Method for selecting an optimized trajectory

Patent metadata

Field	Value
Publication number	US-10152056-B2
Application number	US-201615292476-A
Country	US
Kind code	B2
Filing date	Oct 13, 2016
Priority date	Oct 20, 2015
Publication date	Dec 11, 2018
Grant date	Dec 11, 2018

Abstract

A method for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site. First, a need to transfer the vehicle into a safe system state is ascertained. A vehicle state is then determined, the vehicle state encompassing the current vehicle position. At least one target site is ascertained. Travel trajectories are ascertained from the current vehicle position to the at least one target site. The travel trajectories are related. One of the travel trajectories is selected based on the rating that has been carried out. A signal is generated on the basis of the selected travel trajectory.

First claim

What is claimed is:

1. A method for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site, the method comprising:
ascertaining, via a processor, a need to transfer the vehicle into a safe system state;
determining, via the processor, a vehicle state, the vehicle state including a current vehicle position;
ascertaining, via the processor, at least one target site;
ascertaining, via the processor, travel trajectories from the current vehicle position to the at least one target site;
rating, via the processor, the travel trajectories;
selecting, via the processor, one of the travel trajectories based on the rating;
generating, via the processor, the signal based on the selected travel trajectory; and
transferring, via the processor and based on the signal, a partly or highly automated vehicle into a safe system state at a target site;
wherein expected localization accuracies along the ascertained travel trajectories are calculated, and those localization accuracies are used to rate the travel trajectories.

2. The method as recited in claim 1 , wherein at least one of: i) a vehicle state, and ii) a driver state, are ascertained in order to ascertain the need.

3. The method as recited in claim 1 , wherein a performance of the vehicle is ascertained, and the ascertained performance is used to rate the travel trajectories.

4. The method as recited in claim 1 , wherein the expected localization accuracy along a travel trajectory is calculated on the basis of landmarks along that travel trajectory.

5. The method as recited in claim 1 , wherein a functionality of environmental sensor equipment present in the vehicle is determined in the context of ascertaining the performance of the vehicle, and that functionality is used for calculation of the expected localization accuracy.

6. The method as recited in claim 1 , wherein curves in the ascertained travel trajectories are determined, and the determined curves are used to rate the travel trajectories.

7. The method as recited in claim 1 , wherein a first and at least one second target site are ascertained, the ascertained target sites being rated.

8. The method as recited in claim 7 , wherein selection of one of the travel trajectories is accomplished based additionally on the rating of the at least two target sites.

9. The method as recited in claim 7 , wherein a probability value that is calculated from a probability of at least one of: i) a collision with other traffic participants, and ii) interference with other traffic participants, at that target site is used for ascertaining the at least one target site.

10. The method as recited in claim 1 , wherein map information is taken into consideration in ascertaining the at least one target site.

11. An apparatus for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site, comprising:
a transfer device having a processor configured to perform the following:
ascertaining, via the processor, a need to transfer the vehicle into a safe system state;
determining, via the processor, a vehicle state, the vehicle state including a current vehicle position;
ascertaining, via the processor, at least one target site;
ascertaining, via the processor, travel trajectories from the current vehicle position to the at least one target site;
rating, via the processor, the travel trajectories;
selecting, via the processor, one of the of the travel trajectories based on the rating;
generating, via the processor, the signal based on the selected travel trajectory; and
transferring, via the processor and based on the signal, a partly or highly automated vehicle into a safe system state at a target site;
wherein expected localization accuracies along the ascertained travel trajectories are calculated, and those localization accuracies are used to rate the travel trajectories.

12. A non-transitory computer-readable storage medium on which is stored a computer program, which is executable by a processor, comprising:
a program code arrangement having program code for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site, by performing the following:
ascertaining, via the processor, a need to transfer the vehicle into a safe system state;
determining, via the processor, a vehicle state, the vehicle state including a current vehicle position;
ascertaining, via the processor, at least one target site;
ascertaining, via the processor, travel trajectories from the current vehicle position to the at least one target site;
rating, via the processor, the travel trajectories;
selecting, via the processor, one of the travel trajectories based on the rating;
generating, via the processor, the signal based on the selected travel trajectory; and
transferring, via the processor and based on the signal, a partly or highly automated vehicle into a safe system state at a target site;
wherein expected localization accuracies along the ascertained travel trajectories are calculated, and those localization accuracies are used to rate the travel trajectories.

Assignees

• Bosch Gmbh Robert

Inventors

• Rohde Jan
• Mielenz Holger

Classifications

• B60W60/0015

  specially adapted for safety · CPC title

• B60W60/0011

  involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• G01S2013/9324

  Alternative operation using ultrasonic waves · CPC title