Method and device for performing an automated journey of a vehicle along a provided trajectory

Abstract

Method for performing an automated journey of a vehicle (50) along a provided trajectory (30, 33), comprising the following steps: Carrying out an automated journey of the vehicle (50), wherein a controller (3) of the vehicle (50) provides signals for a lateral control (51) and a longitudinal control (52) for controlling the vehicle (50) along the provided trajectory (30, 33) on the basis of detected environmental data, wherein before carrying out the automated journey, the controller (3) checks whether at least one user-independent release criterion (4) is met, wherein the automated journey along the provided trajectory (30, 33) is only carried out if the at least one user-independent release criterion (4) is met, wherein a length (35, 36) of a trajectory of the provided trajectory (30, 33) is determined, wherein the at least one user-independent release criterion (4) is a predetermined maximum length (34) of the trajectory of the provided trajectory (30, 33), and / or wherein the at least one user-independent release criterion (4) is the presence of a predetermined certification of the provided trajectory.

Description

[0001] The invention relates to a method and a device for carrying out an automated journey of a vehicle along a provided trajectory.

[0002] Modern vehicles, especially motor vehicles, feature a variety of assistance systems that support drivers in driving. These include, for example, brake assist, lane departure warning, and distance control systems.

[0003] Furthermore, it is known to automatically guide a vehicle along a provided trajectory into a parking position. For this purpose, the steering and drive of the vehicle are controlled by a controller in such a way that the vehicle is automatically guided along the provided trajectory into the parking position. Such a method is known, for example, from DE 10 2013 015 349 A1.

[0004] DE 10 2013 015 348 A1 discloses a method and a device for operating a vehicle that can approach a parking space automatically. DE 10 2013 224 198 A1 discloses a method for exiting a blocked-in vehicle. DE 10 2014 202 453 A1 discloses a method and systems for detecting autonomously operated vehicles, for distance measurement, and for distance control.

[0005] However, the problem that an automated journey can be carried out even when it is not actually desired has not been resolved. Legal requirements, requirements of a vehicle owner, or even requirements of property owners may need to be taken into account. For example, it is always possible that a trajectory can be learned that runs predominantly on an oncoming lane, so that carrying out an automated journey along this learned trajectory would impede traffic flow and pose a safety risk. Furthermore, the condition of the ground can change, so that, for example, a learned trajectory that led over a frozen body of water is no longer passable after a temperature rise in the surrounding area.

[0006] The invention is based on the technical problem of creating a method and a device for carrying out an automated journey of a vehicle along a provided trajectory, in which an automated journey is carried out only in compliance with specifications.

[0007] The technical problem is solved according to the invention by a method having the features of patent claim 1 and a device having the features of patent claim 9. Advantageous embodiments of the invention emerge from the subclaims.

[0008] In the following, a trajectory is intended to comprise an ordered set of parameterized position data of a path curve in an environment and additional data. This additional data can be features present in the environment and / or features derived from them, for example, visual images, metadata, or position data of physical objects in the environment. The additional data should, in particular, allow improved localization of the vehicle in the environment compared to satellite-based global positioning and navigation systems (e.g., GPS).

[0009] In the following, a vehicle shall mean a land vehicle. In particular, a vehicle shall mean a motor vehicle used for the transport of persons or goods.

[0010] A user-independent approval criterion is defined below as a condition or specification for approving an automated journey along a trajectory that is independent of user interaction. Whether the condition is met or not should be determinable only from the current position (position and orientation) of the vehicle and / or properties of the trajectory and / or properties of the surroundings of the trajectory.

[0011] The background of the invention is, in particular, assistance systems that enable a vehicle to learn a trajectory in a learning drive and to automatically follow the learned trajectory during a subsequent drive. Situations may arise in which certain specifications are not met during an automated subsequent drive. For example, an automated drive may be legally permitted on private property, but not on a public road. In this case, the objective is to prevent an automated subsequent drive from being carried out in violation of the specifications.

