Method, computer program product, computer-readable medium, control unit, and vehicle comprising the control unit for determining a collective maneuver of at least two vehicles

Patent metadata

Field	Value
Publication number	US-12422854-B2
Application number	US-201916657025-A
Country	US
Kind code	B2
Filing date	Oct 18, 2019
Priority date	Apr 26, 2017
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

A method for determining a collective maneuver of at least two vehicles includes receiving a state of a first vehicle and a state of at least one further vehicle in an environment of an ego vehicle, and determining a current formation for the first vehicle and the at least one further vehicle on the basis of the received state of the first vehicle and the received state of the at least one further vehicle in the environment of the ego vehicle, the current formation comprising a relative arrangement of the first vehicle and of the at least one further vehicle with respect to a roadway. The method also includes determining a set of collective maneuvers on the basis of the current formation, where each collective maneuver of the set of collective maneuvers comprising a sequence of formations from the current formation to an end formation. A trajectory for the first vehicle and a trajectory for the at least one further vehicle is calculated for a collective maneuver from the set of collective maneuvers, and the collective maneuver from the set of collective maneuvers is determined based on the calculated trajectories of the collective maneuver from the set of collective maneuvers and a motion of the first vehicle and of the at least one further vehicle sensed by means of a sensor system of the ego vehicle.

First claim

What is claimed is:

1. A method for controlling an autonomous ego vehicle, the method comprising:
determining a current formation of the ego vehicle and at least one other vehicle, based on an ego-vehicle-state and an other-vehicle-state, wherein the current formation reflects relative positions of the ego vehicle and at least one other vehicle with respect to a road;
determining a set of collective maneuvers, wherein each collective maneuver reflects a sequence of formations transitioning from the current formation to a respective end formation of the ego vehicle and the at least one other vehicle, wherein each formation of the sequence of formations reflects different relative positions of the ego vehicle and the at least one other vehicle within a cell occupancy map;
calculating respective trajectories of the ego vehicle and the other vehicle for each collective maneuver of the set of collective maneuvers;
determining a collective maneuver from the set of collective maneuvers, based on:
the respective trajectories calculated for each collective maneuver, and
sensor system captured movement of the ego vehicle and the at least one other vehicle; and

controlling the ego vehicle to autonomously execute the collective maneuver.

2. The method according to claim 1 , wherein the ego-vehicle-state and the other-vehicle-state each comprises a lane-accurate position thereof.

3. The method according to claim 2 , wherein the current formation is further determined based on an obstacle-state, such that the current formation reflects relative positions of the ego vehicle, the at least one other vehicle, and an obstacle, with respect to the road.

4. The method according to claim 3 , wherein the current formation and the end formation reflected by the current maneuver comprise at least one area which is free of vehicles and obstacles.

5. The method according to claim 2 , wherein each formation reflects a predefined set of relative lateral and longitudinal positions between the ego vehicle and the at least one other vehicle.

6. The method according to claim 2 , wherein the current formation and the end formation reflected by the current maneuver comprise at least one area free of vehicles and obstacles.

7. The method according to claim 2 , wherein the respective trajectories are homotopic with respect to the current formation and identical respective end formations.

8. The method according to claim 1 , wherein the current formation is further determined based on an obstacle-state, such that the current formation reflects relative positions of the ego vehicle, the at least one other vehicle, and an obstacle, with respect to the road.

9. The method according to claim 8 , wherein each formation reflects a predefined set of relative lateral and longitudinal positions between the ego vehicle and the at least one other vehicle.

10. The method according to claim 8 , wherein the current formation and the end formation reflected by the current maneuver comprise at least one area free of vehicles and obstacles.

11. The method according to claim 8 , wherein the respective trajectories are homotopic with respect to the current formation and identical respective end formations.

12. The method according to claim 1 , wherein each formation reflects a predefined set of relative lateral and longitudinal positions between the ego vehicle and the at least one other vehicle.

13. The method according to claim 1 , wherein the current formation and the end formation reflected by the current maneuver comprise at least one area free of vehicles and obstacles.

14. The method according to claim 1 , wherein determining the set of collective maneuvers comprises:
generating a tree data structure having the current formation is as a root element thereof;
calculating a first further formation using a predefined set of discrete movement actions, wherein the first further formation reflects changed positions of the ego vehicle and at least one other vehicle with respect to the current formation;
adding the first further formation to the tree data structure;
in response to determining that the first further formation is the respective end formation, adding the sequence of: the current formation and the end formation, as a collective maneuver to the set of collective maneuvers.

15. The method according to claim 14 , wherein determining the set of collective maneuvers further comprises:
in response to determining that the first further formation is not the respective end formation, calculating a second further formation using a predefined set of discrete movement actions, wherein the second further formation reflects changed positions of the ego vehicle and at least one other vehicle with respect to the first further formation;
adding the second further formation to the tree data structure;
in response to determining that the second further formation is the respective end formation, adding the sequence of: the current formation, the first further formation, and the end formation, as the collective maneuver to the set of collective maneuvers,
wherein determining the set of collective maneuvers continues until no further formations can be calculated with the predefined set of discrete movements.

16. The method according to claim 1 , wherein the trajectories are cost-optimized with respect to at least one vehicle-specific parameter and/or at least one maneuver-specific parameter.

17. The method according to claim 1 , wherein the respective trajectories are homotopic with respect to the current formation and identical respective end formations.

18. A control unit for controlling an autonomous ego vehicle, wherein the control unit is configured to:
determine a current formation of the ego vehicle and at least one other vehicle, based on an ego-vehicle-state and an other-vehicle-state, wherein the current formation reflects relative positions of the ego vehicle and at least one other vehicle with respect to a road;
determine a set of collective maneuvers, wherein each collective maneuver reflects a sequence of formations transitioning from the current formation to a respective end formation of the ego vehicle and the at least one other vehicle, wherein each formation of the sequence of formations reflects different relative positions of the ego vehicle and the at least one other vehicle within a cell occupancy map;
calculate respective trajectories of the ego vehicle and the other vehicle for each collective maneuver of the set of collective maneuvers;
determine a collective maneuver from the set of collective maneuvers, based on:
the respective trajectories calculated for each collective maneuver, and
sensor system captured movement of the ego vehicle and the at least one other vehicle; and

controlling the ego vehicle to autonomously execute the collective maneuver.

19. An autonomous ego vehicle, comprising a control unit for controlling the autonomous ego vehicle, wherein the control unit is configured to:
determine a current formation of the ego vehicle and at least one other vehicle, based on an ego-vehicle-state and an other-vehicle-state, wherein the current formation reflects relative positions of the ego vehicle and at least one other vehicle with respect to a road;
determine a set of collective maneuvers, wherein each collective maneuver reflects a sequence of formations transitioning from the current formation to a respective end formation of the ego vehicle and the at least one other vehicle, wherein each formation of the sequence of formations reflects differ

Assignees

• Bayerische Motoren Werke Ag

Inventors

• Goehl Kira
• Loechner Julian
• Schulz Jens
• Werling Moritz

Classifications

• G08G1/167 Primary

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• G05D1/695

  for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight · CPC title

• G06V20/584

  of vehicle lights or traffic lights · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G05D1/0212

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