Method and system for detecting autonomously driven vehicles, for distance measurement and for distance control

• US 10,395,524 B2
• Filed: 08/08/2016
• Issued: 08/27/2019
• Est. Priority Date: 02/11/2014
• Status: Active Grant

• Current Assignee: Bayerische Motoren Werke AG
• Original Assignee: Bayerische Motoren Werke AG
• Inventors: Strassberger, Markus
• Primary Examiner(s): Sood, Anshul
• Application Number:
  US15/230,533
• Publication Number:
  US 20160343247A1
• Time in Patent Office: 1,114 Days
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60W 2050/0292 Fail-safe or redundant systems, e.g. limp-home or backup systems
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
• CPC Class Codes: G08G 1/017 : identifying vehicles G08G1/015, G08G1/054 take precedence
• CPC Class Codes: G08G 1/0175 : by photographing vehicles, e.g. when violating traffic rules
• CPC Class Codes: G08G 1/162 : event-triggered
• CPC Class Codes: G08G 1/163 : involving continuous checking
• CPC Class Codes: G08G 1/164 : Centralised systems, e.g. external to vehicles

Abstract

A method is provided for detecting autonomously driven vehicles, in which a motion trajectory of a first vehicle is determined. According to the determined motion trajectory, an autonomy characteristic, which is representative of whether the first vehicle can be driven autonomously or not, is determined.

Claims

1. A method for detecting autonomously operated vehicles, the method comprising the acts of:

sensing a motion trajectory of a first vehicle via a sensor unit located outside the first vehicle;

determining an autonomy characteristic value via a processor as a function of the motion trajectory of a single vehicle, wherein the single vehicle is the first vehicle, the autonomy characteristic value representative of whether the first vehicle is being operated autonomously or non-autonomously; and

controlling a distance of a third vehicle from the first vehicle based on the autonomy characteristic value.

2. The method according to claim 1, wherein:

a first distance profile for a second vehicle driving in front of the first vehicle is determined as a function of the determined motion trajectory, and

the determined autonomy characteristic value is determined as a function of the first distance profile.

3. The method according to claim 2, wherein:

a lane-keeping profile of the first vehicle is determined as a function of the determined motion trajectory, and

the determined autonomy characteristic value is determined as a function of the lane-keeping profile.

4. The method according to claim 1, wherein:

a lane-keeping profile of the first vehicle is determined as a function of the determined motion trajectory, and

the determined autonomy characteristic value is determined as a function of the lane-keeping profile.

5. The method according to claim 1, wherein:

a second distance profile of the first vehicle with respect to the sensor unit which is arranged outside the first vehicle and is designed to generate a measurement signal is determined as a function of the determined motion trajectory, wherein the motion trajectory is determined as a function of the measurement signal, and

the determined autonomy characteristic value is determined as a function of the second distance profile.

6. The method according to claim 1, wherein the determined autonomy characteristic value is determined as a function of a detection of atypical values in the motion trajectory.

7. The method according to claim 1, wherein the determined autonomy characteristic value is determined as a function of a frequency analysis of the motion trajectory.

8. The method as claimed in claim 1, wherein subsequent to reception of an autonomy information item from outside the first vehicle, which autonomy information item is representative of whether the first vehicle is being operated autonomously or non-autonomously, the autonomy characteristic value is determined as a function of the autonomy information item.

9. A device for detecting autonomously operating vehicles, the device comprising:

a processing unit and associated memory storing program code that, when executed by the processing unit, carries out the method of;

causing a sensor unit located outside a first vehicle to sense a motion trajectory of the first vehicle;

determining an autonomy characteristic value as a function of the motion trajectory of a single vehicle, wherein the single vehicle is the first vehicle, the autonomy characteristic value representative of whether the first vehicle is being operated autonomously or non-autonomously; and

controlling a distance of a third vehicle from the first vehicle based on the autonomy characteristic value.

10. The device according to claim 9, wherein the processing unit executes the program code to:

determine a first distance profile for a second vehicle driving in front of the first vehicle as a function of the determined motion trajectory, and

determine the determined autonomy characteristic value as a function of the first distance profile.

