Method and Apparatus for Predicting a Movement Trajectory

• US 20090076702A1
• Filed: 09/15/2006
• Published: 03/19/2009
• Est. Priority Date: 09/15/2005
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Isermann, Rolf, Stahlin, Ulrich, Arbitmann, Maxim, Schorn, Matthias
• Granted Patent: US 8,340,883 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0025 Transfer function weighting factor
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: Y02T 10/40 Engine management systems

Abstract

In order to be able to undertake a reliable prediction of a movement trajectory of an object moving in road traffic even for relatively long prediction periods, a method is proposed in which there is firstly determined (203) with the aid of an evaluation of a determined movement variable of the object a driving maneuver that is executed by the object. A model (205₁; . . . ; 205_N) of the movement of the object is then selected as a function of the determined driving maneuver, and the movement trajectory of the object is calculated with the aid of the selected model. There is also proposed an apparatus for predicting the movement trajectory of an object that is suitable for carrying out the method. The object can be both a motor vehicle and an object in the surroundings of the motor vehicle.

Claims

1-39. -39. (canceled)

40. A method for predicting a movement trajectory of an object moving in road traffic, the method comprising:

determining at least one movement variable of an object (101;

104);

determining a driving maneuver that is executed by the object (101;

104) with the aid of an evaluation of the determined movement variable;

selecting a model of the movement of the object (101;

104) as a function of the determined driving maneuver; and

calculating the movement trajectory of the object (101;

104) with the aid of the selected model.

41. The method as claimed in claim 40, wherein the driving maneuver of the object (101;

104) is selected from a set of prescribed driving maneuvers.

42. The method as claimed in claim 40, wherein the determined driving maneuver is composed of a driving maneuver describing the longitudinal movement of the object (101;

104) and a driving maneuver describing the lateral movement of the object (101;

104).

43. The method as claimed in claim 40, wherein the driving maneuver describing the lateral movement of the object (101;

104) is selected from a set that comprises at least an instance of driving straight ahead, an instance of cornering and a lane change.

44. The method as claimed in claim 40, wherein a distinction is made between an instance of cornering and a lane change with the aid of a characteristic movement variable that is formed from a first movement variable that characterizes a change in the movement direction of the object (101;

104), and at least a second movement variable of the object (101;

104).

45. The method as claimed in claim 44, wherein the second movement variable of the object (101;

104) is a speed of the object (101;

104).

46. The method as claimed in claim 44, characterized in that the second movement variable is a steering angle at steerable wheels of the object (101;

104).

47. The method as claimed in claim 40, wherein the movement trajectory is determined with the aid of the model as a function of at least one parameter.

48. The method as claimed in claim 40, wherein a position of the object (101;

104) predicted with the aid of the movement trajectory is compared with a detected position of the object (101;

104), and in that the parameter is adapted as a function of the result of the comparison.

49. The method as claimed in claim 40, wherein the object (101;

104) is an ambient object (104) located in the surroundings of a motor vehicle (101), the movement variable of the ambient object (104) being determined by means of an ambient sensor (102) of the motor vehicle (101).

50. The method as claimed in claim 40, wherein the driving maneuver describing the longitudinal movement of the ambient object (104) is determined as a function of a comparison of speeds of the object (104), present at the successive instants, from a set that comprises at least a steady movement and an instance of emergency braking.

51. The method as claimed in claim 40, wherein a movement direction of the ambient object (104) is determined at successive instants, and in that the driving maneuver describing the lateral movement of the ambient object (104) is determined with the aid of a comparison of course angles determined from the determined movement directions.

52. The method as claimed in claim 40, wherein the driving maneuver describing the lateral movement of the ambient object (104) is determined with the aid of a comparison of the variable

(γ

_Obj,0(t)−

γ

_Obj,0(t₀))·

v_Obj,0

with at least one threshold value, γ

_Obj,0(t) denoting the course angle at a stationary coordinate system at an observation instant, γ

_Obj,0(t₀) denoting the course angle at the stationary coordinate system at the beginning of a variation in the course angle, and v_Obj,0 denoting the speed of the ambient object (104).

53. The method as claimed in claim 40, wherein a lane change of the ambient object (104) is determined when the course angle of the ambient object (104) changes to a prescribed extent and when the variable

(γ

_Obj,0(t)−

γ

_Obj,0(t₀))·

v_Obj,0

assumes values within a prescribed interval.

54. The method as claimed in claim 40, wherein an instance of cornering of the ambient object (104) is determined when the course angle of the ambient object (104) changes to a prescribed extent and when the variable

(γ

_Obj,0(t)−

γ

_Obj,0(t₀))·

v_Obj,0

assumes values outside the prescribed interval.

55. The method as claimed in claim 40, wherein the movement trajectory of the ambient object (104) is determined with the aid of a predicted speed of the ambient object (104) and a predicted course angle of the ambient object (104).

56. The method as claimed in claim 40, wherein the movement trajectory of the ambient object (104) is calculated recursively, a position of the ambient object (104) being determined in a prediction step with the aid of the predicted speed and the predicted course angle from the position determined in a preceding prediction step.

57. The method as claimed in claim 40, wherein a predicted speed of the ambient object (104) is calculated with the aid of the selected model describing the longitudinal movement of the ambient object (104).

58. The method as claimed in one claim 40, wherein the predicted course angle of the ambient object (104) is calculated with the aid of the selected model describing the lateral movement of the ambient object (104).

59. The method as claimed in claim 40, wherein the predicted course angle of the ambient object (104) is calculated in accordance with a sigmoid function when a lane change has been determined as driving maneuver, the shape of the sigmoid function being determined by at least one parameter that is determined as a function of the speed of the ambient object (104).

