Localization of autonomous vehicles

Abstract

Autonomous propulsion system (70) for a vehicle (10), wherein the autonomous propulsion system (70) comprises the following: a positioning system (76) configured to determine, by means of a processor (44), a current position of the vehicle between an origin point (88) of the vehicle (10) and to determine a horizon point (86) in front of the vehicle (10); wherein the positioning system (76) is further configured to be operated by a processor (44): to receive map data containing at least one street attribute (90); to receive several trajectory points (92) located between the origin point (88) and the horizon point (86) and to determine a trajectory (94) that connects the several trajectory points (92) together; to determine an absolute current position of the vehicle (10); to determine a projection point (84) from the at least one road attribute (90) onto the trajectory (94); to determine a projection of the absolute current positions of the vehicle (10) onto the trajectory (94); to compare the projection of the absolute current position of the vehicle (10) onto the trajectory (94) with a position of the projection point (84) of the road attribute (90) between the origin point (88) and the horizon point (86), wherein the positioning system (76) compares the position of the projection of the absolute current position of the vehicle (10) onto the trajectory (94) with a distance of the projection point (84) from the origin point (88) along the road and its curvature.

Description

TECHNICAL FIELD

[0001] The technical field generally relates to autonomous vehicles, in particular to systems and methods for determining the current position of an autonomous vehicle, in particular for locating an autonomous vehicle with respect to road attributes. INTRODUCTION

[0002] An autonomous vehicle is a vehicle capable of sensing its environment and navigating with little or no user input. An autonomous vehicle senses its environment using one or more sensing devices, such as radar, lidar, image sensors, and the like. The autonomous vehicle system further utilizes information from global positioning systems (GPS), navigation systems, vehicle-to-vehicle communications, vehicle infrastructure technologies, and / or wired systems to navigate the vehicle.

[0003] Vehicle automation was categorized by numerical automation levels from zero, corresponding to no automation with full human control, to five, corresponding to full automation without human control. Various automated driver assistance systems, such as cruise control, adaptive cruise control, and parking assistance systems, correspond to lower levels of automation, while true "driverless" vehicles correspond to higher levels of automation.

[0004] An autonomous vehicle specifically detects road attributes, which can be described as features of a road or the vehicle's surroundings. Furthermore, the road attributes can also be derived from a map accessible to the vehicle. The vehicle's current position is determined in relation to the road attributes. The road attributes and the vehicle's current position are used to navigate the vehicle.

[0005] US 2017 / 0 038 477 A1 describes a method for correcting a position of a vehicle using a global navigation satellite system (GNSS) to determine its own position, comprising the following steps: determining a first position of the vehicle using the GNSS, determining a second position of the vehicle by fitting the first position into a road of a digital map, identifying at least one object in the vicinity of the vehicle whose position can be referenced in the digital map, determining a real distance between the vehicle and the respective object by means of a sensor of the vehicle, calculating a calculated distance between the second position and the respective object, wherein a corrected position of the vehicle is determined by minimizing the deviation of the calculated distance from the real distance.

[0006] EP 1 111 338 A2 describes a data architecture for a motor vehicle that provides continuously updated data about paths along roads that the motor vehicle can travel from a current position of the motor vehicle as the motor vehicle travels along the roads. The data architecture uses a map database containing data about roads in a geographical region and a vehicle positioning program that uses data from sensors to provide an output indicating a current position along a road section represented by data in the map database. The data architecture also includes a data horizon program that uses the output of the vehicle positioning program and data from the map database to determine one or more paths that the motor vehicle can travel, extending from the current vehicle position to an area associated with a threshold.Data representing the paths determined by the data horizon program are stored in a data store from which driver assistance systems can obtain the data.

[0007] CA 2 993 420 A1 describes a device for estimating one's own position. The device comprises: a target position detection unit mounted in a vehicle, the target position detection unit configured to detect a relative position of a target present around the vehicle and the vehicle; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a target position accumulation unit configured to shift the detected relative position by the estimated movement amount and accumulate the shifted relative position as target position data;a map information acquisition unit configured to acquire map information including destination position information of a destination present on a map; a curve start position estimation unit configured to estimate a curve start position of a travel path on which the vehicle is traveling; and a self-position estimation unit configured to perform a comparison in which at least the destination position data present around the vehicle and the destination position data present between a current position of the vehicle and the estimated curve start position of the accumulated destination position data are compared with the destination position information included in the map information to estimate a self-position that is the current position of the vehicle.