[0012] The core idea of ​​the invention is to check, before performing an automated journey, whether the automated journey meets the required specifications. For this purpose, at least one or more user-independent approval criteria are checked. User-independent means, in particular, that there is no way for a driver or passenger of the vehicle to manually authorize the automated journey. If the user-independent approval criterion is met, the automated journey is authorized and carried out. If, however, the user-independent approval criterion is not met, the automated journey is not authorized and therefore not carried out.

[0013] This has the advantage of preventing automated driving from being carried out contrary to specifications, for example, using the function to travel through areas that are not permitted for automated driving or are too long. For example, a function designed solely for parking and reversing can be prevented from being used for an automated journey of several kilometers from a home parking space to a workplace. This can increase road safety.

[0014] Independently of the invention, it may be provided to additionally request a user authorization from the driver as a necessary prerequisite for an automated journey.

[0015] In particular, a method for carrying out an automated journey of a vehicle along a provided trajectory is provided, comprising the following steps: carrying out an automated journey of the vehicle, wherein a controller of the vehicle provides signals for lateral control and longitudinal control for controlling the vehicle along the provided trajectory on the basis of detected environmental data, wherein before carrying out the automated journey, the controller checks whether at least one user-independent release criterion is met, wherein the automated journey along the provided trajectory is only carried out if the at least one user-independent release criterion is met.

[0016] Furthermore, a device is provided for carrying out an automated journey of a vehicle along a provided trajectory, comprising at least one surroundings detection device for detecting surroundings of the vehicle and a controller, wherein the controller is designed to provide signals for lateral control and longitudinal control for controlling the vehicle along the provided trajectory on the basis of detected surroundings data, wherein the controller is further designed to check, before carrying out the automated journey, whether at least one user-independent release criterion is met, and to carry out the automated journey along the provided trajectory only if the at least one user-independent release criterion is met.

[0017] The controller checks the at least one release criterion against corresponding information. This information can, for example, originate from the current surroundings of the vehicle, with the current surroundings being detected by an environment detection device. The information is then derived from the detected environment data. Furthermore, it is also possible for the information to be retrieved, alternatively or additionally, from a memory in the device or a server external to the device via a communication device.

[0018] In particular, it can be provided that more than one user-independent approval criterion must be met for an automated journey along the provided trajectory to be carried out. Therefore, in an advantageous embodiment, at least one further user-independent approval criterion must be met for the automated journey to be carried out.

[0019] The following embodiments, which refer to the at least one release criterion, may alternatively also refer to the at least one further user-independent release criterion. However, it should always be required that all prerequisites reflected in the user-independent release criteria must be met simultaneously for the automated journey to be carried out.

[0020] It can be provided that automated driving should only be possible in certain areas. For example, automated driving may only be permitted on private property. In an advantageous embodiment, it is therefore provided that the at least one user-independent approval criterion is a predefined position range in which the current position of the vehicle must be located. In the example given above, the predefined position range is then limited to the corresponding private property. For example, it can be provided that position areas on a map are provided with corresponding information. Before the automated driving is carried out, the corresponding position areas can be retrieved from the map and made available.

[0021] Furthermore, it may also be stipulated that an automated journey may only be carried out in certain environments. Such an environment may, for example, be a specific environment or a specific environment type. Such an environment type may, for example, be a secondary road (as opposed to a main road) or a parking garage.

[0022] In a further advantageous embodiment, it is therefore provided that the at least one user-independent release criterion is a predetermined environment and / or an environment type of an environment in which a current position of the vehicle must be located. This has the advantage that an release criterion can also be checked independently of a specific (fixed) position range. In this way, an automated journey can be selectively released or denied for certain environment types, for example for side streets or parking spaces. The environment type of a current environment can be recognized, for example, using a pattern recognition device. For this purpose, the pattern recognition device recognizes patterns and features in recorded environment data and compares these with patterns and features known for different environment types.Based on a match between recognized patterns and features and corresponding known patterns and features, the pattern recognition device can classify a current environment and determine the environment type for the current environment. Common pattern recognition methods are used for this purpose. For example, an environment type can be classified as a forest if a certain number of trees is recognized as a characteristic pattern for a forest, etc. Other such patterns characteristic of certain environment types can be, for example, a road, a road width, a number of lanes, a number of cars, a road marking, a turf, a road surface, delineators, etc.

