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Method and device for the decentralized coordination of driving manoeuvres

A distributed coordination, driving maneuvering technology, applied in the directions of transportation and packaging, services based on specific environments, two-dimensional position/channel control, etc., can solve the problems of impossible, unconsidered automatic driving, etc.

Active Publication Date: 2018-07-31
VOLKSWAGEN AG +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] A disadvantage of the method described above is that, on the basis of the exchanged information, it is only checked whether an adaptation of the driving behavior of the vehicle is possible or not
other factors that could facilitate coordinated autonomous driving via coordinated operations remain unaccounted for

Method used

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  • Method and device for the decentralized coordination of driving manoeuvres
  • Method and device for the decentralized coordination of driving manoeuvres
  • Method and device for the decentralized coordination of driving manoeuvres

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Embodiment Construction

[0033] figure 1 A schematic representation of an embodiment of a device 1 in a motor vehicle 50 for distributed coordination of the driving maneuvers of at least two motor vehicles is shown. The device 1 comprises a maneuver planning device 2 and a maneuver coordination device 3 . The device 1 may comprise a control unit 4 , wherein the control unit 4 is used, for example, to control the maneuver planning device 2 and the maneuver coordination device 3 or to control the automatic driving. The device 1 also includes a vehicle-to-vehicle interface 5 via which the maneuver coordination device 3 can communicate with other motor vehicles in the environment of the motor vehicle 50 .

[0034] The maneuver planning device 2 continuously plans a planned trajectory 20 and a desired trajectory 21 of the motor vehicle 50 . In this case, the planned trajectory 20 and the desired trajectory 21 can also be identical, for example, if the preferred trajectory has already passed the planned t...

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Abstract

The invention relates to a method for the decentralized coordination of driving manoeuvres of at least two motor vehicles (50-53). A planned trajectory (20) and a desired trajectory (21) are transferred from a first motor vehicle (50) to a second motor vehicle (51-53). In the second motor vehicle (51-53), a planned trajectory (23) of the second motor vehicle (51-53) is compared with the desired trajectory (21) of the first motor vehicle (50). If an adaptation criterion (29) is satisfied, the planned trajectory (23) of the second motor vehicle (51-53) is adapted to an adapted planned trajectory(27). The planned and desired trajectories (20, 21) of the first motor vehicle (50) can be combined with a strategic trajectory (22) of the first motor vehicle (50). The planned trajectory (23) and adesired trajectory (24) of the second motor vehicle (51-53) can be combined with a strategic trajectory of the second motor vehicle (51-53). The planned trajectories (20, 23) of the first and secondmotor vehicles (50-53) are collision-free with respect to one another. The adaptation criterion (29) is that the received desired trajectory (21) of the first motor vehicle (50) collides with the planned trajectory (23) of the second motor vehicle (51-53), and a total cost function (30), which comprises at least cost functions of the first and second motor vehicles (50-53), is optimised by means of the adaptation.

Description

technical field [0001] The invention relates to a method and a device for distributed coordinated driving maneuvers. Background technique [0002] Modern motor vehicles have numerous assistance systems which support the driver when driving the vehicle. Here, semi-automatic and fully automatic systems are increasingly being used, which enable semi-automatic or fully automatic control of the motor vehicle. In the case of fully automated driving, coordination between a motor vehicle and other motor vehicles in the surrounding environment is necessary. [0003] From DE 10 2012 011 994 A1 a method is known for the coordinated control of a traffic situation with at least two vehicles, which exchanges information between at least two vehicles by means of vehicle-to-vehicle communication, wherein the exchanged information For influencing the driving behavior of the vehicle involved (Fahrverhalten). In this case, the intended driving behavior of the first vehicle is transmitted to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G08G1/16
CPCG05D1/0289G08G1/163G05D1/0212B60W30/00H04W4/46G08G1/166
Inventor B.莱曼S.克莱瑙J-N.迈尔B.雷赫T.布布鲁赞S.格勒泽H-J.京特M.恩格尔P.帕舍卡
Owner VOLKSWAGEN AG