[0008] JP 2007-232690 A describes a position detection device used in a map display device for more accurate detection of one's own position. In position correction processing, this device obtains a relative position of a target detected by a radar when information about the target associated with position information is extracted from map information. It then estimates the absolute position of the target based on the current position detected by the GPS receiver or the like and the relative position of the target. Furthermore, this device calculates a distance between the target whose absolute position has been estimated and the target. The target detected by the radar is recognized as a target when the calculated distance is less than a predefined threshold.Then the device calculates its own absolute position based on the position information of the target and the relative position to the target to correct the current position acquired by the GPS receiver or the like to the absolute position calculated above.

[0009] Accordingly, it is desirable to determine the relative position of the vehicle with respect to road attributes with the required accuracy. Furthermore, other desirable functions and features of the present invention will become apparent from the following detailed description and the appended claims, taken in conjunction with the accompanying drawings, as well as the foregoing technical field and background. SUMMARY

[0010] According to a first aspect of the invention, an autonomous drive system for a vehicle is provided. The autonomous drive system includes a positioning system configured to determine, by a processor, a current position of the vehicle between a point of origin of the vehicle and a horizon point in front of the vehicle. The positioning system is further configured to receive, by a processor, map data containing at least one road attribute, to receive a plurality of trajectory points located between the point of origin and the horizon point and to determine a trajectory connecting the plurality of trajectory points, to determine an absolute current position of the vehicle, to determine a projection point from the at least one road attribute onto the trajectory,to determine a projection of the absolute current position of the vehicle onto the trajectory and to compare the projection of the absolute current position of the vehicle onto the trajectory with a position of the projection point of the road attribute between the origin point and the horizon point, wherein the positioning system compares the position of the projection of the absolute current position of the vehicle onto the trajectory with a distance of the projection point from the origin point following the road and its curvature.

[0011] In various embodiments, the positioning system is configured to determine the projection point by determining a perpendicular line to the trajectory.

[0012] In various embodiments, the positioning system is configured to determine a distance value of the vehicle from the origin point from the current position of the vehicle and to compare this distance value with the position of the projection point.

[0013] In various embodiments, the positioning system is configured to iteratively track the current position of the vehicle while driving.

[0014] In various embodiments, the positioning system is configured to determine a distance traveled by the vehicle from the origin point, e.g., with respect to the origin point.

[0015] In various embodiments, the positioning system is configured to determine a distance between the origin point and the road attribute and to compare the distance traveled by the vehicle with the distance between the origin point and the road attribute.

[0016] In various embodiments, the positioning system is configured to use the road attribute for vehicle control when the distance traveled by the vehicle is equal to the distance between the origin point and the road attribute and, in addition, when the current position of the vehicle is equal to the position of the projection point between the origin point and the horizon point.

[0017] In various embodiments, the positioning system is configured to generate an error signal for transferring the vehicle to a predetermined mode when the distance traveled by the vehicle corresponds to the distance between the origin point and the road attribute and, in addition, the current position of the vehicle does not correspond to the position of the projection point between the origin point and the horizon point; or the positioning system is configured to generate an error signal for transferring the vehicle to a predetermined mode when the distance traveled by the vehicle is not equal to the distance between the origin point and the road attribute and, in addition, the current position of the vehicle is equal to the position of the projection point between the origin point and the horizon point.

[0018] According to a second aspect of the invention, a vehicle with a controller is provided, wherein the controller implements an autonomous drive system for the vehicle. The autonomous drive system includes a positioning system configured to determine, by a processor, a current position of the vehicle between a point of origin of the vehicle and a horizon point in front of the vehicle. The positioning system is further configured to receive, by a processor, map data containing at least one road attribute, to receive a plurality of trajectory points located between the point of origin and the horizon point and to determine a trajectory connecting the plurality of trajectory points, to determine an absolute current position of the vehicle, to determine a projection point from the at least one road attribute onto the trajectory,and to compare the projection of the absolute current position of the vehicle onto the trajectory with a position of the projection point of the road attribute between the origin point and the horizon point, wherein the positioning system compares the position of the projection of the absolute current position of the vehicle onto the trajectory with a distance of the projection point from the origin point following the road and its curvature.

[0019] It should be noted that the various embodiments of the autonomous propulsion system described herein may be used in combination with the vehicle described herein. Therefore, for the sake of brevity, the details of the autonomous propulsion system and the positioning systems are not repeated herein, while it is understood that the respective features may be combined with the vehicle.