[0023] In particular, a further advantageous embodiment provides that, in order to check the at least one user-independent release criterion, a current position of the vehicle is determined by a position-determining device and / or from the acquired environmental data. This enables a direct comparison of the current position of the vehicle, for example, with a predetermined position range.

[0024] Information about the surroundings can also be included in the check in other ways. For example, environmental data about an environment can also be retrieved from a map. In an advantageous embodiment, it is therefore provided that, in order to check the at least one user-independent release criterion, environmental data is received by means of a communication device from a server via a communication connection. The received environmental data can, for example, indicate for the environment in which the vehicle is currently located whether or not an automated journey is permitted in this environment. For example, private properties and public roads can be marked on the map. Likewise, geographical areas can each be assigned information about whether or not an automated journey is permitted in these geographical areas.

[0025] The user-independent release criterion can also be defined depending on the provided trajectory. For example, it can be provided that all positions belonging to a trajectory must lie entirely within a predefined environment. In particular, an advantageous embodiment therefore provides that the at least one user-independent release criterion specifies that the provided trajectory lies to a predefined extent or entirely within a predefined environment and / or environment type. For example, this can ensure that a trajectory must lie entirely or at least partially, for example its start or destination position, on private property. Furthermore, it can be defined to what extent the trajectory must lie within a corresponding environment or environment type.For example, it may be stipulated that 70% of the provided trajectory must be on private property in order for automated driving to be permitted.

[0026] A further property of the provided trajectory, which can be used to prevent misuse of an automated journey, is the length of the provided trajectory. In one embodiment according to the invention, it is therefore provided that a length of a path curve of the provided trajectory is determined, wherein the at least one user-independent release criterion is a predetermined maximum length of the path curve of the provided trajectory. The maximum length can be, for example, 50 m or 100 m. The maximum length can also depend on further properties, such as an environment or an environment type. For example, it can be provided that a maximum length on private property can be up to 1 km or that such a length is not provided at all. The maximum length in public areas, on the other hand, can be limited to 10 m or 50 m.

[0027] Furthermore, it can also be stipulated that the provided trajectory must meet a prescribed certification, for example by means of an official certificate which proves that the provided trajectory was trained in a certified learning drive with a specified quality standard. Such a quality standard can, for example, be a prescribed number of features that must be present at every position on the provided trajectory. It can also be stipulated that a prescribed number of a certain feature type must be present at every position. For example, it can be required that at least four features must be detectable and recognizable by an environment detection device at every position on the provided trajectory; of these features, for example, at least two must also be road markings.On other days or at a different time of year, for example, different specifications may be prescribed. Therefore, in one embodiment of the invention, it is alternatively or additionally provided that the at least one user-independent approval criterion is the presence of a predefined certification of the provided trajectory. Before performing the automated journey, a check is then performed, for example, to determine whether the provided trajectory is certified or not. The advantage is that trajectories can be trained, for example, by an officially certified body and made available for subsequent journeys.

[0028] It is also possible that a trajectory learned for a vehicle is first transmitted to such an official body (or another corresponding service) after learning, and then verified by that body. The learned trajectory is then certified if a prescribed quality standard and / or other requirements are met. For example, the official body can use a map to check whether the learned trajectory lies within an area where automated driving is permitted. During a subsequent journey, it only needs to be verified whether certification exists, which can simplify and accelerate the verification process.

[0029] Furthermore, the presence of minimum requirements, both with regard to an environment, a learned trajectory, or vehicle characteristics, can be verified by means of such certification. In a further advantageous embodiment, it is therefore provided that the at least one user-independent release criterion is the presence of a predefined certification of the environment and / or a vehicle characteristic.

[0030] The at least one user-independent approval criterion can also be a specified time of day, a specified day of the week, a specified month, or a specified season. This allows, for example, time- and / or date-dependent approval of an automated journey. For example, it can be specified that an automated journey is permitted in certain areas on a weekend when traffic is light, but not on weekdays during rush hour.

