020084204W WO 2021148178 A1 WO2021148178 A1 WO 2021148178A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane
sensor
determined
motor vehicle
lane guidance
Prior art date
Application number
PCT/EP2020/084204
Other languages
German (de)
English (en)
Inventor
Alfred Kuttenberger
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 WO2021148178A1 publication Critical patent/WO2021148178A1/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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/90—Single sensor for two or more measurements
    • B60W2420/905—Single sensor for two or more measurements the sensor being an xyz axis sensor
    • 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
    • B60W2552/50—Barriers
    • 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

Definitions

  • the present invention relates to a method for operating automated lane guidance of a motor vehicle for guiding the motor vehicle in a lane, the automated lane guidance taking into account image data which are determined by means of at least one first sensor system.
  • the method is characterized in that an implementation of the automated lane guidance is evaluated, with sensor data being determined for the evaluation by means of a second sensor system, the determined sensor data being used to assess whether the lane guidance is being carried out correctly.
  • the invention also relates to a corresponding device for this.
  • patent application DE 10 2013 106 769 A1 is known from the prior art.
  • This document relates to a tachograph in which a lane departure warning assistant and a collision warning assistant are integrated and which combines the functions of the tachograph together with the functions of the lane departure warning assistant and the collision warning assistant, the Tachograph can help with a liability distribution in the event of a traffic situation.
  • the images in front of the motor vehicle and the noises in the vicinity of the motor vehicle are recorded by the tachograph according to the invention and forwarded to the control unit, the aforementioned image and sound data, which can be presented as evidence in the event of a traffic accident, after being compressed into the memory unit can be saved.
  • the method according to the invention advantageously enables a reliable detection of faulty vehicle guidance. Automated driving assistance can therefore be carried out longer and with greater security. A lateral deviation of the vehicle from the road during automated driving is avoided.
  • the method according to the invention for operating automated lane guidance of a motor vehicle for guiding the motor vehicle in a lane, with the automated lane guidance taking into account image data determined by means of at least one first sensor system, is characterized in that an implementation of the automated lane guidance is evaluated , with sensor data being determined for the evaluation by means of a second sensor system, with the determined sensor data of the second sensor system being used to evaluate whether the lane guidance is being carried out correctly.
  • the automated lane guidance is supported by a second automated function. So there is a Optimization of a driver assistance function for automated lane recognition and lane guidance.
  • the automated lane guidance takes place taking into account and evaluating the data of a first sensor system.
  • This first sensor system comprises in particular an optical sensor, for example a video camera or a lidar sensor.
  • the first sensor system can also comprise a combination of several sensors, for example a video camera and lidar sensors.
  • a safety function is now being implemented to support and optimize this automated lane guidance.
  • Another sensor system is used to determine data which can be used to evaluate the actual execution of the automated lane guidance.
  • the aim here is to monitor and check whether the motor vehicle is deviating from the lane, for example whether a road edge marking is being driven over and / or whether the hard shoulder is being driven on.
  • a different type of sensor is advantageously used than in the first sensor system.
  • an acoustic sensor and / or a structure-borne sound sensor and / or a movement sensor and / or an inertial sensor can be used as the sensor type for the second sensor. Consequently, the sensor data determined by means of the second sensor are data of a different data type - compared to the image data which are determined by means of the first (optical) sensor system. This also increases the security of the evaluation.
  • the method can also include the determination of the image data by means of the first (optical) sensor system.
  • the method can also include the method step of evaluating the image data and / or the method step of executing the automated lane guidance on the basis of the evaluated image data.
  • the method is characterized in that a deviation of the motor vehicle from the lane is determined in order to evaluate the execution of the automated lane guidance.
  • the automated lane guidance defines an intended lane on which the motor vehicle is to be moved.
  • the motor vehicle should deviate from this lane by evaluating the sensor data of the second sensor system are recognized.
  • the lane on which the motor vehicle is moving can also be understood, for example, as the lane. For example, there is a deviation from the lane when the motor vehicle changes from the current lane to an adjacent lane or the hard shoulder. Deviating from this lane can therefore correspond to the motor vehicle departing from the lane.
  • a sensor system is installed in the vehicle, which can recognize the noises and / or the movement of the vehicle and it can be concluded from this that the vehicle unintentionally deviated from the lane / lane / road is.
  • a sensor system can, for. B. be an acceleration, displacement sensor, which is installed in some chassis to enable active chassis control.
