Method for approving the distance travelled

Abstract

The invention relates to a method for recognizing that a driving route (F) is suitable for automated driving of a vehicle (1). The invention provides for recognizing that a driving route (F) ahead of the vehicle (1) is suitable for automated driving of the vehicle (1) when, using a digital map (3) used during automated driving for locating the vehicle (1) based on landmarks, it is known that there are landmarks (L) along the driving route (F) that meet predefined requirements for their suitability for the longitudinal and transverse positioning of the vehicle (1) depending on the course of the driving route (F).

Description

Technical Field

[0001] The invention relates to a method for determining whether a driving route is suitable for automated driving of a vehicle. Background Art

[0002] From US 2011 / 0118979 A1 a method for operating a vehicle navigation system is known, wherein an alarm is promptly issued when the vehicle navigation system fails to satisfactorily meet predetermined performance criteria. The method comprises: obtaining a satellite-supported position estimate, obtaining a position estimate for dead reckoning navigation, obtaining a location estimate by combining the satellite-supported position estimate with the position estimate for dead reckoning navigation, determining a map-fitted position, and comparing the completeness of the location determination by means of a test statistic. The test statistic is calculated by evaluating the map-fitted position and the position estimate, wherein a judgment threshold is set based on a predetermined location estimate accuracy specification. If the test statistic is greater than the judgment threshold, the vehicle navigation system indicates that the integrity of the location estimate does not meet the predetermined location estimate accuracy specification. Summary of the invention

[0003] The object of the present invention is therefore to specify a method for determining the suitability of a driving route for automated driving of a vehicle which is improved compared to the prior art.

[0004] According to the invention, this object is achieved by the features of claim 1 .

[0005] Advantageous embodiments of the invention are the subject matter of the dependent claims.

[0006] According to the present invention, a method for recognizing that a driving route is suitable for automated driving of a vehicle stipulates that when it is known that there are multiple landmarks along the driving route with the help of a digital map that is used to locate the vehicle based on landmarks during automated driving, the driving route ahead of the vehicle is recognized as suitable for automated driving of the vehicle, and the landmarks meet pre-set requirements based on the course of the driving route in terms of their suitability for longitudinal and transverse positioning of the vehicle.

[0007] By using this method, automated driving of the vehicle is possible when, for example, the road edge is relatively clearly marked on a straight road section and when there are a sufficient number of landmarks for lateral positioning of the vehicle.

[0008] One embodiment of the method provides that information related to the driving distance is obtained based on the digital map and based on this information the driving distance is divided into straight sections and curved sections. In particular, the division into straight sections and curved sections is performed, for which it is distinguished based on landmarks whether the landmark is suitable for longitudinal positioning or transverse positioning or both.

[0009] In another embodiment of the method, landmarks as other information along the driving route are obtained based on the digital map. In particular, landmarks as other information are obtained so that it can be determined whether the driving route or at least a certain road section is suitable for vehicle automated driving.

[0010] For this purpose, in one development, the landmarks are analyzed with regard to their longitudinal and transverse positioning for the vehicle, wherein the analysis is used to determine whether reliable automated driving of the vehicle is possible on the driving route or at least one road section having the corresponding landmark. For this purpose, for example, the distances between individual landmarks can also be determined.

[0011] One embodiment of the method provides that when it is known that a predetermined number of landmarks suitable for the lateral positioning of the vehicle are present along the straight section, it is recognized that the automated driving of the vehicle is suitable for the straight section, thereby enabling reliable automated driving of the vehicle on the straight section.

[0012] In another embodiment, when it is known that there are a predetermined number of landmarks along the curved section that are suitable for the lateral and longitudinal positioning of the vehicle, it is recognized that the automated driving of the vehicle is suitable for the curved section, thereby recognizing the automated driving of the vehicle.

[0013] In particular, in one possible development of the method, at least one roadside structure of the highway is detected as a landmark for lateral positioning of the vehicle, wherein a certain number of roadside structures must be present on the driving route in order to authorize automated driving.

[0014] Another possible implementation of the method provides for detecting at least one bridge without bridge piers across the highway as a landmark for longitudinal positioning of the vehicle. Here, such landmarks are particularly known as other information by means of a digital map to approve vehicle automated driving on the corresponding road section.

[0015] In another design, the maximum driving speed of the vehicle for the authorized automated driving can be preset according to the road section by means of the positioning accuracy of the vehicle. Therefore, it can be basically guaranteed that the vehicle travels at a driving speed suitable for the road section during the authorized automated driving. Therefore, it can be basically guaranteed that the vehicle itself will not be dangerous during the authorized automated driving and will not pose a threat to traffic participants in the immediate vicinity of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Below, embodiments of the present invention are explained in detail with reference to the drawings, wherein:

[0017] Figure 1 The vehicle and the travel path ahead of the vehicle are shown schematically. DETAILED DESCRIPTION

[0018] In the single figure, the vehicle 1 is shown in a greatly simplified form and a travel distance F ahead of the vehicle 1 is shown.

[0019] The vehicle 1 is equipped with an assistance system 2 for automated driving, wherein the driving task of the vehicle 1 is completely performed by the vehicle 1 , so that the vehicle user, ie the driver, can do other things during the automated driving.

[0020] Automated driving, especially highly automated driving, requires precise positioning of the vehicle 1, for which a satellite-assisted positioning unit is arranged in the vehicle 1. However, the positioning signals from the satellites are still not sufficient to perform automated driving.

