METHOD FOR DETERMINING A TRAJECTORY FOR AN AUTONOMOUSLY-DRIVEN TRANSPORTATION VEHICLE, CONTROL DEVICE, AND TRANSPORTATION VEHICLE

• US 20190025067A1
• Filed: 07/18/2018
• Published: 01/24/2019
• Est. Priority Date: 07/19/2017
• Status: Active Grant

• Current Assignee: Volkswagen AG
• Original Assignee: Volkswagen AG
• Inventors: BARECKE, Frank, BLUMENTRITT, Marc, KUKLA, Stefan
• Granted Patent: US 10,942,033 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2552/35 Road bumpiness, e.g. potholes
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2710/22 Suspension systems
• CPC Class Codes: B60W 2710/226 Damping
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• 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: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Abstract

A method for determining an alternative trajectory for an autonomously-driven transportation vehicle wherein an alternative trajectory for the transportation vehicle is calculated by a control device in response to an obstacle being detected by a transportation vehicle sensor device, which trajectory replaces at least one portion of an original trajectory of the transportation vehicle so the trajectory has a minimum total disturbance of at least one disturbance summand, consisting of a respective weighting factor and one disturbance value.

Claims

1. A control device for determining an alternative trajectory for an autonomously-driven transportation vehicle, wherein starting from an original trajectory, upon the detection of an obstacle by a transportation vehicle sensor device coupled to the control device, the alternative trajectory for the transportation vehicle is calculated by the control device, which trajectory replaces at least one portion of an original trajectory of the transportation vehicle, wherein the trajectory has a minimum total disturbance of at least one disturbance summand including a respective weighting factor and a respective disturbance value.

2. The control device of claim 1, wherein the at least one disturbance summand describes a transportation vehicle dynamics and/or a transportation vehicle wear and/or a transportation vehicle fuel consumption and/or a stress of a transportation vehicle occupant by a quantification function.

3. The control device of claim 1, wherein the alternative trajectory defines a parameter of an adaptive suspension system and/or an adaptive vertical dynamics control system.

4. The control device of claim 1, wherein the at least one weighting factor depends on other disturbance summands.

5. The control device of claim 1, wherein the value of at least one weighting factor is set according to a user input.

6. The control device of claim 1, wherein a log file is stored in the control device, wherein this file comprises the information collected by the transportation vehicle sensor devices, the original trajectory, the at least one alternative trajectory and the respective values of the disturbance summands.

7. The control device of claim 1, wherein a warning signal issues when a portion of the original trajectory is replaced by the alternative trajectory.

8. The control device of claim 1, wherein at least a portion of the alternative trajectory is calculated by a predefined time-optimized procedure in response to the temporal distance to the obstacle falling below a required value.

9. A transportation vehicle including a control device for determining an alternative trajectory for an autonomously-driven transportation vehicle,

wherein starting from an original trajectory, upon the detection of an obstacle by a transportation vehicle sensor device coupled to the control device, the alternative trajectory for the transportation vehicle is calculated by the control device, which trajectory replaces at least one portion of an original trajectory of the transportation vehicle, and

wherein the trajectory has a minimum total disturbance of at least one disturbance summand including a respective weighting factor and a respective disturbance value.

10. The transportation vehicle of claim 9, wherein the at least one disturbance summand describes a transportation vehicle dynamics and/or a transportation vehicle wear and/or a transportation vehicle fuel consumption and/or a stress of a transportation vehicle occupant by a quantification function.

11. The transportation vehicle of claim 9, wherein the alternative trajectory defines a parameter of an adaptive suspension system and/or an adaptive vertical dynamics control system.

12. The transportation vehicle of claim 9, wherein the at least one weighting factor depends on other disturbance summands.

13. The transportation vehicle of claim 9, wherein the value of at least one weighting factor is set according to a user input.

14. The transportation vehicle of claim 9, wherein a log file is stored in the control device, wherein this file comprises the information collected by the transportation vehicle sensor devices, the original trajectory, the at least one alternative trajectory and the respective values of the disturbance summands.

15. The transportation vehicle of claim 9, wherein a warning signal issues when a portion of the original trajectory is replaced by the alternative trajectory.

16. The transportation vehicle of claim 9, wherein at least a portion of the alternative trajectory is calculated by a predefined time-optimized procedure in response to the temporal distance to the obstacle falling below a required value.

17. A method for determining an alternative trajectory for an autonomously-driven transportation vehicle,

wherein starting from an original trajectory, upon the detection of an obstacle by a transportation vehicle sensor device, the alternative trajectory for the transportation vehicle is calculated by a control device, which trajectory replaces at least one portion of an original trajectory of the transportation vehicle,

wherein the trajectory has a minimum total disturbance of at least one disturbance summand, consisting of a respective weighting factor and a respective disturbance value.

18. The method of claim 17, wherein at least one disturbance summand describes a transportation vehicle dynamics and/or a transportation vehicle wear and/or a transportation vehicle fuel consumption and/or a stress of a transportation vehicle occupant by a quantification function.

19. The method of claim 17, wherein the alternative trajectory defines a parameter of an adaptive suspension system and/or an adaptive vertical dynamics control system.

20. The method of claim 17, wherein at least one weighting factor depends on other disturbance summands.

21. The method of claim 17, wherein the value of at least one weighting factor is set according to a user input.

22. The method of claim 17, wherein a log file is stored in the control device, wherein this file comprises the information collected by the transportation vehicle sensor devices, the original trajectory, the at least one alternative trajectory and the respective values of the disturbance summands.

23. The method of claim 17, wherein a warning signal issues when a portion of the original trajectory is replaced by the alternative trajectory.

24. The method of claim 17, wherein at least a portion of the alternative trajectory is calculated by a predefined time-optimized procedure in response to the temporal distance to the obstacle falling below a required value.