Automatic vehicle guidance method and system

• US 7,317,973 B2
• Filed: 10/09/2002
• Issued: 01/08/2008
• Est. Priority Date: 03/09/2002
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Dieterle, Werner
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US10/469,895
• Publication Number:
  US 20040158366A1
• Time in Patent Office: 1,917 Days
• Field of Search: 701 23- 26, 701/28, 701/41, 701117-119, 701200-202, 701207-210, 701/213, 701/2, 701/93, 701/96, 180167-169, 180/401
• US Class Current: 701/23
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/0058 responsive to externally generated signalling
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/10 Number of lanes
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/30 Road curve radius
• 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 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18159 Traversing an intersection
• CPC Class Codes: B62D 15/026 combined with automatic distance control, i.e. electronic tow bar
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/096827 where the route is computed onboard
• CPC Class Codes: G08G 1/096844 where the complete route is dynamically recomputed based on new data

Abstract

A method for automatic vehicle guidance is provided, in which infrastructure data is wirelessly transmitted to the vehicle and vehicle guidance commands are calculated on the basis of the infrastructure data. In this method, the infrastructure data for at least a section of the travel route immediately ahead is loaded into an on-board memory, the current position of the vehicle is continuously determined using a precise position system, and the commands are calculated on the basis of the position data and the stored infrastructure data.

Claims

1. A method for automatic guidance of a vehicle having a steering control unit, comprising:

receiving at the vehicle wirelessly transmitted infrastructure data for a travel route;

storing in an on-board memory of the vehicle infrastructure data for at least a current section of the travel route immediately ahead of the vehicle;

continually determining a current position of the vehicle using a position-determining system; and

calculating vehicle-guidance commands at least on the basis of continually determined current position data and the stored infrastructure data, whereby the vehicle-guidance commands influence the steering control unit to maintain the vehicle at the center of a road lane,

wherein the wireless transmitted infrastructure data includes information about a current road condition that is automatically acquired and transmitted via a radio beacon for a respective section of the travel route,

wherein the wirelessly transmitted infrastructure data includes data regarding a course of a roadway, a number of lanes of the roadway and a width of the lanes, and

wherein the method further includes;

recording a vehicle preceding the vehicle and slower than the vehicle as a target object, and

regulating a speed of the vehicle to maintain a clearance from the slower vehicle, the regulation of the speed being taken over by an electronic guidance unit when an automatic vehicle guidance is active.

2. The method as recited in claim 1, wherein the infrastructure data for the travel route is transmitted from a server via a radio network.

3. The method as recited in claim 1, wherein the infrastructure data for the entirety of the travel route is store in the on-board memory at the start of travel on the travel route.

4. The method as recited in claim 1, wherein only the infrastructure data for the current section of the travel route immediately ahead of the vehicle is stored in the on-board memory at any one time, and wherein the infrastructure data for a next section of the travel route is automatically loaded into the on-board memory as soon as the vehicle reaches the end of the current section of the travel route.

5. The method as recited in claim 1, wherein the infrastructure data for the travel route includes at least one of data regarding road-related restrictions and warnings of danger spots.

6. The method as recited in claim 1, wherein the stored infrastructure data for at least the current section of the travel route includes data regarding one of uphill and downhill grade of a road.

7. The method of claim 1, wherein the current road condition includes at least one of information regarding wetness and black ice.

8. A system for performing automatic guidance of a vehicle with the aid of a position-determining system, the vehicle having a steering control unit, a drive control unit and a brake control unit, comprising:

an electronic guidance unit for the vehicle, wherein the electronic guidance unit communicates with the position-determining system for determining a position of the vehicle, and wherein the electronic guidance unit receives, via a radio network, infrastructure data regarding a travel route for the vehicle; and

a memory for storing infrastructure data for at least a current section of the travel route immediately ahead of the vehicle;

wherein the electronic guidance unit calculates control commands for at least the drive control unit and the steering control unit on the basis of position data for the vehicle and the stored infrastructure data for at least the current section of the travel route immediately ahead of the vehicle, whereby the steering control unit maintains the vehicle at the center of a road lane,

wherein the wirelessly transmitted infrastructure data includes information about a current road condition that is automatically acquired and transmitted via a radio beacon for a respective section of the travel route,

wherein the wirelessly transmitted infrastructure data includes data regarding a course of a roadway, a number of lanes of the roadway and a width of the lanes; and

wherein the system further includes an adaptive cruise control (ACC) arrangement having a radar sensor to record a vehicle preceding the vehicle and slower than the vehicle as a target object and an adaptive cruise control (ACC) control unit to regulate the speed of the vehicle so that a clearance from the preceding vehicle is maintained, the regulation of the speed of the vehicle being taken over by the electronic guidance unit when an automatic vehicle guidance is active.

9. The system as recited in claim 8, wherein the electronic guidance unit includes a navigation system that receives the position data from the position-determining system.

10. The system as recited in claim 8, wherein the stored infrastructure data is fed to the drive control unit and the brake control unit to influence the drive control unit and the brake control unit.