Control device and method for controlling the operation of a motor vehicle

Abstract

The invention relates to a control device for controlling or regulating the operation of a motor vehicle. The control device is configured to determine a trend of the first boundary on the basis of an environmental model of the motor vehicle and to determine a trend of the second boundary on the basis of the environmental model. The first boundary delimits an area that is maximally travelable by the motor vehicle, and the second boundary delimits another area that is travelable by the motor vehicle, which is located entirely within the area delimited by the first boundary, and allows the motor vehicle to leave the area for a predetermined period of time. The control device is configured to adapt a determination trend of a second boundary in a region at the level of the motor vehicle in such a way that a further region delimited by the second boundary is expanded in the section and decreases as the distance from the motor vehicle increases.

Description

Technical Field

[0001] The present disclosure relates to a control device or a control unit for controlling the operation of a motor vehicle, a motor vehicle having the control device and / or a (control) method for controlling the operation of a motor vehicle. Additionally or alternatively, a computer program is provided, which includes instructions, and when the program is executed by a computer, the instructions cause the computer to at least partially execute the method. In addition, a computer-readable medium is provided additionally or alternatively, which includes instructions, and when the instructions are executed by a computer, the instructions cause the computer to at least partially execute the method. Background Art

[0002] Driver assistance systems are increasingly being installed in modern motor vehicles, in particular automobiles. Driver assistance systems ((Advanced) Driver Assistance Systems, (A)DAS) are electronic devices, in particular electromechanical devices, in motor vehicles that assist the driver in certain driving situations. Safety aspects, but also increased driving comfort, are important in this regard. Driver assistance systems can carry out motion planning and, optionally on this basis, carry out lateral and / or longitudinal guidance of the motor vehicle.

[0003] Trajectory or path planning can have comfort and safety limit parameters. In the result of planning, it is allowed to violate the comfort limit parameters for a short time, but it is not allowed to violate the safety limit parameters. Comfort limit parameters are usually determined more strictly than safety limit parameters. Safety limit parameters can correspond to a safe operating range or a limited subset of the safe operating range. The limit parameters used for planning can be detected directly from the environment model. The environment model can be estimated based on sensor data detected by means of on-board and / or off-board sensors. Then, the environment model can be used to predict future changes in the environment of the motor vehicle. On this basis, not only can the measured limitations (especially lane estimation and thus, for example, drivable road areas, etc.) be obtained at the time point t=0, but also the predicted motion trends for other vehicles in the motor vehicle environment can be obtained for t>0 (i.e. in the future), from which the limit parameters for planning can be created. For example, the longitudinal movement of the motor vehicle can be limited over time from the predicted motion profile of the vehicle in front.

[0004] Noise and occasional large jumps in the odometry (mainly the measured actual position) and the course of the center line currently estimated from the environment model lead to violations of the comfort limit parameters in the first part of the trajectory / path planning, which can lead to unstable steering behavior in lateral guidance driver assistance functions.

[0005] This problem can also lead to unwanted brake judders during longitudinal planning if, for example, the actual acceleration measured violates the comfort limit parameters of the acceleration to be planned for longitudinal planning, or if a jump occurs during object perception of an object ahead and the object ahead violates the comfortable distance between the own vehicle and the motor vehicle traveling ahead. Summary of the invention

[0006] Against the background of the prior art, the object of the present disclosure is to provide a device and / or method which is suitable for enriching the prior art.

[0007] This object is achieved by the features of the independent claims. The independent claims and the dependent claims each have the content of optional developments of the disclosure.

[0008] The object is therefore achieved by a control device for controlling or regulating the operation of a motor vehicle, wherein the control device is designed to determine the course of a first boundary based on an environment model of the motor vehicle and to determine the course of a second boundary based on the environment model.

[0009] The first boundary delimits a maximum drivable area of ​​the motor vehicle, and the second boundary delimits a further drivable area of ​​the motor vehicle, which is completely located in the area delimited by the first boundary and which the motor vehicle is allowed to leave for a predetermined period of time.

[0010] The control device is designed to adapt a certain course of the second boundary in the segment as a function of the level of the motor vehicle, so that a further region delimited by the second boundary expands in the segment and decreases with increasing distance from the motor vehicle.