[0020] A method for controlling a vehicle is provided. The method includes the following steps: receiving map data having at least one road attribute; receiving a plurality of trajectory points located between an origin point and a horizon point and determining a trajectory connecting the plurality of trajectory points; determining, by a processor, a projection point from the at least one road attribute onto the trajectory; determining a current position of the vehicle and comparing, by a processor, the current position of the vehicle with a position of the projection point of the road attribute between the origin point and the horizon point; and controlling the vehicle based on the current position.

[0021] In various embodiments, the projection point is determined by determining a perpendicular line to the trajectory.

[0022] In various embodiments, the method further includes the steps of determining a distance traveled by the vehicle from the origin point and determining a distance between the origin point and the road attribute and comparing the distance traveled by the vehicle with the distance between the origin point and the road attribute.

[0023] In various embodiments, the method further includes the following steps: using the road attribute for vehicle controls when the distance traveled by the vehicle is equal to the distance between the origin point and the road attribute, and additionally the current position of the vehicle is equal to the position of the projection point between the origin point and the horizon point; or generating an error signal for transferring the vehicle to a predetermined mode when the distance traveled by the vehicle is equal to the distance between the origin point and the road attribute, and additionally the current position of the vehicle is not equal to the position of the projection point between the origin point and the horizon point;or generating an error signal to transfer the vehicle to a predetermined mode if the distance traveled by the vehicle does not correspond to the distance between the origin point and the road attribute and, in addition, the current position of the vehicle corresponds to the position of the projection point between the origin point and the horizon point.;

[0024] It is noted that in various embodiments, the method includes steps that correspond to the functions of one or more of the various embodiments of the autonomous drive system described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The exemplary embodiments are described below in conjunction with the following drawings, wherein like reference numerals designate like elements, and wherein: Fig. 1 is a functional block diagram illustrating an autonomous vehicle with an autonomous drive system according to an embodiment; Fig. 2 is a functional block diagram illustrating a transport system with one or more autonomous vehicles from Fig. 1 according to one embodiment; Fig. 3 is a functional block diagram illustrating an autonomous driving system according to an embodiment; Fig. 4 schematically illustrates determining a position of a vehicle with respect to a road attribute; Fig. 5 schematically illustrates determining a position of a vehicle with respect to a road attribute according to one embodiment; Fig. 6 schematically illustrates a flowchart for determining the position of a vehicle according to an embodiment; and Fig. 7 is a schematic representation of a method according to an embodiment. DETAILED DESCRIPTION

[0026] The following detailed description is provided for illustrative purposes only and is not intended to limit the application and uses. Furthermore, there is no intention to be bound by any theory expressed or implied in the foregoing technical field, background, brief summary, or the following detailed description. As used herein, the term "module" refers to any hardware, software, firmware product, electronic control component, processing logic, and / or processor device, individually or in combination, including, but not limited to, an application-specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or grouped), and memory that executes one or more software or firmware programs, combinational logic circuitry, and / or other suitable components that provide the described functionality.

[0027] Embodiments of the present disclosure may be described herein as functional and / or logical block components and various processing steps. It should be noted that such block components may be constructed from any number of hardware, software, and / or firmware components configured to perform the required functions. For example, an embodiment of the present disclosure of a system or component may employ various integrated circuit components, such as memory elements, digital signal processing elements, logic elements, look-up tables, or the like, capable of performing multiple functions under the control of one or more microprocessors or other control devices.Furthermore, those skilled in the art will understand that embodiments of the present disclosure may be practiced in connection with any number of systems and that the systems described herein are merely exemplary embodiments of the present disclosure.

[0028] For the sake of brevity, conventional techniques for signal processing, data transmission, signaling, control, and other functional aspects of the systems (and the individual operating components of the systems) may not be described in detail herein. Furthermore, the connecting lines depicted in the various figures are intended to represent exemplary functional relationships and / or physical connections between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may be present in an embodiment of the present disclosure.

[0029] With reference to Fig. 1, a vehicle 10 is illustrated according to various embodiments. The vehicle 10 generally includes a chassis 12, a body 14, front wheels 16, and rear wheels 18. The body 14 is disposed on the chassis 12 and substantially encloses the other components of the vehicle 10. The body 14 and the chassis 12 may together form a frame. The wheels 16 and 18 are each rotatably coupled to the chassis 12 near a respective corner of the body 14.

