Method and device for operating an automated vehicle

Patent metadata

Field	Value
Publication number	US-11221624-B2
Application number	US-201916540710-A
Country	US
Kind code	B2
Filing date	Aug 14, 2019
Priority date	Aug 31, 2018
Publication date	Jan 11, 2022
Grant date	Jan 11, 2022

Abstract

A method and a device for operating an automated vehicle are provided. The method includes a step of receiving a first position of the automated vehicle, a step of receiving environment data values, the environment data values representing an environment of the automated vehicle, a step of detecting at least one further vehicle in the environment of the automated vehicle, and a step of generating a digital environment model, starting from a digital map, based on the environment data values and as a function of the first position of the automated vehicle. The environment model comprises the automated vehicle, the at least one further vehicle, and at least one simulated object in the environment of the automated vehicle. The method also includes a step of operating the automated vehicle as a function of the digital environment model.

First claim

What is claimed is:

1. A method for operating an automated vehicle, comprising:
receiving a first position of the automated vehicle;
receiving environment data values, the environment data values representing an environment of the automated vehicle;
detecting at least one further vehicle in the environment of the automated vehicle;
generating a digital environment model, starting from a digital map, based on the environment data values and depending on the first position of automated vehicle, the environment model including the automated vehicle, the at least one further vehicle, and at least one simulated object in the environment of the automated vehicle; and
operating, via a processing unit, the automated vehicle as a function of the digital environment model;
wherein the environment model includes the at least one simulated object so that a driving function for the automated vehicle is tested as a function of the at least one simulated object when operating the automated vehicle,
wherein the driving function determines a setpoint trajectory for the automated vehicle as a function of the digital environment model, and wherein the operation of the automated vehicle is aborted by the driving function when an actual trajectory of the automated vehicle deviates from the setpoint trajectory according to specified criteria, and
wherein the environment model includes the automated vehicle, the at least one further vehicle, and at least one simulated object in the environment of the automated vehicle.

2. The method as recited in claim 1 , wherein the at least one further vehicle is detected using the environment data values and/or the at least one further vehicle is detected in that at least one second position of the at least one further vehicle is received.

3. The method as recited in claim 1 , wherein the at least one further vehicle poses a risk of collision for the automated vehicle, and the operation is performed so as to minimize the risk of collision.

4. The method as recited in claim 1 , wherein the processing unit includes the automated vehicle, wherein the operating of the automated vehicle uses a data interface, which is connected to a further control unit of the automated vehicle, and wherein the further control unit is configured to operate the automated vehicle in an automated manner, including by automated lateral and/or automated longitudinal control.

5. The method as recited in claim 1 , wherein the simulated objects are inserted into the digital environment model by at least one of the following:
(i) taking into account certain attributes of the objects;
(ii) previously detected objects, which are detected by sensor measurements and stored, are inserted when needed as a function of a driving function that is to be tested; and/or
(iii) recreations of reflections of the real environment, including high-frequency waves in a radar, which makes it possible to achieve a close approximation to reality in the recreations.

6. A device for operating an automated vehicle, comprising:
a processing unit configured to perform the following:
receiving a first position of the automated vehicle;
receiving environment data values, the environment data values representing an environment of the automated vehicle;
detecting at least one further vehicle in the environment of the automated vehicle;
generating a digital environment model, starting from a digital map, based on the environment data values and depending on the first position of automated vehicle, the environment model including the automated vehicle, the at least one further vehicle, and at least one simulated object in the environment of the automated vehicle; and
operating the automated vehicle as a function of the digital environment model;
wherein the environment model includes the at least one simulated object so that a driving function for the automated vehicle is tested as a function of the at least one simulated object when operating the automated vehicle, and
wherein the driving function determines a setpoint trajectory for the automated vehicle as a function of the digital environment model, and wherein the operation of the automated vehicle is aborted by the driving function when an actual trajectory of the automated vehicle deviates from the setpoint trajectory according to specified criteria, and
wherein the environment model includes the automated vehicle, the at least one further vehicle, and at least one simulated object in the environment of the automated vehicle.

7. The device as recited in claim 6 , wherein the processing unit or the device includes the automated vehicle, wherein the operating of the automated vehicle uses a data interface, which is connected to a further control unit of the automated vehicle, and wherein the further control unit is configured to operate the automated vehicle in an automated manner, including by automated lateral and/or automated longitudinal control.

8. The device as recited in claim 6 , wherein the simulated objects are inserted into the digital environment model by at least one of the following:
(i) taking into account certain attributes of the objects;
(ii) previously detected objects, which are detected by sensor measurements and stored, are inserted when needed as a function of a driving function that is to be tested; and/or
(iii) recreations of reflections of the real environment, including high-frequency waves in a radar, which makes it possible to achieve a close approximation to reality in the recreations.

9. A non-transitory machine-readable storage medium having a computer program, which is executable by a processor of a processing unit, comprising:
a program code arrangement having program code for operating an automated vehicle, by performing the following:
receiving a first position of the automated vehicle;
receiving environment data values, the environment data values representing an environment of the automated vehicle;
detecting at least one further vehicle in the environment of the automated vehicle;
generating a digital environment model, starting from a digital map, based on the environment data values and depending on the first position of automated vehicle, the environment model including the automated vehicle, the at least one further vehicle, and at least one simulated object in the environment of the automated vehicle; and
operating the automated vehicle as a function of the digital environment model;
wherein the environment model includes the at least one simulated object so that a driving function for the automated vehicle is tested as a function of the at least one simulated object when operating the automated vehicle, and
wherein the driving function determines a setpoint trajectory for the automated vehicle as a function of the digital environment model, and wherein the operation of the automated vehicle is aborted by the driving function when an actual trajectory of the automated vehicle deviates from the setpoint trajectory according to specified criteria, and
wherein the environment model includes the automated vehicle, the at least one further vehicle, and at least one simulated object in the environment of the automated vehicle.

10. The storage medium as recited in claim 9 , wherein the processing unit includes the automated vehicle, wherein the operating of the automated vehicle uses a data interface, which is connected to a further control unit of the automated vehicle, and wherein the further control unit is configured to operate the automated vehicle in an automated manner, including by automated lateral and/or automated longitudinal control.

11. The storage medium as recited in claim 9 , wherein the simulated obje

Assignees

• Bosch Gmbh Robert

Inventors

• Pfeil Jerg

Classifications

• G05D1/0212

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• G05D1/0088 Primary

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60W50/04 Primary

  Monitoring the functioning of the control system · CPC title

• G08G1/164

  Centralised systems, e.g. external to vehicles · CPC title