  • the inertial sensors and / or structure-borne noise sensors installed in the vehicle can also be used to determine such signals, which are then evaluated by suitable algorithms.
  • the method is characterized in that, in order to evaluate the execution of the automated lane guidance, driving over a lane boundary is determined.
  • the method is characterized in that, as sensor data of the second sensor system, data are determined which enable an indirect assessment of whether the automated lane guidance is being carried out correctly, with the following in particular being determined:
  • the data ascertained by means of the second sensor system correspond to a data type which only enables a conclusion to be drawn about the correctness of the execution of the automatic track guidance through an appropriately designed evaluation.
  • sensor data are advantageously already determined by existing sensor systems in the motor vehicle. As a result, the costs for implementing this monitoring function can be kept low.
  • an inertial sensor already installed in the ESP system determines the movements of the vehicle. This inertial sensor picks up the vibrations that occur when driving over a lane marking. From these sensor data it can be recognized by a suitably set up evaluation that a road edge marking is currently being driven over.
  • the method is characterized in that at least one of the following sensor types is used as the second sensor system:
  • the second sensor system detects, for example, as a sound sensor in order to record and evaluate audio data in order to detect a crossing of a lane boundary.
  • the second sensor system can comprise the inertial sensor of the ESP system in order to use to determine the vibrations of the motor vehicle driving over grooves on the edge of the road.
  • the method is characterized in that it is determined in which direction the motor vehicle deviates from the lane, in particular a deviation from the lane to the right or to the left is determined when the sensor data representing the deviation second sensor system on a right side of the vehicle or a left side of the vehicle.
  • the direction of the deviation is advantageously determined taking into account the same sensor data from the second sensor system. For example, it can be determined on which side of the vehicle the sensor data were determined, or were determined first, in order to determine in which direction the deviation occurs. If such a signal is only recognized on one side, it can be assumed that the vehicle is no longer within the lane and there is a deviation in the direction in which the signal is recognized. For example, when the motor vehicle leaves the lane to the right onto the edge strip, the noises and vibrations characteristic of the edge strip are first determined on the right side of the vehicle. Only when the motor vehicle drives with all its wheels on the strip of beach would it be possible to determine the noises and vibrations on both sides of the vehicle.
  • the method is characterized in that a measure for correcting the lane guidance is carried out if the lane guidance is recognized as incorrect.
  • the structure-borne sound sensor system detects a signal that indicates that the vehicle is traveling e.g. B. indicates to the right of the road
  • the function can be activated by gently counter-steering to the left and, if necessary, braking Prevent departure from the lane and a correction of the lane guidance can be achieved.
  • the driver can be informed of the current situation and, if necessary, requested to intervene.
  • the method is characterized in that at least one of the following method steps is carried out in the case of a lane guidance recognized as incorrect:
  • the method is characterized in that in the case of a lane guidance recognized as incorrect, a measure to improve future automated lane guidance is carried out.
  • a learning process is started if it has been identified during the evaluation that incorrect lane guidance has taken place.
  • An adaptation of the software algorithm is to be understood as a learning process in particular.
  • the learning process can also include a change in the labels in the image data.
  • This can be an internal and / or external learning process.
  • An internal learning process takes place directly in the Motor vehicle.
  • An external learning process takes place outside the motor vehicle, advantageously at the manufacturer of the motor vehicle, or the assistance system or the software.
  • the error sequence (especially image data and evaluation data) is stored and / or transmitted for external revision.
  • a transmission can take place by physically reading out the error memory or, of course, by radio transmission
  • the method for operating the automated tracking and evaluating the execution can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control device and / or regulating device.
  • the approach presented here also creates a device which is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices.
  • the object on which the invention is based can also be achieved quickly and efficiently through this embodiment variant of the invention in the form of a device.
  • a device can be understood to mean an electrical device that processes sensor signals and outputs control and / or data signals as a function thereof.
  • the device can have an interface which can be designed in terms of hardware and / or software.
  • the interfaces can, for example, be part of a so-called system ASIC which contains a wide variety of functions of the device.
  • the interfaces are separate, integrated circuits or at least partially consist of discrete components.
  • the interfaces can be software modules that are present, for example, on a microcontroller alongside other software modules.
  • a driver assistance system for example a lane keeping system, can also be understood as a device.
  • this can also include a device for performing the automated driving maneuvers, for example a steering actuator.
