Method and system for determining parameters of a model for the longitudinal guidance and for the determination of a longitudinal guide for a vehicle

• US 9,429,443 B2
• Filed: 12/17/2014
• Issued: 08/30/2016
• Est. Priority Date: 12/17/2013
• Status: Active Grant

• Current Assignee: Volkswagen AG
• Original Assignee: Volkswagen AG
• Inventors: Hoch, Nicklas
• Primary Examiner(s): To, Tuan C.
• Assistant Examiner(s): Kan, Yuri
• Application Number:
  US14/573,324
• Publication Number:
  US 20150168157A1
• Time in Patent Office: 622 Days
• Field of Search: 701/94, 701/400, 701/119
• US Class Current: 1/1
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 40/107 Longitudinal acceleration
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G01C 21/3469 Fuel consumption; Energy use; Emission aspects
• CPC Class Codes: G01C 21/3484 Personalized, e.g. from learned user behaviour or user-defined profiles
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station

Abstract

A method to detect a section of a route of the vehicle using sensors, an actual speed-time profile when driving through the section, and parameters based on the actual speed-time profile. The method includes determining a route of the vehicle, wherein the route runs from a current position of the vehicle to a target position of the route; dividing the route into sections, wherein each of the sections is assigned to a predetermined section type and is assigned a reference speed-time profile which is dependent on the section type of the respective section; determining an expected speed-time profile for each of the sections in that the reference speed-time profile of the respective section is provided with parameters which are dependent on a current driver to determine the expected speed-time profile of the respective section; and determining the longitudinal guidance using the expected speed-time profiles of the sections of the route.

Claims

1. A method for determining parameters of a model of predicted longitudinal guidance of a vehicle under control of a controller, the method comprising:

detecting a section of a route of the vehicle using sensors of the vehicle, wherein the route runs from a current position of the vehicle to a target position of the route;

detecting an actual speed-time profile of the vehicle when driving through the section; and

determining the parameters as a function of the actual speed time profile,

wherein a predetermined section type and a reference speed-time profile, which is dependent on the section type, are assigned to the section,

wherein an expected speed time profile is determined with the parameters based on the basis of the reference speed time profile, wherein the parameters are dependent on a current driver, to determine the expected speed time profile of a respective section, and

wherein the parameters comprise at least one parameter from a parameter group comprising;

an offset speed which indicates, for the respective section, a deviation from a constant speed within the reference speed time profile of the respective section, and a transition acceleration, which indicates an acceleration for the respective section to accelerate, within the respective section, from a first specific speed of the vehicle to a second specific speed of the vehicle.

2. The method of claim 1, wherein the parameters are dependent on a driver of the vehicle and/or on the section type.

3. A method for determining predicted longitudinal guidance for a vehicle under control of a controller the method comprising:

determining a route of the vehicle, wherein the route runs from a current position of the vehicle to a target position of the route;

dividing the route into sections, wherein each of the sections is assigned to a predetermined section type, wherein each section is assigned a reference speed time profile which is dependent on the section type of the respective section;

determining an expected speed time profile for each of the sections, in that the reference speed time profile of the respective section is provided with parameters, which are dependent on a current driver, to determine the expected speed time profile of a respective section; and

determining the longitudinal guidance based on the expected speed time profiles of the sections of the route,

wherein the parameters comprise at least one parameter from a parameter group comprising;

an offset speed which indicates, for the respective section, a deviation from a constant speed within the reference speed time profile of the respective section, and a transition acceleration, which indicates an acceleration for the respective section to accelerate, within the respective section, from a first specific speed of the vehicle to a second specific speed of the vehicle.

4. The method of claim 3, wherein the parameters are dependent on the section type.

5. The method of claim 3, wherein the determination of the expected speed-time profile comprises:

detecting a current section of the route of the vehicle using sensors of the vehicle;

detecting an actual speed-time profile of the vehicle when driving through the current section; and

adapting the parameters as a function of the actual speed-time profile.

6. The method of claim 3, wherein the section types comprise at least one from a section type group, wherein the section type group comprises:

a traffic light section type;

an intersection section type;

a section type which represents a section on which the vehicle can travel;

unimpeded and

a section type which represents a section on which the vehicle is impeded by other vehicles.

7. The method of claim 3, wherein the parameters are determined as a function of at least one information item from an information group, wherein the information group comprises:

an environment condition which applies when the vehicle is traveling on the respective section;

a state of the driver;

a vehicle information item which describes the vehicle and/or a state of the vehicle;

a driving style of the driver;

properties of the vehicle;

features of the section;

a time of day at which the vehicle travels on the respective section; and

a specific position on the route.