[0021] In order to determine that driving route F is suitable for automated driving of vehicle 1 , the method described below is provided.

[0022] Driving route F is deemed suitable for automated driving of vehicle 1 if a plurality of landmarks L along driving route F are stored in digital map 3 for localizing vehicle 1 based on landmarks, which landmarks meet certain requirements with regard to their suitability for longitudinal and transverse localization of vehicle 1 .

[0023] The requirements are set as a function of the course of the driving route F, since different requirements are imposed on the accuracy of the longitudinal and transverse positioning of the vehicle 1 for the straight section S1 and the curved section S2 .

[0024] For this purpose, information about the driving distance F is obtained on the basis of a digital map 3 already present in the vehicle 1 , with the driving distance F being divided into straight sections S1 and curved sections S2 using this information.

[0025] Furthermore, the digital map 3 contains further information about landmarks L present along the driving route F. In particular, lane markings and roadside buildings are detected as landmarks L in the digital map 3 .

[0026] If a landmark L has been determined, it is evaluated with respect to its suitability for longitudinal and transverse positioning of the vehicle 1. A solid road marking M at the edge of the road is suitable, for example, only for determining the transverse position of the vehicle 1, ie for transverse positioning.

[0027] However, a bridge spanning the travel path F, in particular a highway, is only suitable as a landmark L for the longitudinal positioning of the vehicle 1 .

[0028] After the driving distance F has been evaluated with respect to the landmarks L, automated driving is either permitted or prohibited.

[0029] In particular, automated driving of the vehicle 1 is authorized if landmarks L are present along the straight section S1 which are suitable for the lateral positioning of the vehicle 1 and are present in sufficient number along the straight section S1 .

[0030] In addition, when there are landmarks L along the curved section S2, the automated driving of the vehicle 1 is recognized, that is, the landmarks are suitable for the longitudinal positioning and the lateral positioning of the vehicle 1 and are present along the curved section S2 in a number sufficient for the longitudinal positioning and the lateral positioning. In particular, on the curved section S2, the longitudinal positioning of the vehicle 1 requires the landmarks L in order to substantially prevent the vehicle 1 from accidentally leaving the road during the automated driving.

[0031] By using this method, it is possible to authorize the automated driving of the vehicle 1 on a straight road section S1 with relatively clear road markings M at the edge of the road, provided that there are a sufficient number of landmarks L for the lateral positioning of the vehicle 1 .

[0032] The variable positioning accuracy decreases with the length of the section "without new landmark L as positioning target" passed. If the light pole of the road lighting system is located at a short distance in front of the curved section S2, even when there is no other landmark L in the curved section S2, automated driving is still possible in the curved section S2.

[0033] In combination with the positioning accuracy, a driving speed at which the vehicle 1 can travel with the highest comfort level for automated driving can also be derived and set according to the road sections S1 and S2 .

[0034] If the vehicle 1 is traveling on a relatively empty straight section S1 without a landmark L for longitudinal positioning of the vehicle 1 and a curved section S2 follows, the curve can be driven through at a reduced speed, wherein the driving speed is also related to the curvature of the curve. If the driving speed is not significantly lower than the speed of driving through the curve in manual driving, the driving speed of the vehicle 1 is acceptable for a shorter section of the curved section S2.

[0035] In sections of the curved road section S2 of the driving route F where it is not possible to drive at an acceptable, ie, low, speed, a pole can be positioned, in particular constructed, as a landmark L at the edge of the road in the form of a roadside structure in order to enable automated driving of the vehicle 1 there.

Claims

1. A method for determining that a travel distance (F) is suitable for automated driving of a vehicle (1), characterized in that: The driving route (F) ahead of the vehicle (1) is recognized as suitable for automated driving of the vehicle (1) when the presence of the following landmarks (L) is known along the driving route (F) by means of a digital map (3) used during the automated driving for positioning the vehicle (1) based on the landmarks, i.e., the landmarks meet requirements predefined based on the course of the driving route (F) in terms of their longitudinal and transverse positioning for the vehicle (1), wherein information related to the driving route (F) is known based on the digital map (3), and based on the information, the driving route (F) is divided into A straight section (S1) and a curved section (S2), wherein the landmarks (L) are analyzed in terms of their suitability for the longitudinal positioning and the lateral positioning of the vehicle (1). When it is known that there are a specified number of landmarks (L) along the straight section (S1) that are suitable for the lateral positioning of the vehicle (1), the automated driving of the vehicle (1) is recognized to be suitable for the straight section (S1); and, when it is known that there are a specified number of landmarks (L) along the curved section (S2) that are suitable for the lateral positioning and the longitudinal positioning of the vehicle (1), the automated driving of the vehicle (1) is recognized to be suitable for the curved section (S2).

2. The method according to claim 1, characterized in that Based on the digital map (3), landmarks (L) present along the driving route (F) are determined as further information.

3. The method according to claim 1 or 2, characterized in that: At least one road marking (M) and / or a lighting unit of a road lighting system is detected as a landmark (L) for lateral positioning of the vehicle (1).

4. The method according to claim 1 or 2, characterized in that: At least one bridge without piers across the highway and / or lighting units of a road lighting system are detected as landmarks (L) for longitudinal positioning of the vehicle (1).

5. The method according to claim 1 or 2, characterized in that: The maximum driving speed of the vehicle (1) for automated driving is pre-set based on the positioning accuracy of the vehicle (1) and on the straight road section and the curved road section (S1, S2).

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