  • a sensor system for determining environmental data of the vehicle during operation can also be understood as a device.
  • the device can also be understood to be a sensor for determining noises or structure-borne noise and / or a sensor for determining vibrations, for example a movement sensor or an inertial sensor.
  • a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory, and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is also advantageous is used, especially when the program product or program is executed on a computer or device.
  • FIG. 1 shows a schematic representation of a motor vehicle with an assistance system according to an embodiment of the invention.
  • FIG. 2 shows a representation of the method steps of an embodiment of the invention.
  • FIG. 1 shows a schematic representation of a motor vehicle 1 with an assistance system 2 configured as a lane keeping system according to an embodiment of the invention.
  • the motor vehicle 1 moves at speed V in the direction of the arrow shown.
  • the lane 11 in which the motor vehicle 1 is moving is delimited by a right lateral delimitation 12 (lane edge marking) and is thus separated from a hard shoulder 13.
  • an optical first sensor system 3 designed as a camera, which creates image data of the route section ahead.
  • the image data can be evaluated in a control device 6. From this image data Existing road markings can be determined in order to determine the route to be followed.
  • the driver assistance system 2 is activated and independently carries out automated steering interventions in order to guide the motor vehicle 1 along the desired route.
  • the automated steering interventions take place, for example, via a device 7 for automated driving maneuvers, such as a steering actuator.
  • the device 7 can be controlled, for example, via a second control device 8.
  • the second control device 8 can accordingly also be designed as a regulating device. This can be the same control device as the one used for evaluating the image data - or, of course, a separate control device.
  • the motor vehicle 1 has a second sensor system 4 designed as a motion sensor, which, for example, can be an inertial sensor already present in the motor vehicle 1.
  • the motion sensor 4 detects vibrations when the motor vehicle 1 drives over a profiled lateral boundary 12 (lane edge marking), for example.
  • the motor vehicle 1 additionally has a second sensor system 5 configured as a sound sensor, which, for example, perceives a change in noise development due to the rolling behavior of the wheels when the motor vehicle, for example, is at least partially driving on the hard shoulder.
  • FIG. 2 shows an illustration of the method steps of an embodiment of the invention.
  • the method is started in a first step S1. This is done, for example, by manual activation of the assistance system by the driver.
  • the respective assistance function is carried out.
  • a so-called lane keeping function for example, can be implemented as a function.
  • the automatic lane guidance can also be part of another automated driving function.
  • image data are first determined in a step S2 by means of the optical sensor system (for example by means of a video camera).
  • an evaluation of the image data takes place, for example in order to determine a lane in the route section lying ahead on the basis of determined lane markings.
  • step S4 On the basis of the determined lane, the actual execution of the lane guidance takes place in step S4, for example by means of automated intervention in the steering.
  • a condition for ending the method can be, for example, the manual abort of the lane guidance or also technical abort criteria, for example that no lane markings or no lane sufficiently recognized by the software. If such a condition (Y branch from B1) is present, the method is terminated in step S10, if necessary after a previous takeover request. If there is no condition for a termination (N branch from B1), the method is carried out further.
  • step S5 further sensor data are determined by means of the second sensor.
  • This sensor is of a different sensor type than the optical sensor system already mentioned. For example, it is a motion sensor for determining vehicle movements. As an alternative or in addition, it is a sound sensor for determining noises.
  • the determined sensor data are evaluated in step S6 to evaluate the lane guidance that has taken place. For example, if the lane guidance is incorrect, the road edge marking may be driven over. These markings are provided with grooves which stimulate a specific vibration in the motor vehicle. The motion sensor picks up these vibrations. By means of a specific evaluation, characteristic patterns can be recognized which allow the conclusion that the motor vehicle is driving on the lane edge marking. Noises can also be determined by means of the sound sensor or structure-borne sound sensor.
  • a specific evaluation can be used to determine whether, for example, the vehicle is driving (at least partially) on the hard shoulder, since this usually has a different nature than the lane. If it is determined that the vehicle is (partially) driving on the hard shoulder, the lane guidance has not been carried out correctly because the motor vehicle has deviated from the regular lane.
  • condition B2 it is checked whether there is currently a situation that suggests incorrect execution of the lane guidance. If this is the case (Y branch from B2), then in step S7, for example, the lane keeping was corrected by a slight automated counter-steering. The automated lane guidance can then be continued, for example, in S2 and S5. In addition, an optimization process is started in S8, for example, in order to reduce future incorrect execution of the lane guidance. Furthermore, information and / or a warning can be output to the driver in S9. If no incorrect execution of the lane guidance is recognized in condition B2 (N branch from B2), the automated lane guidance is regularly continued in steps S2 and S5.

