Method for carrying out an automated or autonomous driving operation of a vehicle

Patent metadata

Field	Value
Publication number	US-2022204034-A1
Application number	US-202017610808-A
Country	US
Kind code	A1
Filing date	Apr 28, 2020
Priority date	May 15, 2019
Publication date	Jun 30, 2022
Grant date	—

Abstract

A method for carrying out an automated or autonomous driving operation of a vehicle on a route involves generating a target trajectory and guiding the vehicle a function of the generated target trajectory. The target trajectory is generated as a function of the detected uneven surface when an uneven surface is detected on the route. When detecting an uneven surface running across the route transversely to the route and designed as a transverse uneven surface, in particular as a speed bump, the target trajectory is generated in such a way that the transverse uneven surface is driven over with a time delay for wheels of each individual axle of the vehicle.

First claim

1 - 10 . (canceled)

11 . A method for carrying out an automated or autonomous driving operation of a vehicle on a route, the method comprising:
detecting whether there is an uneven surface on the route; generating a target trajectory for the automated or autonomous driving operation of the vehicle, wherein when an uneven surface is detected on the route, the target trajectory is generated as a function of the detected uneven surface, and wherein when the detected uneven surface is a transverse uneven surface that runs transversely across the route and is a speed bump, the target trajectory is generated in such a way that the transverse uneven surface is driven over with a time delay for each wheel of each individual axle of the vehicle; and guiding the vehicle as a function of the generated target trajectory.

12 . The method of claim 11 , wherein when the transverse uneven surface is detected, the target trajectory is generated in such a way that the vehicle approaches a first side of the route before driving over the transverse uneven surface, approaches a second, opposite side of the route while driving over the transverse uneven surface, and approaches the first side of the route again after driving over the transverse uneven surface.

13 . The method of claim 11 , wherein when the transverse uneven surface is detected, the target trajectory is generated in such a way that the transverse uneven surface is driven over at a speed that is reduced compared to a speed of the vehicle before the transverse uneven surface is detected.

14 . The method of claim 11 , wherein when the transverse uneven surface is detected, the target trajectory is generated in such a way that the transverse uneven surface is driven over at a fixed, predefined speed for transverse uneven surfaces.

15 . The method of claim 11 , wherein when the transverse uneven surface is detected, the target trajectory is generated in such a way that the transverse uneven surface is driven over at a speed that is predefined as a function of a shape or height of the transverse uneven surface.

16 . The method of claim 11 , wherein the transverse uneven surface is detected by an environment detection sensor system of the vehicle or by a digital map with transverse uneven surfaces recorded in the digital map.

17 . The method of claim 11 , wherein if at least one object is detected on or next to the route, the target trajectory is additionally generated as a function of the at least one detected object.

18 . The method of claim 17 , wherein the target trajectory is generated in such a way that the at least one object is driven around and the transverse uneven surface is driven over with a time offset for each of the wheels of each individual axle of the vehicle.

19 . The method of claim 17 , wherein when the at least one object is detected on or next to the route and is positioned on one side of the route after the transverse uneven surface, the target trajectory is generated in such a way that the vehicle approaches a side of the route opposite the detected at least one object while driving over the transverse uneven surface.

20 . The method of claim 17 , wherein when the at least one object is detected on or next to the route and is positioned on one side of the route in front of the transverse uneven surface, the target trajectory is generated in such a manner that the vehicle approaches a side of the route opposite the detected at least one object before driving over the transverse uneven surface and approaches a side of the route on which the detected at least one object is positioned while driving over the transverse uneven surface.

Assignees

• Daimler Ag

Inventors

• Stein Fridtjof

Classifications

• B60W2554/60

  Traversable objects, e.g. speed bumps or curbs · CPC title

• B60W2552/35

  Road bumpiness, e.g. potholes · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W40/06

  Road conditions · CPC title

• B60W30/12

  Lane keeping · CPC title