Autonomous vehicle arrangement and method for controlling an autonomous vehicle

• US 6,151,539 A
• Filed: 11/03/1998
• Issued: 11/21/2000
• Est. Priority Date: 11/03/1997
• Status: Expired due to Term

• Current Assignee: Volkswagen AG
• Original Assignee: Volkswagen AG
• Inventors: Bergholz, Ralf, Weisser, Hubert, Timm, Klaus
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/185,291
• Time in Patent Office: 749 Days
• Field of Search: 701/25, 701/200, 701/96, 701/117, 701/301, 701/201, 701/300, 340/907, 340/901, 340/902, 340/903, 340/904, 340/905, 340/425.5, 340/435
• US Class Current: 701/25
• CPC Class Codes: B60W 30/186 excessive wear or burn out of friction elements, e.g. clutches
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/881 for robotics
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93273 on the top of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G05D 1/024 : in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 : using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 : using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 : comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• 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

Abstract

An autonomous vehicle and method for controlling it includes an input unit to receive one or more travel orders, a route planning unit containing at least one position finding device and digital street map, a vehicle path generating a unit, an array of sensors including at least one range sensor for detecting objects and at least one range sensor for detecting the condition features of the route, a collision avoidance unit, a vehicle condition data recognition unit, a vehicle control unit and a unit for controlling the vehicle actuator system based on the signals generated by the vehicle control unit, wherein the array of sensors includes at least two essentially horizontally directed range sensors at the front of the vehicle, at least one range sensor at the rear area of the vehicle, at least one trackable range sensor on the roof of the vehicle and directed at the roadway, ultrasonic sensors and/or microwave radar sensors arranged on each side of the vehicle, and at least one camera located in each of the front and rear areas of the vehicle.

Claims

1. An autonomous vehicle arrangement, comprising:

an input unit for travel orders;

a vehicle route planning unit comprising at least one position finding unit and a digital street map;

a vehicle path generating unit for generating a vehicle path from a present location to a designated destination;

a plurality of sensors including at least one range sensor for detecting objects and condition features of the vehicle path;

a collision avoidance unit;

a vehicle condition data recognition unit;

a vehicle control unit; and

a vehicle actuator control unit for controlling vehicle drive system actuators based on signals generated by the vehicle control unit;

wherein the plurality of sensors includes;

at least one range sensor located in a front area of the vehicle;

at least one range sensor located in a rear area of the vehicle;

a plurality of ultrasonic and/or microwave radar sensors located at the sides of the vehicle; and

at least one camera located in each of the front and rear areas of the vehicle.

2. An autonomous vehicle arrangement in accordance with claim 1 wherein the plurality of sensors includes two laser scanner sensors directed essentially horizontally and arranged in a front area of the vehicle.

3. An autonomous vehicle arrangement in accordance with claim 2 wherein the laser scanner sensors have a horizontal detection range angle of about 270°

.

4. An autonomous vehicle arrangement in accordance with claim 1 wherein a range sensor located in the rear area of the vehicle is a laser scanner sensor.

5. An autonomous vehicle arrangement in accordance with claim 4 wherein the laser scanner sensor in the rear area is effective at least partially as a three-dimensional laser scanner.

6. An autonomous vehicle arrangement in accordance with claim 1 wherein a range sensor located in the front area of the vehicle is a radar sensor.

7. An autonomous vehicle arrangement in accordance with claim 1 including a further range sensor which is adjustable in sensing range as a function of vehicle speed and/or weather conditions.

8. An autonomous vehicle arrangement in accordance with claim 7 wherein the further range sensor is a laser scanner sensor directed toward the roadway in front of the vehicle.

9. An autonomous vehicle arrangement in accordance with claim 8 wherein the laser scanner sensor directed toward the roadway is mounted near the forward end of the roof of the vehicle.

10. An autonomous vehicle arrangement in accordance with claim 8 wherein the laser scanner sensor is mounted behind the windshield of the vehicle in a rear-view mirror area.

11. An autonomous vehicle arrangement in accordance with claim 1 wherein the cameras located in the front and rear areas of the vehicle are arranged for recognition of objects and/or traffic signs and/or lanes.

