Method for predicting the travel path of a motor vehicle and prediction apparatus

• US 9,914,453 B2
• Filed: 10/02/2014
• Issued: 03/13/2018
• Est. Priority Date: 11/12/2013
• Status: Active Grant

• Current Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Original Assignee: Valeo Schalter und Sensoren GmbH (Valeo SE)
• Inventors: Kraehling, Martin
• Primary Examiner(s): To, Tuan C
• Application Number:
  US15/035,253
• Publication Number:
  US 20160288787A1
• Time in Patent Office: 1,258 Days
• CPC Class Codes: B60W 2050/002 Integrating means
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2520/00 Input parameters relating to overall vehicle dynamics
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/12 Lateral speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters

Abstract

A method for predicting the expected travel path of a moving vehicle by numerical integration of a dynamic vehicle model using at least one rotational travel state and at least one longitudinal travel state is disclosed. To provide a prediction of the expected travel path, which does not depend on map information and provides the maximum possible accuracy even for non-steady-state travel states of a vehicle, time-related function rules for the rotational travel state φ_Pre(t) and/or for the longitudinal travel state ν_Pre(t) are determined, and values for the travel state concerned φ_Pre, ν_Pre are predicted at specific points in time by integration using said function rule φ_Pre(t), ν_Pre(t). In this process, the time-related function rule of the travel state concerned is determined by obtaining respective (rotational or longitudinal) input variables for at least two time-derivatives of the travel state concerned from measured values.

Claims

1. A method for controlling a moving vehicle by numerical integration of a dynamic vehicle model using at least one rotational travel state, which is affected by angular motion of the moving vehicle, and at least one longitudinal travel state, which is affected by linear motion of the moving vehicle, the method comprising:

generating, using at least one sensor of the moving vehicle, measured values corresponding to input variables of the at least one rotational travel state and the at least one longitudinal travel state;

determining time-related function rules for a predicted rotational travel state and/or for a predicted longitudinal travel state;

generating prediction values for a travel state concerned at specific points in time by numerical integration using said time-related function rule; and

facilitating control of the moving vehicle based on the prediction values,

wherein the time-related function rule of a predicted travel state is determined by;

obtaining respective rotational or longitudinal input variables for at least two time-derivatives of the travel state concerned from the measured values, and

relating the input variables in linear dynamic models of order equal to the number of input variables of the travel state concerned using specified time constants, by determining from the linear model a time-related function rule for prediction values for the input variable concerned, and by analytically integrating the function rule for the prediction values of the input variable.

2. The method according to claim 1, wherein variables obtained using the input variables are derived from the linear dynamic model and taken into account as weighting factors in determining the time-related function rules, wherein the weighting factors are updated whenever a new measured value is acquired.

3. The method according to claim 1, wherein measured values are acquired for each input variable.

4. The method according to claim 1, wherein a speed of the vehicle is used as the longitudinal travel state for the numerical integration, wherein as the input variables for the travel-path prediction, the acceleration and a sudden linear movement are determined from the measured values or estimated from the measured values.

5. The method according to claim 1, wherein a bearing angle of the vehicle is used as the rotational travel state for the numerical integration, wherein as the input variables for the travel-path prediction, yaw rate and yaw acceleration are determined from the measured values or estimated from the measured values.

6. The method according to claim 1, wherein the vehicle specified time constants lie in a time range of 0.3 s to 15.0 s.

7. A prediction apparatus for implementing the method as claimed in claim 1, wherein the prediction apparatus comprises a measured-value input for connecting to a vehicle-sensor unit of the vehicle.

8. The prediction apparatus according to claim 7, wherein the prediction apparatus is allocated to a camera-based or optoelectronic driver assistance system or is integrated in such a driver assistance system.