[0030] In various embodiments, the vehicle 10 is an autonomous vehicle. The autonomous vehicle 10 is, for example, a vehicle that is automatically controlled to transport passengers from one location to another. The vehicle 10 is depicted as a passenger car in the illustrated embodiment, but it should be appreciated that any other vehicle, including motorcycles, trucks, sport utility vehicles (SUVs), recreational vehicles (RVs), vessels, aircraft, etc., may be used. In one exemplary embodiment, the autonomous vehicle 10 is a so-called Level Four or Level Five automation system. A Level Four system indicates "high automation" with reference to the drive mode-specific performance by an automated driving system of all aspects of the dynamic driving task, even when a human driver fails to appropriately respond to a request to intervene.A Level Five system indicates “full automation” and refers to the full-time performance of an automated driving system in all aspects of the dynamic driving task under all road and environmental conditions that can be managed by a human driver.

[0031] As illustrated, the autonomous vehicle 10 generally includes a propulsion system 20, a transmission system 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data storage device 32, at least one controller 34, and a communication system 36. The propulsion system 20, in various embodiments, may include an internal combustion engine, an electric machine such as a traction motor, and / or a fuel cell propulsion system. The transmission system 22 is configured to transfer power from the propulsion system 20 to the vehicle wheels 16 and 18 according to selectable gear ratios. According to various embodiments, the transmission system 22 may include a stepped-ratio automatic transmission, a continuously variable transmission, or other suitable transmission. The braking system 26 is configured to provide braking torque to the vehicle wheels 16 and 18.The braking system 26 may, in various embodiments, include friction brakes, brake-by-wire, a regenerative braking system such as an electric machine, and / or other suitable braking systems. The steering system 24 influences the position of the vehicle wheels 16 and 18. While depicted as a steering wheel for illustrative purposes in some embodiments within the scope of the present disclosure, the steering system 24 may not include a steering wheel.

[0032] In various embodiments, data storage 32 includes a map module that provides map data to controller 34 and autonomous driving system 70. In various embodiments, the map module accesses locally stored map data and / or map data from a remote map data provider. For example, the map data provider provides map data via communication system 36.

[0033] The sensor system 28 includes one or more sensor devices 40a-40n that sense observable conditions of the external environment and / or the internal environment of the autonomous vehicle 10. The sensor devices 40a-40n may include, but are not limited to, radars, lidars, global positioning systems, optical cameras, thermal imaging cameras, ultrasonic sensors, and / or other sensors. The actuator system 30 includes one or more actuator devices 42a-42n that control one or more vehicle features, such as, but are not limited to, the drive system 20, the transmission system 22, the steering system 24, and the braking system 26. In various embodiments, the vehicle features may further include, but are not limited to, interior and / or exterior vehicle features, such as doors, a trunk, and interior features such as air, music, lighting, etc. (unnumbered).

[0034] The communication system 36 is configured to wirelessly transmit information to and from other units 48, such as, but not limited to, other vehicles (“V2V” communication), infrastructure (“V2I” communication), remote systems, and / or personal devices (relating to Fig. 2). In an exemplary embodiment, the wireless communication system 36 is configured to communicate over a wireless local area network (WLAN) using the IEEE 802.11 standard, via Bluetooth, or via mobile data communication. However, additional or alternative communication methods, such as a dedicated short-range communication (DSRC) channel, are also contemplated within the scope of the present disclosure. DSRC channels refer to one-way or two-way short- to mid-range radio communication channels specifically designed for automotive applications and a corresponding set of protocols and standards.

[0035] The data storage device 32 stores data for use in automatically controlling the autonomous vehicle 10. In various embodiments, the data storage device 32 stores defined maps of the navigable environment. In various embodiments, the defined maps are predefined and retrieved from a remote system (in further detail with respect to Fig. 2). For example, the defined maps may be assembled by the remote system and communicated to the autonomous vehicle 10 (wirelessly and / or wired) and stored in the data storage device 32. As can be seen, the data storage device 32 may be part of the controller 34, separate from the controller 34, or part of the controller 34 and part of a separate system.

[0036] The controller 34 includes at least one processor 44 and a computer-readable storage device or media 46. The processor 44 may be a custom-made or off-the-shelf processor, a central processing unit (CPU), a graphics processing unit (GPU) among multiple processors connected to the controller 34, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, a combination thereof, or generally any device for executing instructions. The computer-readable storage device or media 46 may include volatile and non-volatile memory in read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM). KAM is persistent or non-volatile memory that can be used to store various operating variables while the processor 44 is powered off.The computer-readable storage device or media 46 may be implemented using any of a number of known storage devices, such as PROMs (programmable read-only memory), EPROMs (electrical PROMs), EEPROMs (electrically erasable PROMs), flash memory, or any other electrical, magnetic, optical, or combination storage devices capable of storing data, some of which represent executable instructions used by the controller 34 in controlling the autonomous vehicle 10.

