Method for operating a driver assistance system and vehicle comprising a driver assistance system designed to carry out the method

Patent metadata

Field	Value
Publication number	US-2021009107-A1
Application number	US-201816608309-A
Country	US
Kind code	A1
Filing date	Apr 17, 2018
Priority date	Apr 27, 2017
Publication date	Jan 14, 2021
Grant date	—

Abstract

A method for operating a driver assistance system of a vehicle involves, for determining a position of the vehicle in a digital environment map, detecting environment data for the vehicle using an on-board sensor system and matched with map data stored in the environment map. A position of the vehicle in a real environment is determined using position data of the vehicle from an on-board satellite receiver. Accuracy of the determined position of the vehicle is determined based on the position data and environment data matched with the environment data. Accuracy is predicted with which the position of the vehicle in the environment map can be determined for a predetermined section of road ahead of the vehicle. Fully automated operation of the vehicle is enabled when the determined accuracy and the predicted accuracy for the predetermined section of road ahead of the vehicle are greater than at least one accuracy threshold.

First claim

1 - 10 . (canceled)

11 . A method for operating a driver assistance system of a vehicle, the method comprising:
determining a position of the vehicle in a digital environment map by
detecting, using an on-board sensor system of the vehicle, first environment data for the vehicle; and
matching the detected environment data with map data stored in the digital environment map;
determining a position of the vehicle in a real environment by determining, using an on-board satellite receiver, position data of the vehicle; determining an accuracy of the determined position of the vehicle based on the position data and second environment data matched with the first environment data; predicting an accuracy with which the position of the vehicle in the digital environment map can be determined for a predetermined section of road ahead of the vehicle; and enabling fully automated operation of the vehicle responsive to the determined accuracy and the predicted accuracy for the predetermined section of road ahead of the vehicle are greater than at least one accuracy threshold.

12 . The method of claim 11 , wherein the at least one accuracy threshold is predetermined based on the section of road ahead of the vehicle.

13 . The method of claim 11 , further comprising:
supplying the position data and the second environment data to a position filter, wherein plausibility of the determined position of the vehicle is checked by the position filter and the accuracy of the determined position is determined.

14 . The method of claim 13 , wherein the prediction of the accuracy with which the position of the vehicle in the digital environment map can be determined involves starting from a current position of the vehicle and a current state of the position filter and simulating a journey through the section of road ahead of the vehicle.

15 . The method of claim 13 , wherein during the simulation of the journey, virtual sensor data are generated based on the map data, and a curve for an accuracy for determining the position of the vehicle in the section of road ahead of the vehicle is predicted based on the virtual sensor data.

16 . The method of claim 13 , wherein the prediction of the accuracy with which the position of the vehicle in the digital environment map can be determined involves starting from a current position of the vehicle and a current satellite constellation of a global navigation satellite system, and simulating an onward journey through the section of road ahead of the vehicle.

17 . The method of claim 16 , wherein virtual landmarks that are passed during the simulated onward journey are detected, a curve for reception quality for receiving the position data is predicted based on the detected landmarks.

18 . The method of claim 11 , wherein the prediction of the at least one accuracy threshold involves analyzing the map data comprising the section of road ahead of the vehicle with regard to a lane course, a lane width and/or desired or predetermined driving speeds.

19 . The method of claim 11 , wherein the fully automated operation of the vehicle only remains enabled for as long as the determined accuracy and the predicted accuracy are greater than the at least one accuracy threshold.

20 . A vehicle, comprising:
a driver assistance system, which includes an on-board sensor system and an on-board satellite receiver, wherein the driver assistance system is configured to
determine a position of the vehicle in a digital environment map by
detecting, using the on-board sensor system of the vehicle, first environment data for the vehicle; and
matching the detected environment data with map data stored in the digital environment map;

determine a position of the vehicle in a real environment by determining, using the on-board satellite receiver, position data of the vehicle;
determine an accuracy of the determined position of the vehicle based on the position data and second environment data matched with the first environment data;
predict an accuracy with which the position of the vehicle in the digital environment map can be determined for a predetermined section of road ahead of the vehicle; and
enable fully automated operation of the vehicle responsive to the determined accuracy and the predicted accuracy for the predetermined section of road ahead of the vehicle are greater than at least one accuracy threshold.

Assignees

• Daimler Ag

Inventors

• Ries Florian
• Schuster Frank
• Haueis Martin
• Ghanaat Mohammad
• Geiss Florian
• Roth Jochen

Classifications

• G01S13/931

  of land vehicles · CPC title

• G01S15/931

  of land vehicles · CPC title

• B60W30/00 Primary

  Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units · CPC title

• G01C21/3815

  Road data · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title