Method and assistance system for providing future drivable trajectory, and vehicle

Abstract

In order to provide a method for optimizing the use of a trajectory with low confidence, a method for providing a future travelable trajectory for an at least partially automated first vehicle (100) is proposed, comprising the following steps:-obtaining (B1) a trajectory for a current travel of the first vehicle on the basis of a position of the first vehicle, -determining that the first vehicle has not traveled the trajectory, and-displaying (E1) a path of the trajectory during a first travel of the first vehicle (100) along the trajectory.

Description

Technical Field

[0001] The present invention relates to a method for providing a future drivable trajectory, an auxiliary system designed to perform the method, and a vehicle having such an auxiliary system. Background Technology

[0002] Driver assistance systems are known in the prior art, which enable drivers of vehicles with partial automation or autonomous functions to perform driving tasks or take over driving tasks completely.

[0003] For example, the “trained parking” function can record trajectories and allow vehicles to drive again later, and these trajectories can be shared between vehicles in the future, as is known, for example, from DE 10 202 1 204 723 A1.

[0004] Other methods for detecting trajectories used to train partially automated or autonomous functions are also known from DE 10 201 7 002 731 A1 and DE 10 202 0 210 421 A1.

[0005] When other vehicles are using a trajectory, your own vehicle may be unable to follow that trajectory or the confidence level of that trajectory may be too low. In this case, it makes sense for the vehicle not to automatically follow the trajectory.

[0006] When other vehicles use a trajectory, the vehicle itself may be unable to follow that trajectory or the confidence level of the trajectory may be too low. In this case, the vehicle cannot automatically drive along the trajectory. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a method for optimizing the use of trajectories with low confidence.

[0008] This technical problem is solved by the features given in claim 1. Further advantageous embodiments of the invention are described in the dependent claims.

[0009] According to an advantageous provision of the invention, a trajectory that the first vehicle (also referred to as the self-vehicle) has not previously traveled and therefore has low confidence is still used to support the driver in completing the driving task. This is accomplished by allowing the driver to view the path of the trajectory when the driver first travels along it. Therefore, in situations where the quality of the trajectory input data is insufficient for driving with higher or highly automated driving functions, it is advantageous to support the driver by displaying the trajectory.

[0010] Confidence, especially the parameters that quantify the confidence of a trajectory, i.e., the possibility of correct and safe driving on the trajectory, are included in determining the confidence level. Factors such as the age of the trajectory, the robustness of the underlying data, the environment along the trajectory, and the similarity between the vehicle that recorded the trajectory and the vehicle that used the trajectory are taken into account when determining the confidence level.

[0011] If the first vehicle receives a trajectory from another source that the first vehicle itself has not yet traveled, it is initially assumed that the trajectory has a low confidence level relative to the first vehicle. This low confidence level can be, in particular, below the confidence level required to perform some automated or autonomous functions of a vehicle assistance system. Therefore, the first vehicle cannot yet benefit from the trajectory associated with these functions.

[0012] In order to enable the use of the trajectory during the first drive of the first vehicle with the trajectory, so as to support the driver in the driver's driving task, the path of the trajectory is shown to the driver during the first drive so that the driver can orient himself along the trajectory and advantageously drive along the trajectory as accurately as possible.

[0013] The first vehicle receives the trajectory based specifically on its current location. If necessary, route planning information can be used. Based on this information, one or more possible trajectories can be suggested and displayed to the driver, who can then select the appropriate one.

[0014] Preferably, the driver is asked whether the trajectory should be trained during the current drive. This allows the driver to decide for themselves whether the current trajectory should be trained, as the driver assumes that the trajectory will be followed more frequently in the future. If the driver assumes that the trajectory will only be driven once, training can be omitted to advantageously save computing power and storage space.

[0015] The trajectory is preferably trained by the first vehicle during the current driving period. After training, the confidence of the trajectory relative to the vehicle can be advantageously increased.

