Method for operating a driver assistance system for automated steering of a motor vehicle and corresponding motor vehicle
A technology for driver assistance and motor vehicles, which is applied in the field of driver assistance systems and can solve the problems of limited horizontal angle detection range and inability to detect road lane markings.
Active Publication Date: 2019-03-08
AUDI AG
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Problems solved by technology
It is thus possible, for example, to detect lane markings on the road at very narrow bends due to the limited horizontal angle detection range of the image sensor system.
Method used
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[0029] figure 1 A flow chart of a method for operating a driver assistance system for automated steering of a motor vehicle is schematically shown. In step S1 , environmental data relating to the environment of the motor vehicle are ascertained by the environmental sensors of the motor vehicle, self-data relating to the motor vehicle itself are ascertained by other sensors of the motor vehicle, evaluation of control parameters and evaluation of a database. In order to generate an environment model of the environment of the motor vehicle and to enable trajectory planning, the environment data detected by the various environment sensors are transformed into a common coordinate system, the so-called environment-sensor-coordinate system. This environment-sensor-coordinate system is used for further trajectory planning.
[0030] Based on the surrounding data determined in step S1 and the own data, a plurality of trajectories each describing a possible future movement of the motor ...
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A method for operating a driver assistance system for automated steering of a motor vehicle, comprising the steps of: - detecting environmental data relating to the environment of the motor vehicle by means of environmental sensors of the motor vehicle, and detecting own data relating to the motor vehicle, - according to The environment data and the own data determine a plurality of trajectories, which each describe a possible future movement of the motor vehicle, and a set trajectory is selected from the determined trajectories by evaluating with a plurality of evaluation criteria, wherein at least one of the evaluation criteria evaluates The criterion is a detection range criterion which evaluates at least one predicted detection range of one or a group of environmental sensors of the motor vehicle during the predicted movement of the motor vehicle along a correspondingly determined trajectory, the control vehicle system To make the motor vehicle move along the set track.
Description
technical field [0001] The invention relates to a method for operating a driver assistance system for automated steering of a motor vehicle. Background technique [0002] The method for automated, in particular highly automated handling of a motor vehicle can be divided into three phases. The first is the perception phase, ie the acquisition of information relevant to the planning of future driving maneuvers. In the second phase (behavior planning phase and decision phase), route planning or trajectory planning is carried out using this information. Behavior enforcement occurs in the third phase, in which vehicle systems are controlled in order to implement a previously planned route or trajectory. [0003] Sensors in vehicle sensing systems have a limited effective range and a limited opening angle. It can thus happen that surrounding areas which may be relevant for route or trajectory planning are not detected by the vehicle sensor system during the sensing phase and th...
Claims
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IPC IPC(8): B60W30/095
CPCB60W30/095B60W50/0097G05D1/0219B60W2554/00B60W2420/403B60W2420/408B60W10/06B60W10/184B60W10/20B60W30/0956B60W2720/24G08G1/16
Inventor M·雷赫尔C·勒斯纳
Owner AUDI AG