Method for adjusting fully automatic vehicle guidance functions in a predefined navigation environment and motor vehicle

Patent metadata

Field	Value
Publication number	US-11577752-B2
Application number	US-201816764932-A
Country	US
Kind code	B2
Filing date	Oct 12, 2018
Priority date	Nov 28, 2017
Publication date	Feb 14, 2023
Grant date	Feb 14, 2023

Abstract

The invention relates to a method for adjusting fully automatic vehicle guidance functions, which are realized by means of a vehicle system of a motor vehicle, during the operation of the motor vehicles in a predefined navigation environment. A stationary infrastructure device that communicates with the motor vehicles is associated with the navigation environment. Function limits of each vehicle guidance function are defined by means of limit operation parameters of the vehicle guidance function. Current traffic situation information describing dynamic objects in the navigation environment is determined by the infrastructure device by means of environment sensors of the navigation environment. The current traffic situation information is used, together with a digital map describing stationary objects and properties of the navigation environment, to determine at least one piece of risk information for each motor vehicle.

First claim

The invention claimed is:

1. A method for adjusting a vehicle guidance function, which is performed by a vehicle system of a motor vehicle during an operation of the motor vehicle in a predefined navigation environment, the method comprising:
receiving, from a stationary infrastructure device, at least one piece of risk information,
wherein the at least one piece of risk information is determined descriptively of one of a plurality of discrete risk levels,
wherein the stationary infrastructure device is associated with the predefined navigation environment,
wherein function limits of the vehicle guidance function are determined by limit operation parameters of the vehicle guidance function and describe at least permissible maneuvers of the motor vehicle,
wherein current traffic situation information describing dynamic objects in the predefined navigation environment is determined by the stationary infrastructure device using environment sensors of the predefined navigation environment, at least some of the environment sensors are fixedly installed so as to be stationary,
wherein the current traffic situation information is used, together with a digital map describing stationary objects and properties of the predefined navigation environment, to determine the at least one piece of risk information for the motor vehicle among the dynamic objects,
wherein the at least one piece of risk information describes at least one of a hazard potential or property damage potential, and
wherein limit operation parameter sets are assigned to the plurality of discrete risk levels;
in response to the at least one piece of risk information describing a higher risk, adjusting the limit operation parameters to tighter function limits in accordance with a limit operation parameter set associated with the one of the plurality of discrete risk levels; and
in response to the at least one piece of risk information describing a lower risk, adjusting the limit operation parameters to wider function limits in accordance with the limit operation parameter set associated with the one of the plurality of discrete risk levels.

2. The method according to claim 1 , further comprising:
transmitting, to the stationary infrastructure device, at least one action parameter, wherein the at least one action parameter is used for the determination of the at least one piece of risk information.

3. The method according to claim 2 , wherein the at least one action parameter comprises at least one of a maximum speed, a maximum acceleration, a direction parameter describing a maximum possible change of direction, a trajectory parameter describing a planned trajectory, and an assured stopping distance.

4. The method according to claim 2 , wherein the at least one action parameter is determined at least partially from the limit operation parameters.

5. The method according to claim 2 , wherein the at least one action parameter is determined at least partially from at least one of a maximum speed, a maximum acceleration, a direction parameter describing a maximum possible change of direction, a trajectory parameter describing a planned trajectory, and an assured stopping distance.

6. The method according to claim 2 , wherein the at least one action parameter determines at least one of an area of action of a respective dynamic object or a collision probability with other dynamic objects, over at least one prediction period.

7. The method according to claim 1 , wherein the at least one piece of risk information is determined using at least one of past damage events, history information describing risk events, which is held or determined by the stationary infrastructure device.

8. The method according to claim 1 , wherein the limit operation parameters describe at least one of a maximum permissible dynamic within a scope of the vehicle guidance function or permissible driving maneuvers.

9. The method according to claim 1 , further comprising:
adapting, as a function of the at least one piece of risk information, at least one of at least one further operating parameter of the vehicle guidance function, at least one further operating parameter of the vehicle system, or at least one further operating parameter of another vehicle system of the motor vehicle.

10. The method according to claim 9 , wherein the at least one further operating parameter of the other vehicle system relates to at least one of a preconditioning of a safety system or detection properties of at least one sensor of the motor vehicle.

11. The method according to claim 1 , further comprising:
performing at least one of a trajectory calculation or a collision calculation within a framework of the vehicle guidance function within the motor vehicle using sensor data determined by a sensor system of the motor vehicle.

12. The method according to claim 1 , wherein sub-areas in the digital map of the predefined navigation environment for which a determination of the at least one piece of risk information is possible are marked, and the method further comprises:
using the sub-areas at the motor vehicle for route planning.

13. The method according to claim 12 , wherein the route planning maximizes a crossing of sub-areas.

14. The method according to claim 1 , wherein the predefined navigation environment is a parking environment.

15. A motor vehicle, comprising:
a vehicle system configured to implement a vehicle guidance function at least within a navigation environment; and
a communication device configured to communicate with an infrastructure device associated with the navigation environment and configured to receive risk information from the infrastructure device,
wherein the risk information is determined descriptively of one of a plurality of discrete risk levels,
wherein function limits of the vehicle guidance function are determined by limit operation parameters of the vehicle guidance function and describe at least permissible maneuvers of the motor vehicle,
wherein limit operation parameter sets are assigned to the plurality of discrete risk levels, and
wherein a control unit of the vehicle system is configured to adapt the limit operation parameters, as a function of the risk information, to tighter function limits in response to the risk information describing a higher risk and to wider function limits in response to the risk information describing a lower risk in accordance with a limit operation parameter set associated with the one of the plurality of discrete risk levels.

16. The method according to claim 1 , wherein:
the adjusting the limit operation parameters to the tighter function limits comprises decreasing adaptation speed of dynamics of the motor vehicle, and
the adjusting the limit operation parameters to the wider function limits comprises increasing the adaptation speed of the dynamics of the motor vehicle.

17. The method of claim 1 , further comprising:
adapting operating parameters of at least one sensor of the motor vehicle or detection properties of the at least one sensor to focus on a risk area associated with the at least one piece of risk information.

18. The method according to claim 1 , wherein the adjusting the limit operation parameters to the wider function limits comprises:
permitting one or more driving maneuvers of the motor vehicle, or
activating the one or more driving maneuvers of the motor vehicle, or
allowing dynamic driving maneuvers of the motor vehicle.

Assignees

• Audi Ag

Inventors

• Schuller Florian
• Feist Christian

Classifications

• B60W2556/45

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

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title

• G08G1/096725

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

• G08G1/096741

  where the source of the transmitted information selects which information to transmit to each vehicle · CPC title

• G08G1/096783

  where the origin of the information is a roadside individual element · CPC title