Method and device for operating automated vehicle, computer program, storage medium
By detecting the surrounding environment data values and determining driving strategies, the safe operation and traffic flow optimization of automated vehicles in intersection areas are solved, and the safe passage and energy saving of vehicles are achieved.
Patent Information
- Application Number
- CN202411414769.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-10-11
- Filing Date
- 2024-10-11
- Publication Date
- 2025-04-11
AI Technical Summary
The prior art is difficult to safely operate automated vehicles in intersection areas while optimizing traffic flow.
By detecting the surrounding environment data values, determining the configuration of the intersection and the moving behavior of the object, a first driving strategy for the automated vehicle and a second driving strategy for the other automated vehicle are formulated to ensure that the vehicle passes through the intersection within the appropriate time window.
The safe passage and traffic flow of automated vehicles are achieved, reducing unnecessary braking and re-starting, saving energy.
Smart Images
Figure CN119796199A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a method for operating an automated vehicle and to a corresponding device. Summary of the invention
[0002] The method for operating an automated vehicle at an intersection includes the step of detecting a surrounding data value, wherein the surrounding data value represents the surrounding environment of the automated vehicle including the intersection and the objects in the surrounding environment. The method further includes: a step of determining the configuration of the intersection, a step of determining the motion behavior of the object, and a step of determining a first driving strategy for the automated vehicle to pass through the intersection based on the configuration of the intersection and based on the motion behavior of the object, wherein the first driving strategy includes a first time window for the automated vehicle to pass through the intersection. The method also includes the step of determining a second driving strategy for another automated vehicle based on the first time window, based on the configuration of the intersection and based on the motion behavior of the object, wherein the second driving strategy includes a second time window for the other automated vehicle to pass through the intersection. The method also includes the step of operating the automated vehicle according to the first driving strategy, and the step of providing a second driving strategy for the other automated vehicle.
[0003] An automated vehicle is understood to be a partially automated, highly automated or fully automated vehicle according to SAE levels 1 to 5 (see standard SAE J3016).
[0004] In particular, operating an automated vehicle according to a driving strategy is understood to mean, for example, carrying out a lateral control and / or longitudinal control of the automated vehicle, wherein the lateral control and / or longitudinal control is carried out in such a way that the automated vehicle moves along a trajectory at a predetermined speed. In a possible embodiment, operation also includes, for example, carrying out safety-related functions (airbag "sharpening", seat belt fastening, etc.) and / or other (driving assistance) functions. The first and / or second driving strategy is understood here in particular to mean data values, which represent corresponding control commands and can be received and evaluated by corresponding interfaces.
[0005] The detection of the surrounding data values is carried out with the aid of an environmental sensor designed for this purpose. An environmental sensor is understood to be at least one video sensor and / or at least one radar sensor and / or at least one lidar sensor and / or at least one ultrasonic sensor and / or at least one other sensor, which are designed to detect the vehicle surroundings in the form of surrounding data values. In a possible embodiment, the environmental sensor comprises a computing unit (processor, system memory, hard disk) with suitable software for this purpose and / or is connected to such a computing unit. In a possible embodiment, the software comprises, for example, an object recognition algorithm based on a neural network or artificial intelligence. The surrounding environment is here understood to be, in particular, an area that can be detected overall with the aid of the environmental sensor.
[0006] Objects can be understood as static and / or dynamic objects. Static objects are understood here, for example, as objects that are at least not moving at the moment. This can be, for example, traffic signs (signposts, traffic light devices, etc.), infrastructure features (safety barriers, bridge piers, lane markings, etc.), parked vehicles, roadside trash cans, buildings, etc. Dynamic objects are understood here, for example, as objects that are currently moving. This can be, for example, other vehicles, pedestrians, cyclists, etc. The movement behavior of an object is understood, for example, as a direction of movement and / or a speed of movement.
[0007] The first and / or second time window is understood here to be a certain time period which is suitable for passing through the intersection according to predefined—in particular safety-related—criteria.
[0008] The method according to the invention advantageously achieves the object of providing a method for the safe operation of automated vehicles on the one hand and for optimizing traffic flows, in particular in the area of intersections, on the other hand. The method according to the invention achieves this object in that the information used by the mobile automated vehicle is also made available to other (automated) vehicles, for example via C2C communication. The method makes use of the fact that automated vehicles precisely include a plurality of sensors and suitable evaluation means for acquiring and utilizing information from the surroundings of the respective vehicle. This enables, as described in the present method, the automated vehicle to determine a suitable time window for passing through the intersection not only for itself but also for other (here: following) vehicles. As a result, another automated vehicle can pass through the intersection without unnecessary braking and restarting (the corresponding energy for these processes is also saved here).