11. The device according to claim 9, wherein the processing unit executes the program code to:

determine a lane-keeping profile of the first vehicle as a function of the determined motion trajectory, and

determine the determined autonomy characteristic value as a function of the lane-keeping profile.

12. The device according to claim 11, wherein the processing unit executes the program code to:

determine a second distance profile of the first vehicle with respect to the sensor unit which is arranged outside the first vehicle and is designed to generate a measurement signal as a function of the determined motion trajectory, wherein the motion trajectory is determined as a function of the measurement signal, and

determine the determined autonomy characteristic value as a function of the second distance profile, and

determine the determined autonomy characteristic value as a function of the lane-keeping profile.

13. A method for reporting unsafe autonomous vehicle behavior, the method comprising the acts of:

sensing a motion trajectory of a first vehicle via a sensor unit located outside the first vehicle;

determining an autonomy characteristic value via a processor as a function of the motion trajectory of a single vehicle, wherein the single vehicle is the first vehicle, the autonomy characteristic value representative of whether the first vehicle is being operated autonomously or non-autonomously;

determining a first distance to the first vehicle from a second vehicle driving in front of the first vehicle;

determining a distance threshold value as a function of the autonomy characteristic value such that, if the first vehicle is detected as being operated autonomously, the distance threshold value is lower than if the first vehicle is detected as being operated non-autonomously;

determining whether the determined first distance is less than the determined distance threshold value;

if the determined first distance is less than the determined distance threshold value, storing a corresponding information item; and

transmitting the corresponding information item to one or more of;

a police authority and a manufacturer of the first vehicle.

14. A method for distance control in a third vehicle driving behind a first vehicle, the method comprising the acts of:

sensing a motion trajectory of the first vehicle via a sensor unit located outside the first vehicle;

determining an autonomy characteristic value via a processor as a function of the motion trajectory of a single vehicle, wherein the single vehicle is the first vehicle, the autonomy characteristic value representative of whether the first vehicle is being operated autonomously or non-autonomously; and

controlling a distance from the third vehicle to the first vehicle as a function of the autonomy characteristic value.

15. The method according to claim 14, further comprising the acts of:

determining a manufacturer and/or a model designation of the first vehicle;

determining at least one distance control parameter as a function of the determined manufacturer and/or the determined model designation;

setting the distance from the third vehicle to the first vehicle as a function of the at least one determined distance control parameter.

16. The method according to claim 15, wherein a distance control parameter is determined as a function of the determined motion trajectory, the method further comprising the act of:

setting the distance from the third vehicle to the first vehicle as a function of the determined distance control parameter.

17. The method according to claim 14, wherein a distance control parameter is determined as a function of the determined motion trajectory, the method further comprising the act of:

setting the distance from the third vehicle to the first vehicle as a function of the determined distance control parameter.

18. A computer program product comprising a computer readable medium having stored thereon executable program code which, when executed via a processing unit, carries out the method of:

causing a sensor unit located outside a first vehicle to sense a motion trajectory of the first vehicle;

determining an autonomy characteristic value as a function of the motion trajectory of a single vehicle, wherein the single vehicle is the first vehicle, the autonomy characteristic value representative of whether the first vehicle is being operated autonomously or non-autonomously; and

controlling a distance of a third vehicle from the first vehicle based on the autonomy characteristic value.

19. The computer program product according to claim 18, wherein when the program code is executed by the processing unit, it further carries out the method of:

determining a distance of the first vehicle from a second vehicle driving in front of the first vehicle;

determining a distance threshold value as a function of the autonomy characteristic value such that, if the first vehicle is detected as being operated autonomously, the distance threshold value is lower than if the first vehicle is detected as being operated non-autonomously;

determining whether the determined distance is less than the determined distance threshold value; and

if the determined distance is less than the determined distance threshold value, storing an information item to that affect.

20. The computer program product according to claim 18, wherein when the program code is executed by the processing unit, it further carries out the method of:

determining the determined autonomy characteristic value as a function of a lane-keeping profile.