[0011] The control device or control unit can be part of or form part of a driver assistance system of a motor vehicle. The control device can be, for example, an electronic control unit (ECU). The electronic control unit can be an intelligent processor-controlled unit that can communicate with other modules, for example, via a central gateway (CGW) and, if necessary, form an on-board network via a fieldbus such as a CAN bus, a LIN bus, a MOST bus, a FlexRay and / or via automotive Ethernet, for example, together with a telematic controller and / or an environmental sensor device.

[0012] It is conceivable that the control device controls functions relevant to the driving behavior of the motor vehicle, such as steering, engine control, power transmission and / or braking systems. In addition, driver assistance systems, such as parking assistance, adaptive cruise control (ACC), lane keeping assistance, lane change assistance, traffic sign recognition, traffic light recognition, starting assistance, night vision assistance and / or intersection assistance can also be controlled by the control device.

[0013] In this respect, the term "control" as used herein is to be understood as "controlling or regulating", even if the latter is not explicitly mentioned. This also applies analogously to modified forms of the above terms.

[0014] An environment model may be understood to be a model which includes information about static and / or dynamic objects in the environment of the motor vehicle and / or information about the course of the roadway.

[0015] The environment model can be generated by the control device. The motor vehicle can have a sensor system, by means of which sensor data are detected, which in turn have or contain information based on which the environment model is determined or created by the control device. Sensor data fusion can be used to create the environment model.

[0016] The first boundary may be information including or consisting of the safety limit parameters described at the outset.

[0017] The second limit may be information including or consisting of the comfort limiting parameters described at the outset.

[0018] Therefore, the maximum drivable area can be understood as an area that a motor vehicle is not allowed to leave.

[0019] Thus, the further area delimited by the second boundary and traversable by the motor vehicle can be understood as an area in which the motor vehicle should preferably stay but can leave for a predetermined period of time.

[0020] The term "area" refers to a spatial region or area around a motor vehicle. If the determined areas are to be used for automatic lateral guidance of the motor vehicle, the two areas can be delimited laterally, ie to the left and / or to the right, as viewed from the motor vehicle, by their respective boundaries.

[0021] If the determined areas are to be used for the automatic longitudinal guidance of the motor vehicle, the two areas can be delimited by their respective boundaries in the direction of travel, ie forward and / or rearward, as viewed from the motor vehicle.

[0022] In both cases, the boundary can give not only a spatial scope, but also a temporal scope. In other words, the boundary can give not only where the vehicle is located, but also when the vehicle is located there.

[0023] It is also conceivable to use these areas for automatic transverse and longitudinal guidance, in which case the above description applies analogously.

[0024] A curve can be an imaginary line in the environment model that extends along the (outer) boundaries of the above-described regions. Thus, in the case of a spatial boundary, the curve of the boundary gives the position of the outer contour of the respective (driving) region. The curve can be defined, for example, by a function, such as a polynomial or a set of polynomials or a spline curve.

[0025] The device described above offers a number of advantages. Furthermore, it can be ensured that even in the case of abrupt or sudden changes in the actual position, actual driving direction, actual speed and / or actual acceleration of the motor vehicle defining the initial state for path or trajectory planning (for example because they have been completely or partially measured), a violation of comfort limits can be prevented due to their large selection in the vicinity of the vehicle. Unwanted steering corrections and brake judders can thus be minimized. However, it is also ensured that safety limits are not violated.

[0026] Possible embodiments of the device described above are explained in more detail below.

[0027] The control device can be designed to adapt the course of the second boundary such that the further region delimited by the second boundary is at its maximum (largest) at the beginning of the predetermined planning horizon (in width and / or length and / or in time).

[0028] The planning horizon can be understood as a spatial and / or temporal range for which boundaries and thus an area should be determined. In one example, the area can start at the level of the motor vehicle and extend a predetermined number of meters in front of the motor vehicle. In another example, the area can start at the level of the motor vehicle and extend in front of the motor vehicle based on the current and / or planned speed and / or acceleration of the motor vehicle in a predetermined time period (e.g., 5s) The area defining the planning horizon can also be spatially delimited laterally. It is also conceivable to define the planning horizon by an environmental model or its boundaries. The above-mentioned implementation of the area with respect to determining boundaries also applies to the planning horizon.

