Method for selecting an optimized trajectory

• US 10,152,056 B2
• Filed: 10/13/2016
• Issued: 12/11/2018
• Est. Priority Date: 10/20/2015
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Rohde, Jan, Mielenz, Holger
• Primary Examiner(s): Weber, Tamara L
• Application Number:
  US15/292,476
• Publication Number:
  US 20170108865A1
• Time in Patent Office: 789 Days
• Field of Search: None
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60K 28/14 responsive to accident or emergency, e.g. deceleration, tilt of vehicle
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2540/223 Posture, e.g. hand, foot, or seat position, turned or inclined
• CPC Class Codes: B60W 2540/225 Direction of gaze
• CPC Class Codes: B60W 2540/26 Incapacity
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/00 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
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: B60W 60/0015 specially adapted for safety
• CPC Class Codes: B60W 60/007 Emergency override Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227
• CPC Class Codes: B62D 15/00 Steering not otherwise provided for
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01C 21/3407 specially adapted for specific applications
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/931 : of land vehicles
• CPC Class Codes: G01S 2007/4975 : of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
• CPC Class Codes: G01S 2007/52009 : of sensor obstruction, e.g. dirt- or ice-coating
• CPC Class Codes: G01S 2013/9323 : Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 : Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 7/4039 : of sensor or antenna obstruction, e.g. dirt- or ice-coating
• CPC Class Codes: G05D 1/0061 : for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G06V 20/597 : Recognising the driver's state or behaviour, e.g. attention or drowsiness
• CPC Class Codes: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A method for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site. First, a need to transfer the vehicle into a safe system state is ascertained. A vehicle state is then determined, the vehicle state encompassing the current vehicle position. At least one target site is ascertained. Travel trajectories are ascertained from the current vehicle position to the at least one target site. The travel trajectories are related. One of the travel trajectories is selected based on the rating that has been carried out. A signal is generated on the basis of the selected travel trajectory.

Claims

1. A method for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site, the method comprising:

ascertaining, via a processor, a need to transfer the vehicle into a safe system state;

determining, via the processor, a vehicle state, the vehicle state including a current vehicle position;

ascertaining, via the processor, at least one target site;

ascertaining, via the processor, travel trajectories from the current vehicle position to the at least one target site;

rating, via the processor, the travel trajectories;

selecting, via the processor, one of the travel trajectories based on the rating;

generating, via the processor, the signal based on the selected travel trajectory; and

transferring, via the processor and based on the signal, a partly or highly automated vehicle into a safe system state at a target site;

wherein expected localization accuracies along the ascertained travel trajectories are calculated, and those localization accuracies are used to rate the travel trajectories.

2. The method as recited in claim 1, wherein at least one of:

i) a vehicle state, and ii) a driver state, are ascertained in order to ascertain the need.

3. The method as recited in claim 1, wherein a performance of the vehicle is ascertained, and the ascertained performance is used to rate the travel trajectories.

4. The method as recited in claim 1, wherein the expected localization accuracy along a travel trajectory is calculated on the basis of landmarks along that travel trajectory.

5. The method as recited in claim 1, wherein a functionality of environmental sensor equipment present in the vehicle is determined in the context of ascertaining the performance of the vehicle, and that functionality is used for calculation of the expected localization accuracy.

6. The method as recited in claim 1, wherein curves in the ascertained travel trajectories are determined, and the determined curves are used to rate the travel trajectories.

7. The method as recited in claim 1, wherein a first and at least one second target site are ascertained, the ascertained target sites being rated.

8. The method as recited in claim 7, wherein selection of one of the travel trajectories is accomplished based additionally on the rating of the at least two target sites.

9. The method as recited in claim 7, wherein a probability value that is calculated from a probability of at least one of:

i) a collision with other traffic participants, and ii) interference with other traffic participants, at that target site is used for ascertaining the at least one target site.

10. The method as recited in claim 1, wherein map information is taken into consideration in ascertaining the at least one target site.

11. An apparatus for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site, comprising:

a transfer device having a processor configured to perform the following;

ascertaining, via the processor, a need to transfer the vehicle into a safe system state;

determining, via the processor, a vehicle state, the vehicle state including a current vehicle position;

ascertaining, via the processor, at least one target site;

ascertaining, via the processor, travel trajectories from the current vehicle position to the at least one target site;

rating, via the processor, the travel trajectories;

selecting, via the processor, one of the of the travel trajectories based on the rating;

generating, via the processor, the signal based on the selected travel trajectory; and

transferring, via the processor and based on the signal, a partly or highly automated vehicle into a safe system state at a target site;

wherein expected localization accuracies along the ascertained travel trajectories are calculated, and those localization accuracies are used to rate the travel trajectories.

12. A non-transitory computer-readable storage medium on which is stored a computer program, which is executable by a processor, comprising:

a program code arrangement having program code for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site, by performing the following;

ascertaining, via the processor, a need to transfer the vehicle into a safe system state;

determining, via the processor, a vehicle state, the vehicle state including a current vehicle position;

ascertaining, via the processor, at least one target site;

ascertaining, via the processor, travel trajectories from the current vehicle position to the at least one target site;

rating, via the processor, the travel trajectories;

selecting, via the processor, one of the travel trajectories based on the rating;

generating, via the processor, the signal based on the selected travel trajectory; and

transferring, via the processor and based on the signal, a partly or highly automated vehicle into a safe system state at a target site;

wherein expected localization accuracies along the ascertained travel trajectories are calculated, and those localization accuracies are used to rate the travel trajectories.