8. The method of claim 7, wherein, for a plurality of section types, there are in each case a plurality of parameter sets, wherein each of the parameter sets comprises the parameters in order to determine the expected speed-time profile for the respective section starting from the reference speed-time profile, and in that in each case one of these parameter sets is created for at least one information item or for at least one combination of the information items from the information group.

9. A system for determining parameters of a model of predicted longitudinal guidance of a vehicle, the system comprising:

a controller;

storage for storing the parameters; and

sensors of the vehicle,

wherein the system is configured to detect a section of a route of the vehicle using the sensors, to detect an actual speed-time profile of the vehicle when driving through the section and to determine the parameters as a function of the actual speed-time profile, wherein the route runs from a current position of the vehicle to a target position of the route,

wherein the section is assigned to a predetermined section type and a reference speed-time profile which is dependent on the section type, and

wherein an expected speed-time profile is determined based on the reference speed-time profile with parameters, which are dependent on a current driver, to determine the expected speed-time profile of a respective section,

wherein the longitudinal guidance is determined based on the expected speed-time profiles of the sections of the route, and

wherein the parameters comprise at least one parameter from a parameter group comprising;

an offset speed which indicates, for the respective section, a deviation from a constant speed within the reference speed-time profile of the respective section, and a transition acceleration, which indicates an acceleration for the respective section in order to accelerate, within the respective section, from a first specific speed of the vehicle to a second specific speed of the vehicle.

10. A system for determining predicted longitudinal guidance for a vehicle, the system comprising:

controller;

an input device configured to predefine a route of the vehicle; and

an output device configured to output the longitudinal guidance,

wherein the route runs from a current position of the vehicle up to a target position of the route,

wherein, under the direction of the controller, the system is configured to divide the route into sections, wherein each section is assigned to a predetermined section type, wherein each section is assigned a reference speed-time profile which is dependent on the section type of a respective section,

wherein the system, under the control of the controller, is configured to determine an expected speed-time profile for each section and provides the reference speed-time profile of the respective section with parameters, which are dependent on a current driver, to determine the expected speed-time profile of the respective section,

wherein the system is configured to determine, under the direction of the controller, the longitudinal guidance using the expected speed-time profiles of the sections of the route, and

wherein the parameters comprise at least one parameter from a parameter group comprising;

an offset speed which indicates, for the respective section, a deviation from a constant speed within the reference speed-time profile of the respective section, and a transition acceleration, which indicates an acceleration for the respective section to accelerate, within the respective section, from a first specific speed of the vehicle to a second specific speed of the vehicle.

11. A vehicle having a system for determining parameters of a model of predicted longitudinal guidance of a vehicle, the system comprising:

a controller;

storage for storing the parameters; and

sensors of the vehicle,

wherein the system is configured to detect a section of a route of the vehicle using the sensors, to detect an actual speed-time profile of the vehicle when driving through the section and to determine the parameters as a function of the actual speed-time profile,

wherein the section is assigned to a predetermined section type and a reference speed-time profile which is dependent on the section type,

wherein an expected speed-time profile can be determined on the basis of the reference speed-time profile with the parameters, and

wherein the parameters comprise at least one parameter from a parameter group comprising;

an offset speed which indicates, for a respective section, a deviation from a constant speed within the reference speed-time profile of the respective section, and a transition acceleration, which indicates an acceleration for the respective section to accelerate, within the respective section, from a first specific speed of the vehicle to a second specific speed of the vehicle.

12. A vehicle comprising a system for determining predicted longitudinal guidance for a vehicle, the system comprising:

controller;

an input device configured to predefine a route of the vehicle; and

an output device configured to output the longitudinal guidance,

wherein the route runs from a current position of the vehicle up to a target position of the route,

wherein, under the direction of the controller, the system is configured to divide the route into sections, wherein each section is assigned to a predetermined section type, wherein each section is assigned a reference speed-time profile which is dependent on the section type of a respective section,

wherein the system, under the control of the controller, is configured to determine an expected speed-time profile for each section and provides the reference speed-time profile of the respective section with parameters, which are dependent on a current driver, to determine the expected speed-time profile of the respective section,

wherein the system is configured to determine, under the direction of the controller, the longitudinal guidance using the expected speed-time profiles of the sections of the route, and

wherein the parameters comprise at least one parameter from a parameter group comprising;

an offset speed which indicates, for the respective section, a deviation from a constant speed within the reference speed-time profile of the respective section, and a transition acceleration, which indicates an acceleration for the respective section in order to accelerate, within the respective section, from a first specific speed of the vehicle to a second specific speed of the vehicle.