[0029] The jump in the path or trajectory planning to the actual state of the vehicle (see above) has a particularly strong influence at the beginning of the planning horizon, since at this beginning the second limit can be selected widely, so that violations of the second limit or comfort limit can be prevented with a high degree of reliability.

[0030] The control device can be designed to determine, at the beginning of the planning horizon, based on the course of the first boundary, a starting point through which the second boundary extends.

[0031] The control device can be designed to determine the starting point by subtracting a predetermined offset from a point through which the first boundary line extends at the beginning of the predetermined planning horizon according to its determined course.

[0032] Theoretically, it is also conceivable to set the offset to zero. That is, it is also conceivable that the comfort limit corresponds to the safety limit at the beginning of the planning horizon.

[0033] The first and / or second boundary can delimit a maximum drivable area or a further drivable area laterally outwardly, as seen from the motor vehicle.

[0034] As already explained above, this is very advantageous when planning an automatic lateral guidance. The lateral or lateral limitations can be based on the course of the roadway in the environment model and on objects such as other road users.

[0035] The control device can be designed to determine, on the basis of the speed of the motor vehicle, the length of a segment in which a further region delimited by the second boundary extends at the level of the motor vehicle.

[0036] The length may correspond to the extension of the section along the direction of travel of the motor vehicle and / or along the longitudinal direction of the motor vehicle.

[0037] It is conceivable that as the speed of the motor vehicle increases, the length of the segment also increases.

[0038] This offers the advantage that even at high speeds, at which the above-described jumps would be more severe, violations of the comfort limit can be prevented.

[0039] The control device can be designed to determine the route to be traveled by the motor vehicle such that the motor vehicle traveling along the route is always completely within the maximum drivable area delimited by the first boundary and is out of the area delimited by the second boundary for at most a predetermined period of time.

[0040] In addition, the control device is designed to control or regulate a transverse and / or longitudinal guidance of the motor vehicle in such a way that the motor vehicle automatically moves along a defined path.

[0041] A path can be understood as position information, i.e. where the vehicle should be located. A path can also have time information, i.e. when the vehicle should be located. In the latter case, the path is called a trajectory.

[0042] The above-described contents can be summarized in other words and as described below into possible specific configurations of the present disclosure, wherein the following description should not be interpreted as limiting the present disclosure.

[0043] The comfort limit can be extended in the first part of the planning horizon. In this case, an initial maximum value for the comfort limit can be determined at the 0th time point of the planning. This maximum value is less than or equal to the safety limit. The limit can then be interpolated forward through the center line until it reaches the desired narrower target comfort limit. The length of the region with the extended threshold value can depend on the speed. It is conceivable that this region is longer at higher speeds and shorter at lower speeds.

[0044] This has the result that even if a jump occurs in the initial planning state (for example because it has already been completely or partially measured), the initial planning state does not violate the comfort limits and the movement of the vehicle can be planned comfortably.

[0045] In some situations, it may be advantageous to also similarly extend the safety limits. Here, the extended range allows exceeding the hard safety limits initially estimated.

[0046] Furthermore, a motor vehicle is provided which has a control unit or a control device as described above.

[0047] The motor vehicle may be a passenger vehicle, in particular a car, and / or a commercial vehicle, for example a truck.

[0048] The motor vehicle may be automated. The motor vehicle may be designed to take over the longitudinal and / or transverse guidance at least partially and / or at least temporarily by means of the control device during automatic driving of the motor vehicle.

[0049] The automated driving may be performed in such a way that the motor vehicle moves forward (largely) autonomously. The automated driving may be controlled at least partially and / or temporarily by a control device.

[0050] It is conceivable that the motor vehicle intervenes in the lateral guidance of the motor vehicle via the driver assistance system actively, for example by adapting the actual steering wheel position, and optionally passively, for example by displaying turning instructions. The same applies to the longitudinal guidance of the motor vehicle.

[0051] The motor vehicle may be a motor vehicle of level 0 autonomy, ie the driver takes over the task of dynamic driving even though assistance systems (eg ABS or ESP) are present.

