Automatic driving of a route

• US 9,784,585 B2
• Filed: 12/12/2014
• Issued: 10/10/2017
• Est. Priority Date: 04/03/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Fausten, Michael
• Primary Examiner(s): Wong, Yuen
• Application Number:
  US14/782,249
• Publication Number:
  US 20160047660A1
• Time in Patent Office: 1,033 Days
• CPC Class Codes: B60W 2050/0074 Driver shifts control to the controller, e.g. by pressing a button
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2050/046 involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 30/182 Selecting between different operative modes, e.g. comfort and performance modes
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• 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: B60W 60/0051 from occupants to vehicle
• 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
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• 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 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle

Abstract

A method for automatically driving a predetermined route includes the steps of scanning route data and environmental data while the route is being driven manually, determining an automatic driving strategy based on the scanned data, comparing the automatic driving strategy to the manual driving strategy and enabling the automatic driving of the route if the automatic driving strategy differs by less than a predetermined measure from the manual driving strategy.

Claims

1. A method for automatically driving a vehicle along a predetermined route, the method comprising:

scanning, via a scanning arrangement, route data and environmental data, while the predetermined route is first being driven manually by a driver of the vehicle without active interventions by the vehicle;

determining, via a processor, an automatic driving plan based on the scanned data;

comparing, via the processor, the automatic driving plan to a manual driving plan based on the vehicle being driven manually by the driver of the vehicle;

enabling, via the processor, the automatic driving along the predetermined route based on the automatic driving plan, if the automatic driving plan differs by less than a predetermined measure from the manual driving plan; and

controlling the vehicle as a function of the determined automatic driving plan;

wherein the driving plan includes a travel route, which includes predetermined route sections in a predetermined sequence, and local driving decisions,

wherein the predetermined route is driven more than once,

wherein the scanning arrangement is coupled to the processor,

wherein the scanning arrangement includes a camera for taking an optical image in surroundings of the vehicle, and a navigation receiver for determining a position of the vehicle,

wherein at least one characteristic of the surroundings is determined from the scanned data, and wherein the driving plan is determined based on at least one determined characteristic, and wherein the characteristics include at least one of a road routing, a route selection, a local traffic control, a current traffic control, a temporary obstacle, and

wherein the at least one determined characteristic and the scanned data on which the determination of the characteristic is based are presented to the driver and a confirmation of the determination is scanned.

2. The method of claim 1, wherein the automatic driving is enabled only if the route has been manually driven at least once.

3. The method of claim 2, wherein the route is driven manually more often than a predetermined number of times.

4. The method of claim 1, wherein the at least one determined characteristic is made available outside a motor vehicle.

5. The method of claim 1, wherein at least one characteristic of the surroundings, which is determined based on route data and environmental data, are received by an external infrastructure and the driving plan is determined based on at least one determined characteristic.

6. The method of claim 1, wherein the automatic driving along the route is enabled only within a predetermined time period after a last drive.

7. 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 automatically driving a vehicle along a predetermined route, by performing the following;

scanning, via the processor, route data and environmental data, while the predetermined is first being driven manually by a driver of the vehicle without active interventions by the vehicle;

determining, via the processor, an automatic driving plan based on the scanned data;

comparing, via the processor, the automatic driving plan to a manual driving plan based on the vehicle being driven manually by the driver of the vehicle; and

enabling, via a processor, the automatic driving along the predetermined route based on the automatic driving plan, if the automatic driving plan differs by less than a predetermined measure from the manual driving plan; and

controlling the vehicle as a function of the determined automatic driving plan;

wherein the driving plan includes a travel route, which includes predetermined route sections in a predetermined sequence, and local driving decisions,

wherein the predetermined route is driven more than once,

wherein the scanning arrangement is coupled to the processor, and

wherein the scanning arrangement includes a camera for taking an optical image in surroundings of the vehicle, and a navigation receiver for determining a position of the vehicle,

wherein at least one characteristic of the surroundings is determined from the scanned data, and wherein the driving plan is determined based on at least one determined characteristic, and wherein the characteristics include at least one of a road routing, a route selection, a local traffic control, a current traffic control, a temporary obstacle, and

wherein the at least one determined characteristic and the scanned data on which the determination of the characteristic is based are presented to the driver and a confirmation of the determination is scanned.

8. A device for automatically driving a vehicle along a predetermined route, comprising:

a scanning arrangement for scanning route data and environmental data, while the predetermined is first being driven manually by a driver of the vehicle without active interventions by the vehicle;

a processing device, including a processor, for determining an automatic driving plan based on the scanned data, wherein the processing device is configured to compare the automatic driving plan to a manual driving plan based on the vehicle being driven manually, and to enable an automatic driving along the predetermined route based on the automatic driving plan, if the automatic driving plan differs by less than a predetermined measure from the manual driving plan;

wherein the processing device is further configured to control the vehicle as a function of the determined automatic driving plan,

wherein the driving plan includes a travel route, which includes predetermined route sections in a predetermined sequence, and local driving decisions,

wherein the predetermined route is driven more than once,

wherein the scanning arrangement is coupled to the processor, and

wherein the scanning arrangement includes a camera for taking an optical image in surroundings of the vehicle, and a navigation receiver for determining a position of the vehicle,

wherein at least one characteristic of the surroundings is determined from the scanned data, and wherein the driving plan is determined based on at least one determined characteristic, and wherein the characteristics include at least one of a road routing, a route selection, a local traffic control, a current traffic control, a temporary obstacle, and

wherein the at least one determined characteristic and the scanned data on which the determination of the characteristic is based are presented to the driver and a confirmation of the determination is scanned.