[0016] Trajectory training preferably begins automatically during the current driving period. This means that all previously unknown trajectories are always trained to provide the most possible trajectory selection for future driving, which can be driven through partially automated or autonomous functions.

[0017] After training, the trajectory was assigned a higher confidence level relative to the first vehicle, which now also enables the execution of at least partially automated or autonomous functions in further driving.

[0018] The trained trajectory is preferably stored in the storage device of the first vehicle. This means that all trajectories available to the first vehicle are always locally accessible. Preferably, the trained trajectory can also be sent to a central memory, where trajectories of a large number of vehicles are stored and retrieved, and / or sent to another vehicle so that it can also use the trajectory.

[0019] Preferably, the training trajectory is displayed during future driving of the first vehicle along the training trajectory. This means that even during future driving, the driver can be advantageously supported by displaying the already trained trajectory. Here, the driver may first be asked whether the trained trajectory should be displayed. Although some automation or autonomous functions are already available for training the trajectory at this point, the driver may want to support the driving task solely by displaying the trajectory path.

[0020] Preferably, at least partially automated or autonomous functionality is provided during the future driving of the first vehicle along the training trajectory. In this case, the path of the trajectory can be displayed simultaneously in parallel or it can be omitted.

[0021] The partially automated function is preferably the parking process. However, it can be any other known type of partially automated function. Furthermore, driving can also be performed entirely autonomously by the assistance system.

[0022] Preferably, the driver is asked whether partial automation or autonomous functions should be provided. Here, the driver can also advantageously determine for themselves the level of support they should receive during driving tasks.

[0023] The path of the trained trajectory is preferably displayed on a display, especially on the vehicle's infotainment system.

[0024] The training trajectory is preferably displayed on a head-up display. In particular, it is advantageous to display the path in such a way that the path is overlaid on the actual driving section along the trajectory ahead. In this case, the driver is advantageously able to continue focusing on traffic without having to look at a separate display.

[0025] The drivable trajectory is preferably provided to the first vehicle by the second vehicle. For this purpose, the first and second vehicles communicate with each other (Car2Car or C2C). This allows for the advantageous exchange of trajectories between different vehicles without transmitting data via a central control or storage device.

[0026] Alternatively, the trajectory is preferably provided to the first vehicle by a central storage device.

[0027] In both scenarios described above, the first vehicle first sends a request to the corresponding location and, based on its current location and, if necessary, information from route planning, checks whether a suitable trajectory previously traversed by another vehicle is available to the first vehicle. If such a trajectory exists, it can be used in the process described herein.

[0028] The objective of the invention is also achieved by an auxiliary system designed to perform the method according to one of the foregoing embodiments. For this purpose, the auxiliary system includes control devices, transmitting and receiving devices, and / or corresponding sensors or corresponding sensors connected to the vehicle.

[0029] With the help of sensors, at least partially automated or autonomous functions can be performed, and the vehicle's surrounding environment can be recorded while traveling along a trajectory to train the trajectory. Assistance systems are specifically designed to enable at least partially automated or autonomous functions in vehicles.

[0030] Furthermore, the objective according to the present invention is achieved by a vehicle having the aforementioned auxiliary system. Attached Figure Description

[0031] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. The drawings show:

[0032] Figure 1a The diagram shows a flowchart of a method for providing a trajectory during the first phase of vehicle travel.

[0033] Figure 1b The flowchart illustrates a method for providing a training trajectory as the vehicle moves further, and...

[0034] Figure 2 A vehicle with an auxiliary system designed to perform the method is shown. Detailed Implementation

[0035] Figure 1a ) shows the method for providing Figure 2 The flowchart illustrates a method by which a first vehicle 100, which is at least partially automated, provides a future drivable trajectory. This method begins, for example, by activating the vehicle 100 or the assistance system 200 (A1), which, as... Figure 2 As shown.