[0052] The motor vehicle may be a motor vehicle of level 1 autonomy, ie having certain driver assistance systems which assist the driver in operating the vehicle, such as an adaptive cruise control (ACC).

[0053] The motor vehicle may be a motor vehicle with a Level 2 autonomy level, ie may be partially automated, so that functions such as automatic parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and / or deceleration are taken over by a driver assistance system.

[0054] The motor vehicle may be a motor vehicle with Level 3 autonomy, i.e. may be conditionally automated so that the driver does not have to constantly monitor the vehicle systems. The motor vehicle autonomously performs functions such as triggering turn signals, lane changes and / or lane keeping. The driver may be engaged in other matters, but if necessary, the system requests to take over guidance within the warning time.

[0055] The motor vehicle may be a motor vehicle with a level 4 autonomy, ie, may be highly automated, so that the control of the vehicle is permanently taken over by the vehicle system. If the system no longer has control over the driving task, the driver may be asked to take over the control.

[0056] The motor vehicle may be a motor vehicle with a Level 5 autonomy level, ie may be fully automated, such that a driver is not required to perform the driving task. No human intervention is required except for determining the target and turning on the system. The motor vehicle may not have a steering wheel and pedals.

[0057] What has been described above with respect to the control device also applies analogously to the motor vehicle, and vice versa.

[0058] In addition, a method for controlling the operation of a motor vehicle is provided, wherein the method comprises determining the course of a first boundary based on an environment model of the motor vehicle and determining the course of a second boundary based on the environment model. The first boundary delimits an area in which the motor vehicle can maximally travel. The second boundary delimits another area in which the motor vehicle can travel, which is completely located within the area delimited by the first boundary and from which the motor vehicle is allowed to leave for a predetermined period of time. The method comprises adapting the determined course of the second boundary in a section at the level of the motor vehicle so that the other area delimited by the second boundary is extended in the section and is reduced as the distance from the motor vehicle increases.

[0059] The (control) method may be a computer-implemented method, ie one, several or all steps of the method may be at least partially performed by a computer or a device for data processing, optionally a control device.

[0060] What has been described above with respect to the control device and the motor vehicle also applies analogously to the method, and vice versa.

[0061] Furthermore, a computer program is provided, comprising instructions which, when the program is executed by a computer, cause the computer to at least partially perform the method described above.

[0062] The program code of the computer program may be any arbitrary code, in particular a code suitable for controlling a motor vehicle.

[0063] What has been described above with respect to the control device, the motor vehicle and the method also applies analogously to the computer program and vice versa.

[0064] Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium comprises instructions which, when executed by a computer, cause the computer to at least partially perform the method described above.

[0065] That is, a computer readable medium including the computer program defined above may be provided. The computer readable medium may be any digital data storage, such as a USB flash drive, hard drive, CD-ROM, SD card or SSD card (or SSD hard drive / SSD hard drive).

[0066] The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be available to the motor vehicle, but can also be obtained from outside via the Internet or other means.

[0067] What was described above with respect to the method, the control device, the computer program and the motor vehicle also applies analogously to the computer-readable medium and vice versa. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Refer to the following Figures 1 to 3 An alternative implementation is described.

[0069] Figure 1 A motor vehicle having a control device according to the disclosure is schematically shown,

[0070] Figure 2 showing a motor vehicle in a possible driving situation in which the method according to the present disclosure can be applied, and

[0071] Figure 3 A flow chart of a method for controlling operation of a motor vehicle according to the present disclosure is schematically shown. DETAILED DESCRIPTION

[0072] exist Figure 1 A motor vehicle 1 , which is shown only schematically in FIG. 1 , has a control device 2 according to the disclosure and a sensor system 3 connected thereto.

[0073] exist Figure 2 1 shows a motor vehicle 1 in a top view (English: bird's eye view BEV) according to an environment model 10. The motor vehicle 1 is located on a roadway 5 with a center line (English center line) 6, wherein the vehicle 1 is located on a roadway 5 with a center line 6 in the direction of travel (in Figure 2 In front of the motor vehicle 1 (from left to right in the figure), another motor vehicle 4 cuts into the lane 5. This driving situation is used, for example, in the following description of the method 100 according to the present disclosure.

[0074] The control device 2 of the motor vehicle 1 is designed to execute the Figure 3 The (control) method 100 is described in detail.