[0031] After checking the at least one user-independent release criterion, it can be provided that a driver or a passenger is informed of the result of the check, in particular if the at least one user-independent release criterion is not met. In an advantageous embodiment, it is provided that after the check, a message is issued if the at least one user-independent release criterion is not met. In this way, the driver or the passenger receives information that the automated journey cannot be carried out because the at least one release criterion is not met. The message can, for example, be issued on a display and operating device. This can be, for example, a multimedia device of the vehicle or a smartphone or a tablet computer.

[0032] In particular, one embodiment may provide for additionally detecting a user interaction that initiates the automated journey along the provided trajectory, provided that the at least one user-independent approval criterion is met. The user interaction may be detected before checking the at least one user-independent approval criterion or, alternatively, after checking the at least one user-independent approval criterion. Furthermore, it may be provided for the user interaction to be detected on a display and operating device.

[0033] The invention will be explained in more detail below using preferred embodiments with reference to the figures. Fig. 1 a schematic representation of an embodiment of a device for performing an automated journey of a vehicle along a provided trajectory; Fig. 2 a schematic flow diagram of a method for performing an automated journey of a vehicle along a provided trajectory; Fig. 3 a schematic representation of a typical situation when parking a vehicle out of a garage to illustrate the procedure.

[0034] In Fig. 1 shows a schematic representation of a device 1 for carrying out an automated journey of a vehicle 50 along a provided trajectory. The device 1 comprises an environment detection device 2 and a controller 3. The controller 3 is designed to provide, based on detected environment data 41, signals for a lateral control 51 and a longitudinal control 52 for controlling the vehicle 50 along the provided trajectory. The provided trajectory can, for example, be provided by the controller 3 itself, for example by the controller 3 retrieving and providing a stored trajectory from a memory 5. However, it is also possible for the provided trajectory to be received via a communication device 6 of the device 1 from an external device, for example a server 10, via a communication connection 9.

[0035] If an automated journey along a provided trajectory is to be performed, the controller 3 checks whether at least one or all user-independent release criteria 4 are met simultaneously before the automated journey is performed. The controller 3 checks the at least one release criterion 4 against corresponding information. This information can, for example, originate from a current environment of the vehicle 50 and, for this purpose, be derived from the recorded environmental data 41. Furthermore, it is also possible for the information to be retrieved alternatively or additionally from the memory 5 or the server 10 outside the device 1 via the communication device 6.

[0036] According to the invention, the user-independent release criterion 4 can be a predetermined length of the provided trajectory, which must not exceed a maximum length, for example, 50 m. Furthermore, the at least one user-independent release criterion 4 can also be a predetermined environment or an environment type in which a current position of the vehicle 50 and / or positions on the provided trajectory must be located. A current position of the vehicle 50 can be determined, for example, by a position-determining device 8 of the device 1. Alternatively, a position-determining device 8 of the vehicle 50 can also be used, for example, a global positioning system (GPS). However, the current position of the vehicle 50 can also be provided by the environment detection device 2 from environment data 41 of a current environment of the vehicle.Furthermore, environmental data 41 can alternatively or additionally be provided by the server 10 via the communication connection 9 and used to determine the current position.

[0037] If the check in the controller 3 shows that at least one user-independent release criterion 4 is met, the controller 3 performs the automated journey along the provided trajectory. However, if at least one user-independent release criterion 4 is not met, the controller 3 does not perform the automated journey along the provided trajectory. In this case, the controller 3 can output a message 11, for example, on a display and control device 7, indicating that an automated journey is not enabled.

[0038] To determine the environment type for an environment, some embodiments provide pattern recognition. This can be implemented in the controller 3 or in a standalone pattern recognition device 12.

[0039] In Fig. Figure 2 shows a schematic flow diagram of a method for performing an automated journey of a vehicle along a provided trajectory. The method is initiated, for example, by a driver initiating an automated journey 100.

