Predictive routing of a transportation vehicle

Patent metadata

Field	Value
Publication number	US-10907973-B2
Application number	US-201816038526-A
Country	US
Kind code	B2
Filing date	Jul 18, 2018
Priority date	Jul 18, 2017
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

A method and a device for predicting the future course of a roadway for a transportation vehicle driving on a road, wherein the road has a first section, a bend and a second section, and the bend is arranged between the first and the second section. The method determines an approximated course of a road derived from a digital map material using an original clothoid segment, wherein the clothoid segment has a starting point on the first section, an end point on the second section, and the clothoid segment sweeps over the angle defined by the bend between the first and the second section, and continuously corrects the original clothoid segment by subsequent corrective clothoid segments, wherein the corrective clothoid segments take into account the curvature of the route actually traveled by the transportation vehicle after the starting point.

First claim

The invention claimed is:

1. A device for predicting the future course of a road for a transportation vehicle driving on a road, wherein the road has a first section, a bend and a second section, and the bend is arranged between the first and the second section, the device comprising:
a digital map system;
an approximation system which determines from the map data of the map system an original clothoid segment with starting and endpoints for approximating the course of the road;
a system for determining the actual curvature of the path already traveled by the transportation vehicle after the starting point;
a system for comparing the actual curvature and the predicted curvature of the original clothoid segment; and
a system for correcting the original clothoid segment by corrected clothoid segments based on the comparison,
wherein an approximated road course derived from a digital map material is determined using the original clothoid segment, wherein the clothoid segment has a starting point on the first section, an end point on the second section, and the clothoid segment sweeps over the angle defined by bend between the first and the second section, and
wherein the system for correcting continuously corrects the original clothoid segment by subsequent corrective clothoid segments, wherein each corrective clothoid segment takes into account the curvature of the route actually traveled by the transportation vehicle after the starting point.

2. The device of claim 1 , further comprising a system for determining the actual curvature of the path traveled by a transportation vehicle ahead on the future path of the transportation vehicle, wherein the actual curvature of the path traveled by the transportation vehicle ahead is used for comparison with the predicted curvature of the original clothoid segment.

3. The device of claim 1 , further comprising a system for determining the curvature of a section of the road ahead of specified length, wherein the actual curvature of the road section ahead is used for comparison with the predicted curvature of the original clothoid segment.

4. A method for predicting the future course of a road for a transportation vehicle driving on a road, wherein the road has a first section, a bend and a second section, and the bend is arranged between the first and the second section, the method comprising:
accessing digital map material using a map system that is part of a navigation system for the transportation vehicle;
determining an approximated road course derived from a digital map material using an original clothoid segment, wherein the clothoid segment has a starting point on the first section, an end point on the second section, and the clothoid segment sweeps over the angle defined by bend between the first and the second section; and
continuously correcting the original clothoid segment by subsequent corrective clothoid segments, wherein each corrective clothoid segment takes into account the curvature of the route actually traveled by the transportation vehicle after the starting point, wherein the curvature which is actually travelled after the starting point is determined based on data gathered by sensor systems included in the transportation vehicle so as to provide the correction on a continuous basis.

5. The method of claim 4 , wherein the corrective clothoid segments have the starting point and the end point of the original clothoid segment and sweep over the angle specified by the curve between the first section and the second section.

6. The method of claim 4 , wherein the curvature of the route already traveled after the starting point is determined and compared with the curvature of the original clothoid segment, and the amount of the curvature located ahead is increased in response to the curvature of the path already traveled being less than the curvature of the original clothoid segment.

7. The method of claim 4 , wherein the curvature which is actually traveled after the starting point of the original clothoid is determined based on driving dynamics parameters, from measurements of an environmental sensor device and/or from position determinations of the transportation vehicle.

8. The method of claim 7 , wherein, as driving dynamics parameters the yaw rate is determined, an environmental sensor device performs a driving lane recognition and a satellite-based position determination.

9. The method of claim 4 , wherein a forward-looking environmental sensor device determines the curvature of a section of road located in front of the current position of the transportation vehicle and the curvature ahead and the end position of the road section ahead are taken into account to determine a corrective clothoid segment.

10. The method of claim 4 , wherein the curvature of a path traveled by a transportation vehicle driving ahead and its position after the starting point of the original clothoid segment are taken into account, a corrected clothoid segment is determined.

11. A method for predicting a route of a road in an ACC system and/or a lateral guidance assistance system of a transportation vehicle by predicting a future course of a road for a transportation vehicle driving on the road,
wherein the road has a first section, a bend and a second section, and the bend is arranged between the first and the second section wherein an approximated road course derived from a digital map material is determined using an original clothoid segment, wherein the clothoid segment has a starting point on the first section, an end point on the second section, and the clothoid segment sweeps over the angle defined by bend between the first and the second section, and
wherein the system for correcting continuously corrects the original clothoid segment by subsequent corrective clothoid segments, wherein each corrective clothoid segment takes into account the curvature of the route actually traveled by the transportation vehicle after the starting point.

12. The method of claim 10 , wherein the corrective clothoid segments have the starting point and the end point of the original clothoid segment and sweep over the angle specified by the curve between the first section and the second section.

13. The method of claim 10 , wherein the curvature of the route already traveled after the starting point is determined and compared with the curvature of the original clothoid segment, and the amount of the curvature located ahead is increased in response to the curvature of the path already traveled being less than the curvature of the original clothoid segment.

14. The method of claim 10 , wherein the curvature which is actually traveled after the starting point of the original clothoid is determined based on driving dynamics parameters, from measurements of an environmental sensor device and/or from position determinations of the transportation vehicle.

15. The method of claim 14 , wherein, as driving dynamics parameters the yaw rate is determined, an environmental sensor device performs a driving lane recognition and a satellite-based position determination.

16. The method of claim 10 , wherein a forward-looking environmental sensor device determines the curvature of a section of road located in front of the current position of the transportation vehicle and the curvature ahead and the end position of the road section ahead are taken into account to determine a corrective clothoid segment.

17. The method of claim 10 , wherein the curvature of a path traveled by a transportation vehicle driving ahead and its position after the starting point of the original cloth

Assignees

• Volkswagen Ag

Inventors

• Eigel Thomas

Classifications

• G01C21/3819

  Road shape data, e.g. outline of a route · CPC title

• G01C21/3848

  Data obtained from both position sensors and additional sensors · CPC title

• B60W30/10 Primary

  Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• B60W2556/10

  Historical data · CPC title