METHOD AND APPARATUS FOR OPERATING AN AUTOMATED MOTOR VEHICLE

• US 20180050701A1
• Filed: 08/15/2017
• Published: 02/22/2018
• Est. Priority Date: 08/17/2016
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Grinenval, Charlotte, Braeuchle, Christian, Hofmann, Konrad, Wickert, Stefan
• Granted Patent: US 10,457,292 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2050/0062 Adapting control system settings
• 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 40/08 related to drivers or passengers
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B60W 60/0023 in response to energy consumption
• CPC Class Codes: G01C 21/3469 Fuel consumption; Energy use; Emission aspects
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G06Q 10/047 Optimisation of routes or paths, e.g. travelling salesman problem

Abstract

A method for operating an automated motor vehicle includes: ascertaining a target trajectory for the motor vehicle, acquiring environmental data of the motor vehicle, ascertaining a tolerance region of the target trajectory based on the acquired environmental data, and guiding the motor vehicle in the tolerance region of the target trajectory in such a way that guidance of the motor vehicle with the smallest possible changes in acceleration and/or with energetically optimized propulsion is definedly more highly prioritized than definedly accurate guidance of the motor vehicle along the target trajectory.

Claims

1. A method for operating an automated motor vehicle, the method comprising:

ascertaining, by a controller, a target trajectory for the motor vehicle;

acquiring, by the controller, environmental data of the motor vehicle;

ascertaining, by the controller, a tolerance region of the target trajectory based on the acquired environmental data; and

the controller guiding the motor vehicle in the tolerance region of the target trajectory, wherein the guiding is performed according to prioritized criteria that includes (a) at least one of minimization of change in acceleration of the motor vehicle and energetic optimization of propulsion at a first priority level and (b) accurate guidance of the motor vehicle along the target trajectory at a second priority level that is lower than the first priority level.

2. The method of claim 1, wherein the guiding is performed via modification of parameters of control devices.

3. The method of claim 1, wherein the guiding is performed via limitation of gradients of actuators of the motor vehicle.

4. The method of claim 1, wherein the energetic optimization is also used in a manual operating mode of the motor vehicle.

5. The method of claim 1, wherein the guiding is performed using a first control device of the controller to track trajectory and a second control device of the controller to control at least one of the minimization of the change in acceleration and the energetic optimization.

6. The method of claim 5, wherein operation of the two control devices is controlled by way of anti-wind-up actions.

7. The method of claim 5, wherein the first control device and the second control device are embodied as a multi-variable controller or as a fuzzy controller.

8. The method of claim 1, wherein the guiding includes longitudinal guidance of the motor vehicle.

9. An apparatus for operating an automated motor vehicle, the apparatus comprising:

a first control device; and

a second control device that is functionally connected to the first control device;

wherein;

the first control device is configured to control guidance of the motor vehicle along a target trajectory; and

the second control device is configured to, based on environmental data, modify the guidance based on prioritized criteria that includes (a) at least one of minimization of change in acceleration of the motor vehicle and energetic optimization of propulsion at a first priority level and (b) accurate guidance of the motor vehicle along the target trajectory at a second priority level that is lower than the first priority level.

10. The apparatus of claim 9, wherein the first control device and the second control device are embodied as a multi-variable controller or as a fuzzy controller.

11. A non-transitory computer-readable medium on which are stored instructions that are executable by an apparatus and that, when executed by the apparatus, causes the apparatus to perform a method for operating an automated motor vehicle, the method comprising:

ascertaining a target trajectory for the motor vehicle;

acquiring environmental data of the motor vehicle;

ascertaining a tolerance region of the target trajectory based on the acquired environmental data; and

guiding the motor vehicle in the tolerance region of the target trajectory, wherein the guiding is performed according to prioritized criteria that includes (a) at least one of minimization of change in acceleration of the motor vehicle and energetic optimization of propulsion at a first priority level and (b) accurate guidance of the motor vehicle along the target trajectory at a second priority level that is lower than the first priority level.