12. An autonomous vehicle arrangement in accordance with claim 8 wherein the further range sensor has a horizontal detection range and a vertical detection range and the horizontal detection range is greater than the vertical detection range.

13. An autonomous vehicle arrangement in accordance with claim 8 wherein the further range sensor is designed with redundancy.

14. An autonomous vehicle arrangement in accordance with claim 1 including an additional range sensor having a fixed setting and scan angle located on the roof of the vehicle for sensing allowable clearance heights.

15. An autonomous vehicle arrangement in accordance with claim 14 wherein the additional range sensor is a laser scanner sensor.

16. An autonomous vehicle arrangement in accordance with claim 1 including a first camera for near field recognition and a second camera for far field recognition mounted in the front area of the vehicle.

17. An autonomous vehicle arrangement in accordance with claim 1 including a front-facing camera arranged on each side of the vehicle.

18. An autonomous vehicle arrangement in accordance with claim 1 wherein the cameras are CCD cameras.

19. An autonomous vehicle arrangement in accordance with claim 1 including at least one wheel sensor for each of the wheels of the vehicle for detection of the coefficient of road friction.

20. An autonomous vehicle arrangement in accordance with claim 1 wherein the plurality of sensors includes at least one of a temperature sensor, a humidity sensor and an air pressure sensor.

21. An autonomous vehicle arrangement in accordance with claim 1 including at least one microphone and/or at least one loudspeaker.

22. An autonomous vehicle arrangement in accordance with claim 1 including a thermal imaging camera mounted in the front area of the vehicle for the detection of living creatures.

23. An autonomous vehicle arrangement in accordance with claim 1 wherein the position finding device includes a DGPS sensor.

24. An autonomous vehicle arrangement in accordance with claim 23 wherein the DGPS sensor is designed with redundancy.

25. An autonomous vehicle arrangement in accordance with claim 1 wherein the vehicle actuator control unit includes at least one of an x-by-wire system and a driving robot.

26. An autonomous vehicle arrangement in accordance with claim 1 including an external communication system connected to at least one of the route planning unit and the input unit for travel orders.

27. An autonomous vehicle arrangement in accordance with claim 1 wherein the position finding unit includes a gyroscope or a gyroplatform.

28. An autonomous vehicle arrangement in accordance with claim 1 including a vehicle computer and at least one data bus connecting the vehicle computer to the plurality of sensors or to the vehicle drive system actuators.

29. An autonomous vehicle in accordance with claim 1 wherein the data bus is a CAN bus.

30. A method for controlling an external communication system of an autonomous vehicle having an input unit for travel orders, a route planning unit containing a position finding device and a digital street map, a vehicle course generating unit for generating a vehicle course from a present location to a desired destination, an external communication system, an object recognition device, a vehicle control unit, a vehicle drive system actuation and a plurality of sensors, comprising the following steps:

a) providing an input to the input unit representing a desired travel destination;

b) transmitting the input travel destination to the route planning unit;

c) detecting the current vehicle location by the position finding device;

d) determining a route, defined in route segments, from the current vehicle location to the travel destination by a digital map and optimization algorithms, taking into account any traffic information provided over the external communication system;

e) transmitting to the vehicle course generating unit from the route planning unit the individual route segments to be traveled and the current location of the vehicle;

f) generating an optimized course for the transmitted route segments, taking into account any traffic information provided over the external communication system and infrastructure information stored in the digital map and/or detected by the plurality of sensors;

g) transmitting the generated course, the vehicle condition data and the data acquired by the plurality of sensors to the vehicle control unit;

h) verifying in the vehicle control unit the functionality of individual vehicle modules and sensors and any intervention in the vehicle actuator system in order to bring the vehicle into a safe condition in the event of system defects relevant to safety;

i) generating a control vector for individual vehicle drive system actuators for implementing the generated course, taking into account data acquired by the object recognition device; and

j) transmitting the control vector to the control unit for controlling the vehicle actuator drive system to cause the associated control data to be transmitted from the control vector to the individual vehicle actuators.

31. A method in accordance with claim 30 including determining the traffic signal signs to be observed for each current route segment by use of the digital map and the video camera, and causing the control vector to be brought into agreement with the traffic regulations by using traffic regulation algorithms stored in the vehicle control device.