[0036] After startup, the system checks if the trajectory is available based on the current position of vehicle 100 and provides it to vehicle 100 (B1) and begins (C1) the trajectory. Since this is the first trajectory the vehicle has not yet traveled, its confidence level is low, so it cannot perform some automated or autonomous functions that require higher confidence. The driver is then asked whether the trajectory should be displayed while driving (D1) to still support the driver in completing driving tasks. It also asks whether the trajectory should be trained or taught in parallel, and performs this operation (G1) after driver confirmation.

[0037] Next, the vehicle is driven along the trajectory, and the path of the trajectory is displayed to the driver during the journey (E1), using partial automation or autonomous functions as necessary. The method ends (F1) when the journey is completed or when the end of the trajectory is reached.

[0038] Figure 1b This shows the duration of further travel after the first travel. Figure 2 A flowchart illustrating a method for providing a training trajectory for a first vehicle 100 that is at least partially automated.

[0039] This method is initiated, for example, by restarting the vehicle 100 or the assistance system 200 (A2), as follows: Figure 2 As shown. Next, instead of checking if the trajectory is available, the trajectory can be directly provided by the vehicle 100 itself (B2). Then, the driver is asked whether the trained trajectory should be displayed during driving (D2). Since the trajectory now has higher confidence in further driving after training during the first driving period, it is also asked whether driving with at least partial automation or autonomy should be performed in parallel, and if the driver confirms this (G2).

[0040] The trajectory is then driven, and the path of the trajectory is displayed to the driver (E2) during the drive, with partial automation or autonomous functions available if necessary. The method ends (F2) when the drive is completed or when the end of the trajectory is reached.

[0041] Figure 2 A vehicle 100 with an assistance system 200 is shown, which is designed to perform... Figure 1a The methods in 1) and 1b). The auxiliary system 200 includes, in particular, a control device 11 connected to a sensor device 12, through which partial automation or autonomous functions and trajectory training are performed.

[0042] In addition, vehicle 100 includes storage device 10 for storing training trajectories.

[0043] List of reference numerals

[0044] 100 vehicles

[0045] 200 auxiliary system

[0046] 10 Storage facilities

[0047] 11 Control device

[0048] 12 sensors

[0049] 13 Head-up Display

[0050] A1-F1 Method Steps

[0051] A2-G2 Method Steps

Claims

1. A method for providing a future drivable trajectory for a first vehicle (100) that is at least partially automated, comprising the steps of: - Based on the position of the first vehicle, obtain (B1) the current trajectory of the first vehicle. - Determine that the first vehicle has not yet traveled along the trajectory, and - The path of the trajectory is displayed (E1) during the first travel of the first vehicle (100) along the trajectory.

2. The method according to claim 1, wherein, Ask the driver (D1) whether the training trajectory should be used during the current driving.

3. The method according to claim 2, wherein, The training (G1) of the trajectory is performed by the first vehicle (100) during the current driving period.

4. The method according to claim 3, wherein, Trajectory training begins automatically during the current driving period.

5. The method according to claim 3 or 4, wherein, The training trajectory is stored in the storage device of the first vehicle.

6. The method according to any one of the preceding claims, wherein, The trajectory is displayed (E1) as the first vehicle (100) travels along the trained trajectory in the future.

7. The method according to any one of the preceding claims, wherein, Provide (G2) at least partially automated or autonomous functions during the future driving of the first vehicle (100) along the trained trajectory.

8. The method according to claim 7, wherein, The automated function mentioned is the parking process.

9. The method according to claim 7 or 8, wherein, Ask the driver (D2) whether partial automation or autonomous functions should be provided.

10. The method according to any one of the preceding claims, wherein, The trained trajectory is displayed on the monitor, especially on the vehicle's infotainment system.

11. The method according to any one of the preceding claims, wherein, The path of the trained trajectory is displayed on the head-up display (13).

12. The method according to any of the preceding claims, wherein, The future drivable trajectory is provided to the first vehicle by the second vehicle.

13. The method according to any of the preceding claims, wherein, The trajectory is provided to the first vehicle by a central storage device.

14. An auxiliary system designed to perform the method according to any one of the preceding claims.

15. A vehicle comprising the assistance system according to claim 14.

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