[0075] In a first step 101 of the method 100, the control device 2 determines an environment model 10 of the motor vehicle 1 (whose top view is in FIG. 1 ) based on the surroundings information received from the sensor system 3 in the form of sensor data. Figure 2, see above).

[0076] In a second step 102 of method 100, control device 2 determines the course of first hard boundary 9 based on environment model 10 of motor vehicle 1 determined in first step S1. This first hard boundary is a so-called safety limit which must not be exceeded or driven over by motor vehicle 1 during further driving.

[0077] At present, the first hard boundary 9 is first parallel to the lateral edge of the roadway 5 when viewed in the direction of travel, and then bends inwards towards the center line 6 after the motor vehicle 1 has passed. The course of the first hard boundary 9 is selected by a predetermined safety distance from the corresponding edge 5 so that the motor vehicle 1 can be prevented from leaving the roadway 5 with a sufficiently high probability and thus reliably. The other motor vehicle 4 included in the environment model 10, more precisely the outer boundary or contour of the other motor vehicle, forms the second hard boundary 8, the course of which is also determined by the control device 2. Therefore, the first and second hard boundaries 8, 9 determine the maximum drivable area 11 of the motor vehicle 1 or the area currently delimited laterally from the perspective of the motor vehicle 1. Therefore, a trajectory planning must be performed, which avoids the motor vehicle 1 from driving over these two hard boundaries 8, 9.

[0078] In a third step 103 of method 100 , control device 2 of motor vehicle 1 determines the course of soft boundary 7 based on environment model 10 .

[0079] Soft boundary 7 is a so-called comfort limit and currently delimits a further area 12 drivable by motor vehicle 1 , which lies completely within area 11 delimited by the two hard boundaries 8 , 9 and allows motor vehicle 1 to leave this area for a predetermined period of time.

[0080] Another area 12, which is delimited by a second boundary, is located at the beginning of the predetermined planning horizon, where the rear end of the environment model 10 in the direction of travel or at the Figure 3 The left end is the largest. The starting point through which the soft boundary 7 extends is determined at the beginning of the planning horizon based on the course of the first hard boundary 9. More precisely, the control device 2 determines the starting point by subtracting a predetermined offset from a point through which the first hard boundary 9 extends at the beginning of the predetermined planning horizon according to its determined course.

[0081] Starting from this starting point, the soft boundary 7 extends parallel to the first hard boundary 9 in a first section 13 along the driving direction of the motor vehicle 1, coincides with the second hard boundary 8 formed by another motor vehicle 4 and, like the first hard boundary 9 (without error, but the second limit has a lower number than the first limit), bends inward in the direction of the center line 6 during further driving after the motor vehicle 1 has passed.

[0082] Therefore, the curve of the soft boundary 7 determined by the control device 2 is adapted or selected by the control device 2 in the section 13 at the level of the motor vehicle 1 so that the other area 12 delimited by the soft boundary 7 is extended in the section 13 and thus at the level of the motor vehicle 1 and decreases or becomes thinner in a top view as the distance from the motor vehicle 1 increases in the driving direction of the motor vehicle 1.

[0083] The length of section 13 , in particular the length of the overrun beyond motor vehicle 1 in the direction of travel of motor vehicle 1 , in which a further region delimited by a second boundary is extended at the level of the motor vehicle, is determined by control device 2 based on the speed of motor vehicle 1 .

[0084] In a fourth step 104 of the method 100, the control device 2 determines the path to be traveled by the motor vehicle 1 in such a way that the motor vehicle 1 traveling along the path is always completely within the maximum drivable area 11 bounded by the hard boundaries 8, 9 and is allowed to leave the area 12 bounded by the soft boundaries 7 for a maximum predetermined (i.e. permitted) time period. In the present case, the determined path may correspond to the center line 6.

[0085] In a fifth step 105 of method 100 , control device 2 controls or regulates the transverse and / or longitudinal guidance of motor vehicle 1 in such a way that motor vehicle 1 automatically moves along a defined path, here center line 6 .

[0086] The method 100 described above is hereby continuously executed by the control device 2 in order to automatically drive the motor vehicle 1 .

