Device and method for the automated driving of a motor vehicle

• US 10,234,866 B2
• Filed: 09/13/2016
• Issued: 03/19/2019
• Est. Priority Date: 09/14/2015
• Status: Active Grant

• Current Assignee: Hella Gmbh & Co. Kgaa (Forvia SE), Volkswagen AG
• Original Assignee: Hella Gmbh & Co. Kgaa (Forvia SE), Volkswagen AG
• Inventors: Max, Stephan, Baumgartel, Klaas Hauke, Brosig, Stefan, Buschenfeld, Torsten, Niemann, Thomas
• Primary Examiner(s): Yacob, Sisay
• Application Number:
  US15/758,107
• Publication Number:
  US 20180246522A1
• Time in Patent Office: 917 Days
• CPC Class Codes: B60R 19/483 with obstacle sensors of electric or electronic type
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2420/905 the sensor being an xyz axis sensor
• CPC Class Codes: B60W 2422/90 on bumper, e.g. collision sensor
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2015/938 in the bumper area
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

A device for autonomously driving a transportation vehicle having at least one sensor system for sensing a surrounding area of the vehicle, at least one controller for controlling at least one actuator system of the vehicle, and a memory for storing a map of the surroundings, wherein the at least one controller evaluates surroundings data collected by the at least one sensor system, determines the location of the vehicle by the evaluated surroundings data in the map of the surroundings, and controls the at least one actuator system of the vehicle so that a predefined trajectory is travelled autonomously, wherein the controller has an obstacle-detection device to detect obstacles in the surroundings of the vehicle, wherein the at least one sensor system has at least one acceleration sensor, and the obstacle-detection device uses measurement data collected by the at least one acceleration sensor to detect collisions with obstacles.

Claims

1. A device for the automated driving of a vehicle, the device comprising:

at least one sensor system for sensing a surrounding area of the transportation vehicle;

at least one controller for controlling at least one actuator system of the transportation vehicle; and

a memory for storing a map of the surroundings;

at least one further sensor system including at least one ultrasonic sensor, wherein in each of the at least one acceleration sensors and each of the at least one ultrasonic sensors are combined to form a unit, with the result that at least one associated component is used jointly;

wherein the at least one controller evaluates surroundings data collected by the at least one sensor system to determine the location of the transportation vehicle by the evaluated surroundings data in the map of the surroundings, and controls the at least one actuator system of the transportation vehicle so a predefined trajectory is autonomously travelled,

wherein the controller comprises an obstacle detection apparatus which detects obstacles in the surroundings of the transportation vehicle,

wherein the at least one sensor system has at least one acceleration sensor, and the obstacle detection apparatus uses the measurement data acquired by the at least one acceleration sensor to detect collisions with obstacles, and

wherein the obstacle detection apparatus classifies obstacles by comparing measurement data acquired by the at least one acceleration sensor with measurement data acquired by the at least one ultrasonic sensor.

2. The device of claim 1, wherein the at least one acceleration sensor is arranged or installed on or in a bumper of the transportation vehicle.

3. The device of claim 1, wherein the at least one jointly used associated component is a mount.

4. The device of claim 1, wherein the at least one jointly used associated component is a control line.

5. The device of claim 1, wherein the at least one acceleration sensor is a multi-dimensional acceleration sensor.

6. The device of claim 1, wherein the controller comprises a safety apparatus which outputs a signal in response to a safety criterion being satisfied by the measurement data acquired by the at least one acceleration sensor.

7. The device of claim 1, wherein the controller comprises a monitoring apparatus for outputting a signal in the parked state of the transportation vehicle in response to satisfaction of a monitoring criterion by the measurement data acquired by the at least one acceleration sensor.

8. A method for the automated driving of a transportation vehicle, the method comprising:

sensing a surrounding area of the transportation vehicle by at least one sensor system;

determining the location of the transportation vehicle in a map of the surroundings by evaluating surroundings data generated based on the sensed surroundings; and

autonomously driving along a predefined trajectory by controlling at least one actuator system of the transportation vehicle,

wherein an obstacle detection apparatus detects obstacles in the surroundings of the transportation vehicle,

wherein the obstacle detection apparatus senses collisions with obstacles using at least one acceleration sensor and at least ultrasonic sensor combined to form a unit to jointly use at least one associated component, and

wherein the obstacle detection apparatus classifies obstacles by comparing measurement data acquired by the at least one acceleration sensor with measurement data acquired by the at least one ultrasonic sensor.