Method and device for operating a motor vehicle in an automated driving operation

• US 9,393,967 B2
• Filed: 08/21/2013
• Issued: 07/19/2016
• Est. Priority Date: 09/21/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hauler, Florian
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US14/427,573
• Publication Number:
  US 20150246678A1
• Time in Patent Office: 1,063 Days
• Field of Search: 701/25, 701/26, 701/96, 701/301
• US Class Current: 1/1
• CPC Class Codes: B60K 28/10 responsive to conditions relating to the vehicle
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 50/035 Bringing the control units into a predefined state, e.g. giving priority to particular actuators
• CPC Class Codes: B60Y 2302/05 Leading to automatic stopping of the vehicle
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/0285 Parking performed automatically

Abstract

A method for operating a motor vehicle in an automated driving operation includes: ascertaining a standard trajectory, the ascertained standard trajectory being transmitted during driving operation with the aid of a control system to an actuator device of the motor vehicle; guiding the motor vehicle along the standard trajectory; ascertaining a safety zone for the motor vehicle, the ascertained safety zone being transmitted with the aid of the control system to the actuator device during the driving operation; and in a case in which error-free automated driving operation for the motor vehicle is no longer ensured, the motor vehicle is guided with the aid of the actuator device into the safety zone.

Claims

1. A method for operating a motor vehicle in a completely automated driving operation, comprising:

ascertaining, by an ascertaining device, a standard trajectory and transmitting the ascertained standard trajectory with the aid of a control system to an actuator device of the motor vehicle during the automated driving operation;

guiding, with the aid of the actuation device, the motor vehicle along the standard trajectory;

ascertaining, by the ascertaining device, at least one safety zone for the motor vehicle and transmitting the ascertained safety zone with the aid of the control system to the actuator device during the automated driving operation; and

automatically performing a switchover to the safety zone if error-free automated driving operation for the motor vehicle is no longer ensured, whereby the motor vehicle is guided with the aid of the actuator device into the safety zone.

2. The method as recited in claim 1, wherein the safety zone and the standard trajectory are ascertained essentially simultaneously.

3. The method as recited in claim 2, wherein, with the aid of an error monitoring device, an error case of the motor vehicle is ascertained, and wherein the motor vehicle is guided into the safety zone in response to the error case.

4. The method as recited in claim 3, wherein, depending on the error case, a switchover to the safety zone is carried out with the aid of one of the control system or the error monitoring device.

5. The method as recited in claim 1, wherein in addition to the safety zone, at least one safety trajectory is ascertained and transmitted to the actuator device.

6. The method as recited in claim 5, wherein for the case in which the motor vehicle is controllable only in a limited manner with the aid of the actuator device, the motor vehicle is one of (i) guided along the safety trajectory or (ii) guided into the safety zone.

7. The method as recited in claim 5, wherein during the automated driving operation multiple safety trajectories and multiple safety zones are generated, and wherein one of the safety trajectories and the safety zones is selected after an analysis of the error case by the error monitoring device.

8. The method as recited in claim 7, wherein in the case of an error in a sensor device for a surroundings detection, the motor vehicle is guided into the safety zone.

9. The method as recited in claim 7, wherein in the case of an error in a sensor device for a surroundings detection, the motor vehicle is guided along a safety trajectory.

10. A device for operating a motor vehicle in a completely automated driving operation, comprising:

a sensor device;

an actuator device;

an ascertaining device for ascertaining a standard trajectory and a safety zone;

a control system, wherein information regarding the safety zone is transmitted to the actuator device of the motor vehicle with the aid of the control system; and

an error monitoring device, wherein upon ascertaining with the aid of the sensor device and the error monitoring device that error-free automated driving operation for the motor vehicle is no longer ensured, the motor vehicle is automatically guided with the aid of the actuator device into the safety zone.

11. The device as recited in claim 10, wherein the ascertaining device includes a planning module for the standard trajectory, and wherein a safety trajectory is additionally ascertained with the aid of the planning module, the safety trajectory being transmitted with the aid of the control system to the actuator device.

12. The device as recited in claim 11, wherein the standard trajectory, the safety zone, and the safety trajectory are ascertained essentially simultaneously with the aid of the planning module.

13. The device as recited in claim 11, wherein the switchover from the standard trajectory to the safety zone is carried out by one of the control system or the error detection device.

14. A non-transitory, computer-readable data storage medium storing a computer program having program codes which, when executed on a computer, perform a method for operating a motor vehicle in a completely automated driving operation, the method comprising:

ascertaining, by an ascertaining device, a standard trajectory and transmitting the ascertained standard trajectory with the aid of a control system to an actuator device of the motor vehicle during the automated driving operation;

guiding, with the aid of the actuation device, the motor vehicle along the standard trajectory;

ascertaining, by the ascertaining device, at least one safety zone for the motor vehicle and transmitting the ascertained safety zone with the aid of the control system to the actuator device during the automated driving operation; and

automatically performing a switchover to the safety zone if error-free automated driving operation for the motor vehicle is no longer ensured, whereby the motor vehicle is guided with the aid of the actuator device into the safety zone.