[0087] Reference numerals list

[0088] 1 Motor Vehicle

[0089] 2 Control device

[0090] 3 Sensor system

[0091] 4 Other motor vehicles

[0092] 5 lanes

[0093] 6 Centerline

[0094] 7 Comfort Limit Parameters or Soft Boundaries

[0095] 8.9 Security Limit Parameters or Hard Boundaries

[0096] 10 Environmental Model

[0097] 11 Maximum drivable area

[0098] 12 Preferred area to be driven within comfort limit parameters

[0099] 13 Extended section of preferred travel area

[0100] 100 Methods

[0101] 101-105 Method Steps

Claims

1. A control device (2) for controlling or regulating the operation of a motor vehicle (1), wherein the control device (2) is configured to - determining the course of the first boundary (8, 9) based on an environment model (10) of the motor vehicle (1), and - determining the trend of the second boundary (7) based on the environment model (10), - wherein the first boundary (8, 9) delimits a maximum drivable area (11) of the motor vehicle (1), and - wherein the second boundary (7) delimits a further area (12) in which the motor vehicle (1) can travel, the further area being completely located within the area (11) delimited by the first boundaries (8, 9) and the motor vehicle (1) is allowed to leave the further area for a predetermined period of time, It is characterized in that The control device (2) is configured to - in the section (13), a certain course of the second boundary (7) is adapted according to the level of the motor vehicle (1), so that the further region (12) delimited by the second boundary (7) is expanded in the section (13) and decreases with increasing distance from the motor vehicle (1).

2. The control device (2) according to claim 1, characterized in that The control device (2) is designed to adapt the course of the second boundary (7) so that the further area (12) delimited by the second boundary (7) is at its largest at the beginning of a predetermined planning horizon.

3. The control device (2) according to claim 2, characterized in that The control device (2) is designed to determine a starting point at the beginning of the planning horizon based on the course of the first boundaries (8, 9), through which the second boundary (7) extends.

4. The control device (2) according to claim 3, characterized in that The control device (2) is designed to determine the starting point by subtracting a predetermined offset from a point through which the first boundary (8, 9) extends at the beginning of the predetermined planning horizon according to a determined course of the first boundary.

5. The control device (2) according to any one of claims 1 to 4, characterized in that: The control device (2) is designed to determine, based on the speed of the motor vehicle (1), the length of the section (13) in which the further region (12) delimited by the second boundary (7) is extended at the level of the motor vehicle (1).

6. The control device (2) according to any one of claims 1 to 5, characterized in that: The control device (2) is configured to - determining a path to be traveled by the motor vehicle (1) so that the motor vehicle (1) travelling along the path is always completely within the maximum drivable area (11) bounded by the first boundaries (8, 9) and leaves the area (12) bounded by the second boundary (7) at most for a predetermined period of time, and - controlling or regulating the transverse and / or longitudinal guidance of the motor vehicle (1) so that the motor vehicle (1) automatically moves along the determined path.

7. A motor vehicle (1), characterized in that The motor vehicle (1) comprises a control device (2) according to any one of claims 1 to 6.

8. A method (100) for controlling the operation of a motor vehicle (1), wherein the method (100) comprises: - determining (102) the course of the first boundary (8, 9) based on an environment model (10) of the motor vehicle (1), and - determining (103) the trend of the second boundary (7) based on the environmental model (10), - wherein the first boundary (8, 9) delimits a maximum drivable area (11) of the motor vehicle (1), and - wherein the second boundary (7) delimits a further area (12) in which the motor vehicle (1) can travel, the further area being completely located within the area (11) delimited by the first boundaries (8, 9) and the motor vehicle (1) is allowed to leave the further area for a predetermined period of time, Characterized in that the method (100) comprises: - in a section (13), a certain course of the second boundary (7) is adapted at the level of the motor vehicle (1) so that a further region (12) delimited by the second boundary (7) is expanded in the section (13) and decreases with increasing distance from the motor vehicle (1).

9. A computer program, characterized in that The computer program comprises instructions which, when executed by a computer, cause the computer to perform the method according to claim 8 .

10. A computer-readable medium, characterized in that The computer-readable medium includes instructions which, when executed by a computer, cause the computer to perform the method according to claim 8.

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