Method for regulating the movement of a vehicle in an automated driving operation and device for carrying out the method

Patent metadata

Field	Value
Publication number	US-11608080-B2
Application number	US-201816956082-A
Country	US
Kind code	B2
Filing date	Dec 13, 2018
Priority date	Dec 20, 2017
Publication date	Mar 21, 2023
Grant date	Mar 21, 2023

Abstract

Vehicle movement in an automatic driving operation is regulated in an automatic driving operation, which is switchable between a regular operating mode and an emergency operating mode when a functional impairment of a main control device is established. In the regular operating mode, the regular desired trajectory, the emergency operation desired trajectory, and the lane course of a driving lane driven along by the vehicle are continuously determined in a coordinate system, fixed to the vehicle, of the main control device. The determined emergency operation desired trajectory and the determined lane course are supplied to the ancillary control device and stored there. In the emergency operating mode, the lane course of the driving lane driven along by the vehicle is determined in a coordinate system, fixed to the vehicle, of the ancillary control device. In the emergency operating mode, based on the lane course stored in the ancillary control device and the lane course stored in the ancillary control device, an angle error between the coordinate systems of the main control device and the ancillary control device is determined and its influence on the regulation carried out by the ancillary control device is compensated for.

First claim

The invention claimed is:

1. A method for regulating movement of a vehicle in an automatic driving operation, wherein the automatic driving operation is switchable from a regular operating mode, in which the vehicle is automatically guided to a predetermined target position, to an emergency operating mode, in which the vehicle is automatically guided to an emergency stop position, the method comprising:
regulating, in the regular operating mode using a main control device, the movement of the vehicle based on a regular desired trajectory leading to the predetermined target position, wherein in the regular operating mode
the regular desired trajectory is continuously determined by the main control device,
a lane course, for an emergency operation desired trajectory, of a driving lane is determined and is supplied to an ancillary control device for storage, wherein the driving lane is a lane on which the vehicle is being driven along;

determining that there is a functional impairment of the main control device;
switching, while the vehicle is regulated in the regular operating mode, the automatic driving operation from the regular operating mode to the emergency operating mode responsive to the determination of the functional impairment of the main control device;
regulating, in the emergency operating mode by the ancillary control device, the movement of the vehicle based on the emergency operation desired trajectory stored in the ancillary control device and leading to the emergency stop position,
wherein the emergency operation desired trajectory is determined by the main control device in the regular operating mode before switching into the emergency operating mode, the emergency operation desired trajectory is supplied to and stored by the ancillary control device,
wherein the emergency operation desired trajectory and a corresponding lane course are determined in a coordinate system, fixed to the vehicle, of the main control device, and
wherein, in the emergency operating mode, a deviation between the coordinate system of the main control device and a coordinate system of the ancillary control device is compensated for based on the lane course of the driving lane stored in the ancillary control device and a lane course of the driving lane determined by the ancillary control device.

2. The method of claim 1 , further comprising:
performing, in the emergency operating mode, a localization of the vehicle to determine a deviation of a position of the vehicle from the emergency operation desired trajectory, wherein the localization in a transverse direction of the vehicle is based on a determination of a distance to at least one lane marking of the driving lane driven along by the vehicle.

3. The method of claim 2 , wherein the localization in the transverse direction of the vehicle on route portions, on which there are no lane markings or on which error detections of the lane markings are expected, is performed using dead reckoning.

4. The method of claim 2 , wherein the localization in the longitudinal direction of the vehicle is performed using dead reckoning.

5. The method of claim 1 , wherein, in the regular operating mode, the regular desired trajectory, the emergency operation desired trajectory and the corresponding lane course of the driving lane driven along by the vehicle are determined by the main control device based on surroundings information obtained from a surroundings sensor system.

6. The method of claim 5 , wherein a functional impairment of the main control device is present when the main control device itself has an error or when the surroundings sensor system, which delivers the surroundings information necessary for the main control device, has an error.

7. The method of claim 1 , wherein the emergency stop position in the regular operating mode is continuously determined as a position which is at an outermost edge of a driving lane or a driving lane or a road, on a potentially present hard shoulder, or on a region that can be driven along next to the road.

8. The method of claim 1 , wherein in the emergency operating mode, the stored emergency operation desired trajectory is adjusted by the ancillary control device to amended surroundings conditions when current surroundings information is available.

9. The method of claim 1 , wherein when switching the operating mode into the emergency operating mode, a driver of the vehicle is required to take over vehicle guidance, and the regulation of the movement of the vehicle is terminated when the driver takes over the vehicle guidance.

10. A device for guiding a vehicle, the device comprising:
a surroundings sensor system configured to detect detecting surroundings information;
a main control device configured to provide a continuous determination of a regular desired trajectory leading to a predetermined target position, an emergency operation desired trajectory leading to an emergency stop position, and a lane course of a driving lane based on the detected surroundings information, wherein the driving lane is a lane on which the vehicle is being driven along, and wherein the main control device is configured to take over regulation of movement of the vehicle in a regular driving mode of the device and to guide the vehicle according to the determined regular desired trajectory; and
an ancillary control device configured to store the emergency operation desired trajectory and the lane course determined by the main control device in order to determine the lane course of the driving lane driven along by the vehicle based on the surroundings information detected by the surroundings sensor system, wherein the ancillary control device is configured to take over regulation of the movement of the vehicle when a functional impairment of the main control device occurs and to guide the vehicle in accordance with the emergency operation desired trajectory, and wherein the ancillary control device is further configured to compensate for an angle error between a first coordinate system, fixed to the vehicle, which is used by the main control device for the regulation of the movement of the vehicle, and a second coordinate system, fixed to the vehicle, which is used by the ancillary control device for the regulation of the movement of the vehicle.

Assignees

• Daimler Ag
• Mercedes Benz Group Ag

Inventors

• Oltmann Volker
• Decker Michael

Classifications

• B60W60/0015 Primary

  specially adapted for safety · CPC title

• B60W2050/0094

  of control units · CPC title

• B60W30/18163

  Lane change; Overtaking manoeuvres · CPC title

• B60W2552/53

  Road markings, e.g. lane marker or crosswalk · CPC title

• B60W2520/06

  Direction of travel · CPC title