[0040] In the first method step 101, a controller checks whether at least one user-independent release criterion is met. The at least one user-independent release criterion can include one or more of the following specifications: - a predetermined position or a position range for a current position of the vehicle, for example a position range that covers a specific area (private property, parking garage, parking lot, etc.); - a given environment or a given type of environment, for example private or public land, a forest, private property or, in general, secondary roads or roads and paths of certain types, etc., whereby the environment or the type of environment is recognised and classified in recorded environmental data, for example by means of a pattern recognition device; - a predetermined portion of the provided trajectory that must be located in a specific environment or type of environment, for example on private property, on secondary roads, etc.; - a maximum length of the provided trajectory, for example a maximum of 150 m to 500 m on private land or a maximum of 30 m to 50 m on public land (the values ​​may also be different); - Minimum requirements for an environment, a learned trajectory or vehicle properties, such as a specific lane width, a specific number of features that must be detectable and / or recognizable at each position on the learned trajectory, or a prescribed resolution of an environment detection device of the vehicle; - a given time of day, a given day of the week, a given month or a given season or - a mandatory certification of the provided trajectory and / or vehicle, etc.

[0041] If the at least one user-independent release criterion is not met, a message is output in a method step 102 that the at least one user-independent release criterion is not met and the automated journey cannot therefore be carried out.

[0042] If, however, at least one user-independent release criterion is met, method step 103 is performed. In this step, the automated journey along the provided trajectory is performed, with a vehicle controller providing signals for lateral control and longitudinal control to steer the vehicle along the provided trajectory based on acquired environmental data. The method thus ends at step 104.

[0043] In Fig.Figure 3 shows a schematic representation of a typical situation 20 when a vehicle 50 is reversing from a garage 21. The garage 21 is located on private property 22. The vehicle 50 is in a current position 26, which is determined, for example, by a positioning device or via features in the surrounding area 40. An automated journey along a provided trajectory 30 is now to be carried out from the current position 26. The provided trajectory 30 provides for the vehicle 50 to drive out of the garage 21 and turn right through a property entrance 23 onto a road 60.

[0044] According to the method described above, at least one user-independent approval criterion is checked before performing the automated journey along the provided trajectory 30. Here, the at least one user-independent approval criterion is, for example, that a predetermined portion (e.g., 70%) of the provided trajectory 30 lies on private property 24 and, in addition, that the length 35 of the provided trajectory 30 does not exceed a maximum length 34.

[0045] The examination of the at least one user-independent release criterion here reveals that a portion 31 of the provided trajectory 30 lies in a position area classified as private property 24, and another portion 32 lies in a further position area classified as public property 25. The classification as private property 24 or public property 25 can be queried, for example, using an appropriately designed map. For this purpose, the corresponding environmental data of an environment 40 of the provided trajectory 30 is retrieved from the map, and the classification is compared with the specifications of the at least one user-independent release criterion for the positions of the provided trajectory 30.

[0046] In this example, checking the two approval criteria shows that approximately 75% of the provided trajectory 30 lies on private property 24, thus exceeding the specified minimum required proportion. Furthermore, the length 35 of the provided trajectory 30 is less than the maximum length 34, so the maximum length is not exceeded. Thus, the two user-independent approval criteria are met, and the automated journey is approved.

[0047] In contrast, the two user-independent approval criteria required above for an additional provided trajectory 33 of an additional vehicle 53 would not be met, since a length 36 of the additional provided trajectory 33 exceeds the maximum length 34 and a permissible proportion (in this example: 100% - 70% = 30%) is exceeded on public land 25. In this case, a check according to the procedure described above would not authorize the automated journey to be carried out.

[0048] The described user-independent release criteria and the associated values ​​are merely examples and can, in principle, be selected differently. For example, a map can define a position range 27 for the surrounding area 40 in which automated driving is fundamentally possible. This position range 27 can be defined, for example, by official authorities or privately. The user-independent release criterion in this case would be, for example, that the current position 26 of the vehicle 50 or the provided trajectory 30 must lie within the position range 27.