Abstract

L'invention concerne un procédé d'exécution du guidage de voie automatisé d'un véhicule automobile (1) pour guider le véhicule automobile dans une voie de circulation (11), le guidage de voie automatisé prenant en considération des données d'image, qui sont déterminées au moyen d'au moins un premier système de capteur (3). Le procédé est caractérisé en ce qu'une évaluation d'une exécution du guidage de voie automatisé a lieu, des données de capteur étant déterminées pour l'évaluation au moyen d'un second système de capteur (4, 5). Sur la base des données de capteur déterminées, il est évalué si le guidage de voie est correctement exécuté. L'invention concerne également un dispositif correspondant.
PCT/EP2020/084204 2020-01-21 2020-12-02 Procédé et dispositif d'exécution du guidage de voie automatisé d'un vehicule automobile WO2021148178A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020200650.4A DE102020200650A1 (de) 2020-01-21 2020-01-21 Verfahren und Vorrichtung zum Betreiben einer automatisierten Spurführung eines Kraftfahrzeugs
DE102020200650.4 2020-01-21

Publications (1)

Publication Number Publication Date
WO2021148178A1 true WO2021148178A1 (fr) 2021-07-29

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WO (1) WO2021148178A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022110551A1 (de) 2022-04-29 2023-11-02 Bayerische Motoren Werke Aktiengesellschaft Verfahren und vorrichtung zum betreiben einer hands-off-fahrunktion eines automatisierten kraftfahrzeugs

Citations (6)

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Publication number Priority date Publication date Assignee Title
US20040230375A1 (en) * 2003-05-12 2004-11-18 Nissan Motor Co., Ltd. Automotive lane deviation prevention apparatus
DE102013003216A1 (de) * 2013-02-27 2013-09-05 Daimler Ag Verfahren zur Bestimmung einer Fahrspur zur Lenkungsregelung eines automatisiert gesteuerten Fahrzeuges
DE102013106769A1 (de) 2013-06-27 2014-12-31 Create Electronic Optical Co., Ltd. Fahrtenschreiber mit der Spurhalte- und Kollisionswarnfunktion
WO2017191070A1 (fr) * 2016-05-03 2017-11-09 Valeo Schalter Und Sensoren Gmbh Dispositif et procédé de détermination de position d'un véhicule, et dispositif d'aide à la conduite comprenant un tel dispositif de détermination de position
US20180307234A1 (en) * 2017-04-19 2018-10-25 Baidu.Com Times Technology (Beijing) Co., Ltd. Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles
US20190250618A1 (en) * 2018-02-12 2019-08-15 Delphi Technologies, Llc Rumble strip following for automated vehicle steering

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040230375A1 (en) * 2003-05-12 2004-11-18 Nissan Motor Co., Ltd. Automotive lane deviation prevention apparatus
DE102013003216A1 (de) * 2013-02-27 2013-09-05 Daimler Ag Verfahren zur Bestimmung einer Fahrspur zur Lenkungsregelung eines automatisiert gesteuerten Fahrzeuges
DE102013106769A1 (de) 2013-06-27 2014-12-31 Create Electronic Optical Co., Ltd. Fahrtenschreiber mit der Spurhalte- und Kollisionswarnfunktion
WO2017191070A1 (fr) * 2016-05-03 2017-11-09 Valeo Schalter Und Sensoren Gmbh Dispositif et procédé de détermination de position d'un véhicule, et dispositif d'aide à la conduite comprenant un tel dispositif de détermination de position
US20180307234A1 (en) * 2017-04-19 2018-10-25 Baidu.Com Times Technology (Beijing) Co., Ltd. Lane curb assisted off-lane checking and lane keeping system for autonomous driving vehicles
US20190250618A1 (en) * 2018-02-12 2019-08-15 Delphi Technologies, Llc Rumble strip following for automated vehicle steering

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