[0009] Preferably, the first driving strategy comprises a first trajectory for the automated vehicle and / or the second driving strategy comprises a second trajectory for the further automated vehicle.
[0010] A trajectory is understood, for example—in relation to a map—to be a line that the (automated) vehicle follows—at a predetermined speed. In one embodiment, the line is, for example, a fixed point on the vehicle. In another possible embodiment, a trajectory is understood, for example, to be a driving path that the vehicle travels along.
[0011] Preferably, the configuration of the intersection includes the arrangement of lanes in the intersection area and / or applicable traffic regulations.
[0012] The arrangement of lanes is understood to mean, for example, the number of lanes with corresponding single-lane driving directions. Applicable traffic regulations are understood to mean, for example, speed regulations and / or regulations that regulate driving priorities at intersections, for example.
[0013] Preferably, the second driving strategy additionally includes the configuration of intersections.
[0014] This is understood to mean that the second driving strategy includes—in the form of data values—additional information about the intersection. In one possible embodiment, the second driving strategy additionally or alternatively includes features of the first driving strategy, such as speed information or the like.
[0015] The device according to the invention, in particular the control unit, is configured to carry out all steps of the method according to the invention for operating an automated vehicle.
[0016] The device comprises in particular a computing unit (processor, system memory, hard disk) and suitable software for implementing the method according to the invention. The device also comprises interfaces for sending and receiving data values by means of wired and / or wireless connections, for example with other devices of the vehicle (controllers, communication devices, environmental sensors, navigation systems, etc.) and / or external devices (servers, clouds, etc.).
[0017] Furthermore, protection is claimed for a computer program comprising instructions which, when executed by a computer, cause the computer to carry out the method according to the invention for operating an automated vehicle. In one specific embodiment, the computer program corresponds to the software included in the device.
[0018] Furthermore, protection is claimed for a machine-readable storage medium on which a computer program is stored.
[0019] Advantageous developments of the invention are given in the further claims and are listed in the description. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Exemplary embodiments of the invention are shown in the drawings and are explained in more detail in the following description.
[0021] In the attached figure:
[0022] Figure 1 An embodiment of a method for operating an automated vehicle according to the present invention is shown; and
[0023] Figure 2 An exemplary embodiment of the method according to the invention for operating an automated vehicle is shown in the form of a flow chart. DETAILED DESCRIPTION
[0024] Figure 1 An exemplary embodiment of a method 300 according to the invention is shown. Here, an automated vehicle 100 approaches an intersection 210—here purely by way of example—in order to turn left (see arrow 101 ). Behind automated vehicle 100 there is another automated vehicle 150 , which is following automated vehicle 100 in the direction of intersection 210 (see arrow 151 ).
[0025] Automated vehicle 100 includes a device 110 designed to carry out method 300. Automated vehicle 100 also includes an environment sensor (not shown here) that is designed to detect an environment 200 of automated vehicle 100 in the form of environment data values. Environment 200 includes intersection 210 and objects 220 located in the area of intersection 210.
[0026] Based on the previously detected surroundings data values, the configuration of intersection 210 and the movement behavior of object 220 are now determined. This determination is performed by means of device 110 or by means of another device (computing unit, control unit, etc.) which is connected to device 110 accordingly.
[0027] A first driving strategy for automated vehicle 100 for passing through intersection 210 is then determined based on the configuration of intersection 210 and based on the movement behavior of object 220. In particular, the first driving strategy is determined in such a way that automated vehicle 100 uses a first time window for passing through intersection 210 that avoids collisions with object 220 and takes into account the configuration of intersection 210 (e.g., distance, radius of curvature when driving around a curve, etc.).
[0028] Furthermore, a second driving strategy is determined for further automated vehicle 150. This determination is made as a function of the first time window (since further automated vehicle 150 must maintain a safety distance from automated vehicle 100 in order to avoid a collision between these vehicles 100, 150), as a function of the configuration of intersection 210, and as a function of the movement behavior of object 220. In this case, second driving strategy is determined in particular such that further automated vehicle 150 uses a second time window for passing intersection 210 that avoids a collision with object 220 and that takes into account the configuration of intersection 210.