[0049] Furthermore, a prescribed certification 28 of the provided trajectory 30 can also be verified. Such certification 28 ensures, for example, that the provided trajectory meets certain quality standards, for example, that a sufficient number of features are present in the environment 40 of the provided trajectory 30 so that the vehicle 50 can be precisely located everywhere, etc. List of reference symbols 1 device 2 Environment detection device 3 Control 4 user-independent release criteria 5 storage 6 Communication device 7 Display and control device 8 Positioning device 9 Communication connection 10 servers 11 Message 12 Pattern recognition device 20 typical situations 21 Garage 22 private property 23 Property entrance 24 private property 25 public areas 26 current position 27 Position range 28 Certification 30 provided trajectory 31 share 32 share 33 additional trajectories provided 34 Maximum length 35 length 36 length 40 Environment 41 Environmental data 50 vehicles 51 Lateral control 52 Longitudinal control 53 additional vehicles 60 Street 100-104 procedural steps

Claims

[1] Method for performing an automated journey of a vehicle (50) along a provided trajectory (30, 33), comprising the following steps: Carrying out an automated journey of the vehicle (50), wherein a controller (3) of the vehicle (50) provides signals for a lateral control (51) and a longitudinal control (52) for controlling the vehicle (50) along the provided trajectory (30, 33) on the basis of detected environmental data, wherein before carrying out the automated journey, the controller (3) checks whether at least one user-independent release criterion (4) is met, wherein the automated journey along the provided trajectory (30, 33) is only carried out if the at least one user-independent release criterion (4) is met, wherein a length (35, 36) of a trajectory of the provided trajectory (30, 33) is determined, wherein the at least one user-independent release criterion (4) is a predetermined maximum length (34) of the trajectory of the provided trajectory (30, 33), and / or wherein the at least one user-independent release criterion (4) is the presence of a predetermined certification of the provided trajectory. [2] Method according to claim 1, characterized by that at least one further user-independent approval criterion must be met for the automated journey to be carried out. [3] Method according to claim 1 or 2, characterized by that the at least one user-independent release criterion (4) is a predetermined position range (27) in which a current position (26) of the vehicle (50) must be located. [4] Method according to one of the preceding claims, characterized bythat the at least one user-independent release criterion (4) is a predetermined environment (40) and / or an environment type of an environment (40) in which a current position (26) of the vehicle (50) must be located. [5] Method according to one of the preceding claims, characterized by in that, in order to check the at least one user-independent release criterion (4), a current position (26) of the vehicle (50) is determined by a position-determining device (8) and / or from the recorded environmental data (41). [6] Method according to one of the preceding claims, characterized by that, in order to check the at least one user-independent release criterion (4), environmental data (41) are alternatively or additionally received by means of a communication device (6) from a server (10) via a communication connection (9). [7] Method according to one of the preceding claims, characterized bythat the at least one user-independent release criterion (4) specifies that the provided trajectory (30, 33) lies to a predetermined proportion (31, 32) or completely in a predetermined environment (40) and / or environment type. [8] Method according to one of the preceding claims, characterized by that after checking, a message (11) is issued if at least one user-independent release criterion (4) is not met. [9] Device (1) for performing an automated journey of a vehicle (50) along a provided trajectory (30, 33), comprising: at least one environment detection device (2) for detecting an environment (40) of the vehicle (50) and a controller (3), wherein the controller (3) is designed to provide signals for a lateral control (51) and a longitudinal control (52) for controlling the vehicle (50) along the provided trajectory (30, 33) on the basis of detected environmental data, wherein the controller (3) is further configured to check, before carrying out the automated journey, whether at least one user-independent release criterion (4) is met, and to carry out the automated journey along the provided trajectory (30, 33) only if the at least one user-independent release criterion (4) is met, and to determine a length (35, 36) of a trajectory of the provided trajectory (30, 33), wherein the at least one user-independent release criterion (4) is a predetermined maximum length (34) of the trajectory of the provided trajectory (30, 33), and / or wherein the at least one user-independent release criterion (4) is the presence of a predetermined certification of the provided trajectory.

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