Swarm-based trajectories for motor vehicles

Patent metadata

Field	Value
Publication number	US-11460860-B2
Application number	US-201916969906-A
Country	US
Kind code	B2
Filing date	Jan 23, 2019
Priority date	Feb 22, 2018
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

Technologies and techniques for producing swarm trajectories for a specified lane of a roadway section, wherein a plurality of vehicles driving in the specified lane transmits the respective driving trajectories of the vehicles to a back-end computer, which determines a swarm trajectory for the specified lane from the transmitted trajectories. The vehicles determine specified constraints during driving in the lane, and the determined constraints are transmitted to the back-end computer together with the trajectory in question. The back-end computer determines at least one swarm trajectory for the specified lane as a function of at least one constraint from the transmitted trajectories and the constraints.

First claim

The invention claimed is:

1. A method for providing control for one or more of a plurality of vehicles traveling a route segment via a swarm trajectory in a central computer, comprising:
receiving, from the plurality of vehicles traveling the route segment, individual trajectories from each of the plurality of vehicles, wherein each trajectory comprises a parameter set based on one or more boundary conditions;
processing the individual trajectories to generate a value for the trajectories relative to one or more configured parameter sets, wherein the value is based on one of an average value or mean value of the trajectories relative to the one or more configured parameter sets;
generating the swarm trajectory based on the value; and
transmitting the generated swarm trajectory to the one or more of the vehicles of the plurality of vehicle, wherein the swarm trajectory comprises data configured to modify the one or more vehicles driving trajectory.

2. The method of claim 1 , wherein each of the individual trajectories comprise n-tuple information of a trajectory and parameter set.

3. The method of claim 2 , wherein the one or more boundary conditions comprise a date, a day, a time of day interval, weather, parking situation and traffic condition.

4. The method of claim 1 , wherein
the average value comprises a simple average of a function of the one or more configured parameter sets and the individual trajectories for an n-tuple information, and/or
the mean value comprises a mean value of trajectories determined for parameter sets for specific combinations of one or more boundary conditions.

5. The method of claim 4 , wherein the one or more configured parameter sets comprises a combination of all of the one or more boundary conditions.

6. The method of claim 4 , wherein the one or more configured parameter sets comprises a combination of some of the one or more boundary conditions.

7. The method of claim 1 , wherein processing the trajectories to generate a value for the trajectories relative to one or more configured parameter sets comprises applying different weights to the boundary conditions.

8. A method for using a swarm trajectory for an ego-vehicle, comprising:
receiving, in a back-end computer, a trajectory and one or more one or more parameter sets based on boundary conditions determined by the ego-vehicle for a currently driven lane;
processing, in the back-end computer, the trajectory and the one or more boundary conditions to determine that the trajectory and the one or more boundary conditions correspond with one or more stored trajectories and parameter sets based on one or more boundary conditions associated with at least one of a plurality of other vehicles;
generating, in the back-end computer, at least one swarm trajectory for the currently driven lane based on the processing wherein the at least one swarm trajectory is based on one of an average value or mean value of the corresponding trajectories relative to the one or more parameter sets; and
transmitting the at least one swarm trajectory to the ego vehicle, wherein the at least one swarm trajectory is configured to modify the driving trajectory of the ego-vehicle for the currently driven lane.

9. The method of claim 8 , wherein the boundary conditions are determined by the ego-vehicle for a configured swarm trajectory.

10. The method of claim 8 , wherein processing the one or more boundary conditions comprises determining differences between the one or more boundary conditions and the one or more stored boundary conditions, and, based on the determined differences, generating corrective boundary conditions for generating the at least one swarm trajectory.

11. The method of claim 8 , wherein generating the at least one swarm trajectory comprises generating n-tuple information of a trajectory and parameter set.

12. The method of claim 8 , wherein the one or more boundary conditions comprise a date, a day, a time of day interval, weather, parking situation and traffic condition.

13. A method providing control for one or more of a plurality of vehicles traveling a route segment via a swarm trajectory in a central computer, comprising:
receiving, from the plurality of vehicles traveling the route segment, individual trajectories from each of the plurality of vehicles, wherein each trajectory comprises n-tuple information of a trajectory and parameter set based on one or more boundary conditions;
processing the trajectories to generate a value for the trajectories relative to one or more configured parameter sets, wherein the value is based on one of an average value or mean value of the trajectories relative to the one or more configured parameter sets;
generating the swarm trajectory based on the value; and
transmitting the generated swarm trajectory to the one or more of the vehicles of the plurality of vehicle, wherein the swarm trajectory comprises data configured to modify the one or more vehicles driving trajectory.

14. The method of claim 13 , wherein the one or more boundary conditions comprise a date, a day, a time of day interval, weather, parking situation and traffic condition.

15. The method of claim 13 , wherein
the average value comprises a simple average of a function of the one or more configured parameter sets and the individual trajectories for the n-tuple information, and/or
the mean value comprises a mean value of trajectories determined for parameter sets for specific combinations of one or more boundary conditions.

16. The method of claim 13 , wherein the one or more configured parameter sets comprises a combination of all of the one or more boundary conditions.

17. The method of claim 16 , wherein the one or more configured parameter sets comprises a combination of some of the one or more boundary conditions.

18. The method of claim 13 , wherein processing the trajectories to generate a value for the trajectories relative to one or more configured parameter sets comprises applying different weights to the boundary conditions.

Assignees

• Volkswagen Ag

Inventors

• Max Stephan
• Hamel Sebastian
• Aminev Timur

Classifications

• B60W2555/20

  Ambient conditions, e.g. wind or rain · CPC title

• G08G1/0112

  from the vehicle, e.g. floating car data [FCD] · CPC title

• G08G1/0133

  for classifying traffic situation · CPC title

• B60W2050/0075

  Automatic parameter input, automatic initialising or calibrating means · CPC title

• B60W2556/45

  External transmission of data to or from the vehicle · CPC title