[0029] A second driving strategy is then correspondingly provided from the perspective of automated vehicle 100 .
[0030] Furthermore, automated vehicle 100 is operated according to a first driving strategy (here: turn left to pass intersection 210 ).
[0031] Further automated vehicle 150 may directly use the received second driving strategy or may also adapt it if necessary (because further automated vehicle 150 , for example—starting from intersection 210 —continues its travel in a different direction than automated vehicle 100 ).
[0032] Figure 2 An embodiment of a method 300 for operating 360 an automated vehicle 100 at an intersection is shown.
[0033] Method 300 begins in step 301 , in which automated vehicle 100 approaches a corresponding intersection 210 . This information may be determined, for example, with the aid of a navigation system and a corresponding digital map and provided to device 110 for carrying out method 300 .
[0034] In step 310 , surroundings data values are detected, wherein the surroundings data values represent surroundings 200 of automated vehicle 100 , including intersection 210 , and objects 220 located in surroundings 200 .
[0035] In step 320 , the configuration of intersection 210 is determined based on previously detected surroundings data values. In a possible alternative, the configuration is additionally and / or alternatively determined with the aid of a map (eg of a navigation system).
[0036] In step 330, the movement behavior of the object 220 is determined based on the previously detected surrounding data values. This determination is performed, for example, by detecting the surroundings several times at a certain time step and determining the time behavior of the corresponding object 220 (speed, change of direction, switching on or off the flasher, brake light and / or reverse light, etc.) based on this.
[0037] Steps 320 and 330 may be performed in a predetermined order, in a reverse order, or in parallel.
[0038] In step 340 , a first driving strategy for automated vehicle 100 to pass through intersection 210 is determined based on the configuration of intersection 210 and based on the movement behavior of objects 220 . The first driving strategy includes a first time window for automated vehicle 100 to pass through intersection 210 .
[0039] In step 350, a second driving strategy for further automated vehicle 150 is determined based on the first time window, based on the configuration of intersection 210 and based on the movement behavior of object 220. The second driving strategy includes a second time window for further automated vehicle 150 to pass through intersection 210.
[0040] In step 360 , automated vehicle 100 is operated according to a first driving strategy.
[0041] In step 370 , a second driving strategy is provided for further automated vehicle 150 . This may be understood to mean that the second driving strategy is transmitted to an external receiver (here: a receiving unit of further automated vehicle 150 ) by means of a transmitting unit of automated vehicle 100 designed for this purpose.
[0042] Steps 360 and 370 may be performed in a predetermined order, in a reverse order, or in parallel.
[0043] The method 300 ends in step 380 .
Claims
1. A method (300) for operating (360) an automated vehicle (100) at an intersection comprising: - detecting (310) surrounding data values, wherein the surrounding data values represent a surrounding environment (200) of the automated vehicle (100) including the intersection (210) and an object (220) in the surrounding environment (200); - determining (320) the configuration of the intersection (210); - determining (330) the movement behavior of the object (220); - determining (340) a first driving strategy for the automated vehicle (100) to pass through the intersection (210) based on the configuration of the intersection (210) and based on the movement behavior of the object (220), wherein the first driving strategy includes a first time window for the automated vehicle (100) to pass through the intersection (210); - determining (350) a second driving strategy for a further automated vehicle (150) based on the first time window, based on the configuration of the intersection (210) and based on the movement behavior of the object (220), wherein the second driving strategy includes a second time window for the further automated vehicle (150) to pass through the intersection (210); - operating (360) the automated vehicle (100) according to the first driving strategy; and - providing (370) the second driving strategy to the other automated vehicle (150).
2. The method (300) according to claim 1, characterized in that: The first driving strategy includes a first trajectory for the automated vehicle (100) and / or the second driving strategy includes a second trajectory for the other automated vehicle (150).
3. The method (300) according to claim 1, characterized in that: The configuration of the intersection (210) includes the arrangement of lanes and / or applicable traffic regulations in the area of the intersection (210).
4. The method (300) according to claim 1, characterized in that: The second driving strategy additionally includes a configuration of the intersection (210).
5. A device (110), in particular a controller, which is configured to carry out all steps of the method (300) according to one of claims 1 to 4.
6. Computer program comprising instructions which, when executed by a computer, cause the computer to carry out the method (300) according to one of claims 1 to 4.
7. A machine-readable storage medium on which the computer program according to claim 6 is stored.