Method and control unit for determining a cutting trajectory of a curve section of a roadway

• US 9,278,712 B2
• Filed: 11/30/2010
• Issued: 03/08/2016
• Est. Priority Date: 12/04/2009
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Buerkle, Lutz, Fischer, Michael, Maurer, Thomas
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US13/513,152
• Publication Number:
  US 20130006473A1
• Time in Patent Office: 1,925 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

A method for determining a cutting trajectory that enables a curve section of a lane to be cut by a vehicle. In the method, information about the curve section is received, and the curve section is divided into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment. This is followed by determination of a cutting trajectory from the at least one curve segment, so that, at a specific point of the curve section, the cutting trajectory has a predetermined offset relative to a center of the lane.

Claims

1. A method for operating a lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, the method comprising:

receiving, by the lane keeping system, information about the curve section of the predefined road lane via an interface;

dividing, by the lane keeping system, the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment;

determining, by the lane keeping system, a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; and

providing, by the lane keeping system, a vehicle trajectory guidance along the determined cutting trajectory;

wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment;

wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory;

wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are determined taking into consideration a vehicle speed and a curve section curvature.

2. The method of claim 1, wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are so determined that the cutting trajectory has, at an apex of the curve section, a predetermined offset toward the inside of the curve relative to the center of the lane.

3. The method of claim 1, wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are so determined that an angular direction of the cutting trajectory at a start point corresponds to an angular direction of the center of the lane at a start point and an angular direction of the cutting trajectory at an end point corresponds to an angular direction of the center of the lane at an end point.

4. The method of claim 1, further comprising:

ascertaining a lateral guidance of the vehicle based on the cutting trajectory, the lateral guidance being suitable for steering the vehicle through the curve section along the cutting trajectory.

5. The method of claim 1, further comprising:

dividing a route section of the roadway into a plurality of curve sections representing a curve entry, a curve that becomes tighter or that opens out, an S-bend and/or a curve exit, and for each of the plurality of curve sections a cutting trajectory is determined, and a trajectory for the route section is formed by stringing together the cutting trajectories of the plurality of curve sections.

6. A method for operating a lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, the method comprising:

receiving, by the lane keeping system, information about the curve section of the predefined road lane via an interface;

dividing, by the lane keeping system, the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment;

determining, by the lane keeping system, a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; and

providing, by the lane keeping system, a vehicle trajectory guidance along the determined cutting trajectory;

wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment;

wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory;

wherein in a region directly adjoining the curve section, at least one further circular arc trajectory is determined so that a further curve trajectory has, in the region, a further predetermined offset relative to the center of the lane.

7. A lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, comprising:

a receiving arrangement to receive information about the curve section of the predefined road lane via an interface;

a dividing arrangement to divide the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment;

a determining arrangement to determine a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; and

a control arrangement to provide a vehicle trajectory guidance along the determined cutting trajectory;

wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment;

wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory;

wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are determined taking into consideration a vehicle speed and a curve section curvature.

8. A non-transitory, computer readable medium having a computer program, which is executable by a processor, comprising:

a program code arrangement having program code for operating a lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, by performing the following;

receiving, by the lane keeping system, information about the curve section of the predefined road lane via an interface;

dividing, by the lane keeping system, the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment;

determining, by the lane keeping system, a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; and

providing, by the lane keeping system, a vehicle trajectory guidance along the determined cutting trajectory;

wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment;

wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory;

wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are determined taking into consideration a vehicle speed and a curve section curvature.