Method for the at least partially automated operation of a motor vehicle

Patent metadata

Field	Value
Publication number	US-11308802-B2
Application number	US-201816623888-A
Country	US
Kind code	B2
Filing date	Jun 14, 2018
Priority date	Jun 28, 2017
Publication date	Apr 19, 2022
Grant date	Apr 19, 2022

Abstract

The invention relates to a method for the at least partially automated operation of a motor vehicle. The method includes ascertaining a planned trajectory to be traversed by the motor vehicle. The method further includes transmitting plan data relating to the planned trajectory from the motor vehicle to a central device on the infrastructure side and evaluating a release condition, the meeting of which depends on the plan data, by means of the central device. The method also includes transmitting a release message from the central device to the motor vehicle if the release condition has been met, and transmitting a modification message from the central device to the motor vehicle if the release condition has not been met. The planned trajectory is ascertained again on the motor vehicle side upon receiving a modification message in order to determine another planned trajectory.

First claim

The invention claimed is:

1. A method for at least partially automated operation of a motor vehicle, the method comprising:
ascertaining a planned trajectory to be traversed by the motor vehicle as part of the at least partially automated operation of the motor vehicle;
transmitting plan data relating to the planned trajectory from the motor vehicle to a central device;
receiving, at the motor vehicle, a release message from the central device in response to a release condition being met, wherein the release condition is evaluated at the central device based on the plan data; and
receiving, at the motor vehicle, a modification message from the central device in response to the release condition not being met, wherein the planned trajectory is ascertained again at the motor vehicle upon receiving the modification message to determine another planned trajectory.

2. The method according to claim 1 , further comprising:
using, at the motor vehicle, mutually identical map data to determine the planned trajectory, wherein the mutually identical map data is used at the central device to check the release condition.

3. The method according to claim 2 , wherein:
the mutually identical map data describes a plurality of subareas of a driving area or the driving area assigned to the central device,
the planned trajectory is determined such that it covers same subareas that are covered by a proposed trajectory determined by the central device for the at least partially automated operation of the motor vehicle.

4. The method according to claim 3 , further comprising:
using the proposed trajectory as the planned trajectory, in response to, by evaluating motor vehicle data acquired from the motor vehicle and/or motor vehicle data relating to the motor vehicle, it is determined that the proposed trajectory is drivable.

5. The method according to claim 1 , further comprising:
before the ascertaining the planned trajectory, receiving, at the motor vehicle and from the central device, a target position to be reached by the planned trajectory, a proposed trajectory determined by the central device for the at least partially automated operation of the motor vehicle, at least one trajectory rule to be met by the planned trajectory, and/or sensor data relating to a driving area associated with the central device.

6. The method according to claim 5 , wherein:
the at least one trajectory rule describes at least one blocked area and/or a required area of a travel area, and
the planned trajectory is determined in such a way that the motor vehicle is continuously located within the required area or continuously outside the at least one blocked area during guidance of the motor vehicle according to the planned trajectory.

7. The method according to claim 5 , wherein the sensor data is determined using a sensor system on an infrastructure side.

8. The method according to claim 1 , further comprising:
transmitting, from the motor vehicle to the central device and before and/or during guidance of the motor vehicle according to the planned trajectory, a position and/or a speed of the motor vehicle.

9. The method according to claim 1 , wherein: a driving operation of the motor vehicle is monitored during guidance of the motor vehicle according to the planned trajectory,
a modified planned trajectory is determined in response to an occurring and/or anticipated future deviation of the at least partially automated operation of the motor vehicle.

10. The method according to claim 1 , wherein the receiving the modification message further comprises:
receiving, at the motor vehicle and from the central device, a target position to be reached by the planned trajectory, a proposed trajectory determined by the central device for the at least partially automated operation of the motor vehicle, at least one trajectory rule to be met by the planned trajectory, and/or sensor data relating to a driving area associated with the central device.

11. The method according to claim 10 , wherein:
the at least one trajectory rule describes at least one blocked area and/or a required area of a travel area, and
the planned trajectory is determined in such a way that the motor vehicle is continuously located within the required area or continuously outside the at least one blocked area during guidance of the motor vehicle according to the planned trajectory.

12. The method according to claim 10 , wherein the sensor data is determined using a sensor system on an infrastructure side.

13. A motor vehicle, comprising:
a communication device configured to communicate with a central device; and
a control device configured for at least partially automated operation of the motor vehicle, wherein the control device is configured to:
ascertain a planned trajectory to be traversed by the motor vehicle as part of the at least partially automated operation of the motor vehicle;
transmit, using the communication device, plan data relating to the planned trajectory to the central device;
receive, using the communication device, a release message from the central device in response to a release condition being met, wherein the release condition is evaluated at the central device based on the plan data; and
receive, using the communication device, a modification message from the central device in response to the release condition not being met, wherein the planned trajectory is ascertained again upon receiving the modification message in order to determine another planned trajectory.

14. A central device, comprising:
a communication device configured to communicate with at least one motor vehicle; and
a processing device configured to control the communication device, the processing device configured to:
receive, using the communication device and from the at least one motor vehicle, plan data relating to a planned trajectory, wherein the planned trajectory is ascertained at the at least one motor vehicle to be traversed by the at least one motor vehicle as part of at least partially automated operation of the at least one motor vehicle;
evaluate a release condition based on the plan data;
transmit, using the communication device and to the at least one motor vehicle, a release message in response to the release condition being met; and
transmit, using the communication device and to the at least one motor vehicle, a modification message from the central device in response to the release condition not being met, wherein the planned trajectory is ascertained again at the at least one motor vehicle upon transmitting the modification message in order to determine another planned trajectory.

Assignees

• Audi Ag

Inventors

• Schuller Florian
• Feist Christian

Classifications

• G08G1/096827 Primary

  where the route is computed onboard · CPC title

• G08G1/096844

  where the complete route is dynamically recomputed based on new data · CPC title

• G08G1/096725

  where the received information generates an automatic action on the vehicle control · CPC title

• G08G1/096775

  where the origin of the information is a central station · CPC title