60. The method as claimed in claim 40, wherein the course angle γ

_Obj,0(t+Δ

t) predicted for instant t+Δ

t, of the ambient object (104) is calculated by

γ

_Obj,0(t+Δ

t)=γ

_Obj,0(t)+p·

Δ

t

when an instance of cornering has been determined as driving maneuver, the variable γ

_Obj,0(t) being the course angle of the ambient object (104) at an observation instant t, Δ

t being a time interval and p being a parameter.

61. The method as claimed in claim 40, wherein the object (101;

104) is the motor vehicle (101), the movement variable being detected by means of at least one vehicle sensor.

62. The method as claimed in claim 40, wherein the driving maneuver describing the lateral movement of the motor vehicle (101) is determined with the aid of a yaw rate of the motor vehicle and/or with the aid of a steering angle set at steerable wheels of the vehicle.

63. The method as claimed in claim 40, wherein an instance of driving straight ahead (GAF) of the motor vehicle (101) is determined when at least one of a yaw rate of the vehicle and the steering angle is smaller in absolute terms than a threshold value.

64. The method as claimed in claim 40, wherein an instance of cornering (KUF) of the motor vehicle is determined when the product of steering angle and yaw rate is greater than a prescribed threshold value, or a change in yaw angle during the driving maneuver is greater in absolute terms than a prescribed threshold value.

65. The method as claimed in claim 40, wherein a lane change of the motor vehicle (101) is determined when no instance of driving straight ahead (GAF) and no instance of cornering (KUF) are determined.

66. The method as claimed in claim 40, wherein a lane change is divided into at least three successive phases, the yaw rate of the motor vehicle (101) being greater in absolute terms than a threshold value in a first phase (SW1), being smaller in absolute terms than a threshold value in an intermediate phase (SWZ), and being greater in absolute terms than a threshold value in a second phase (SW2), and the yaw rate in the first phase (SW1) and the second phase (SW2) having a different sign.

67. The method as claimed in claim 66, wherein a maximum duration is prescribed for the first phase (SW1), and in that after a preceding detection of a lane change an instance of cornering (KUF) of the motor vehicle (101) is determined when the duration of the first phase overshoots the maximum duration.

68. The method as claimed in claim 66, wherein a minimum duration is prescribed for the first phase (SW1), and in that after a preceding detection of a lane change an instance of driving straight ahead (GAF) is determined when the duration of the first phase (SW1) undershoots the minimum duration.

69. The method as claimed in claim 66, wherein a maximum duration is prescribed for the intermediate phase (SWZ) of the lane change, and in that after a preceding detection of a lane change an instance of driving straight ahead (GAF) is determined when the duration of the intermediate phase (SWZ) overshoots the maximum duration.

70. The method as claimed in claim 66, wherein a movement trajectory of the motor vehicle (101) for the first phase of a lane change is predicted as a function of determined longitudinal and lateral speeds and/or as a function of determined longitudinal and lateral accelerations of the motor vehicle (101) with the aid of an Euler prediction.

71. The method as claimed in claim 66, wherein the movement trajectory of the motor vehicle (101) during the first phase (SW1) of the lane change is recorded and approximated by a polynomial, and in that the polynomial determined in this case is used to predict the movement trajectory of the motor vehicle (101) for the second phase (SW2) of the lane change.

72. The method as claimed in claim 71, wherein the predicted movement trajectory for the second phase (SW2) of the lane change corresponds to the determined polynomial that is rotated by 180°

about an end point of the first phase of the lane change, and that is applied to the movement trajectory of the motor vehicle (101) in the intermediate phase (SWZ) of the lane change.

73. The method as claimed in claim 71, wherein the polynomial is a third degree polynomial.

74. The method as claimed in claim 40, wherein the movement trajectory of the motor vehicle (101) is determined with the aid of a predicted length of a circular arc and a radius of the circular arc when the driving maneuver determined is an instance of cornering (KUF).

75. A method for preventing a collision between a motor vehicle and an ambient object in the surroundings of the motor vehicle, or for diminishing collision consequences, the method comprising:

determining movement trajectories of at least one of a motor vehicle and an ambient object;

evaluating the movement trajectories;

determining a collision location based on the evaluation of the movement trajectories; and

instituting measures for preventing collisions or for diminishing collision consequences as a function of a distance from the collision location.

76. A method for regulating the speed of a motor vehicle, wherein the speed of the motor vehicle is set so that a separation between the motor vehicle and a further vehicle located ahead of the motor vehicle in a driving direction of the motor vehicle does not undershoot a prescribed separation value, the method comprising:

determining at least one movement variable of an object (101;

104);

determining a driving maneuver that is executed by the object (101;

104) with the aid of an evaluation of the determined movement variable;

selecting a model of the movement of the object (101;

104) as a function of the determined driving maneuver;

predicting a separation between the motor vehicle (104) and the further vehicle (101) as a function of the movement trajectory; and

setting the speed of the motor vehicle (101) is set as a function of the predicted separation.

77. An apparatus for predicting a movement trajectory of an object moving in road traffic, comprising:

at least one sensor (102) from whose signals it is possible to determine a movement variable of the object (101;

104);

a driving maneuver detection device (203;

704) that can be used to determine a driving maneuver of the object (101;

104) with the aid of an evaluation of the movement variable; and

a prediction device (205₁;

. . . ;

205_N;

706₁;

. . . ;

706_N) that can be used to calculate the movement trajectory of the object (101;

104) with the aid of a model, it being possible to select the model from a set of models as a function of the determined driving maneuver.