[0037] The instructions may include one or more separate programs, each comprising an ordered collection of executable instructions for implementing logical functions. The instructions, when executed by processor 34, receive and process signals from sensor system 28, perform logic, calculations, methods, and / or algorithms to automatically control the components of autonomous vehicle 10, and generate control signals to actuator system 30 to automatically control the components of autonomous vehicle 10 based on the logic, calculations, methods, and / or algorithms. Although in Fig. 1 only one controller 34 is shown, embodiments of the autonomous vehicle 10 may include any number of controllers 34 that communicate and cooperate via a suitable communication medium or combination of communication media to process the sensor signals, perform logic, calculations, methods and / or algorithms, and generate control signals to automatically control the functions of the autonomous vehicle 10.

[0038] In various embodiments, the controller 34 is configured to implement the autonomous drive system 70 and the positioning system 76 described herein.In particular, the controller 34 is configured to determine a current position of the vehicle 10 between an origin point 88 of the vehicle 10 and a horizon point 86 in front of the vehicle, wherein the controller 34 is configured to receive map data containing at least one road attribute 90, receive a plurality of trajectory points 92 located between the origin point and the horizon point, and determine a trajectory 94 connecting the plurality of trajectory points 92, determine an absolute position of the vehicle, determine a projection point 84 from the at least one road attribute 90 onto the trajectory 94, determine the current position of the vehicle, and compare the current position of the vehicle to a position of the projection point 84 of the road attribute 90 between the origin point and the horizon point.

[0039] With further reference to Fig. 2 in various embodiments, the autonomous vehicle 10 described with reference to Fig. 1, may be suitable for use as part of a taxi or shuttle service within a specific geographic area (e.g., a city, a school or business campus, a shopping mall, an amusement park, an event center, or the like). For example, the autonomous vehicle 10 may be associated with an autonomous vehicle-based transportation system. Fig. Figure 2 illustrates an exemplary embodiment of an operating environment, shown generally at 50, including an autonomous vehicle-based transportation system 52, which, as described with reference to Fig. 1, is associated with one or more autonomous vehicles 10a-10n. In various embodiments, the operating environment 50 further includes one or more user devices 54 that communicate with the autonomous vehicle 10 and / or the remote transportation system 52 via a communications network 56.

[0040] The communications network 56 supports communication between devices, systems, and components supported by the operating environment 50 (e.g., via physical communication links and / or wireless communication links). For example, the communications network 56 may include a wireless carrier system 60, such as a cellular phone system, including a plurality of cellular towers (not shown), one or more mobile switching centers (MSCs) (not shown), and any other network components necessary to connect the wireless carrier system 60 to the fixed network. Each cellular tower includes transmit and receive antennas and a base station, with the base stations of various cellular towers connected to the MSCs, either directly or through intermediary devices, such as a base station controller.The wireless carrier system 60 may implement any suitable communications technology, for example, digital technologies such as CDMA (e.g., CDMA2000), LTE (e.g., 4G LTE or 5G LTE), GSM / GPRS, or other current or emerging wireless technologies. Other cell tower / base station / MSC arrangements are possible and could be used with the wireless carrier system 60. For example, the base station and cell tower could be co-located or remote from each other, each base station could serve a single cell tower, a single base station could serve multiple cell towers, or multiple base stations could be coupled to a single MSC, to name a few of the possible arrangements.

[0041] In addition to using the wireless carrier system 60, a second wireless carrier system in the form of a satellite communications system 64 may be used to provide unidirectional or bidirectional communications with the autonomous vehicle 10a-10n. This may be accomplished using one or more communications satellites (not shown) and an uplink transmitting station (not shown). Unidirectional communications may include, for example, satellite radio services, wherein programmed content data (news, music, etc.) is received from the transmitting station, packaged for upload, and then transmitted to the satellite, which broadcasts the programming to subscribers. Bidirectional communications may include, for example, satellite telephone services that use the satellite to relay telephone communications between the vehicle 10 and the station.Satellite telephony can be used either in addition to or instead of the mobile operator system 60.

[0042] A fixed-line communication system 62 may include a conventional fixed-line telecommunications network connected to one or more landline telephones and connecting the wireless carrier system 60 to the remote transport system 52. For example, the fixed-line communication system 62 may be a public switched telephone network (PSTN) such as those used to provide wired telephony, packet-switched data communications, and the Internet infrastructure. One or more segments of the fixed-line communication system 62 could be implemented using a standard wired network, a fiber optic or other optical network, a cable network, power lines, other wireless networks such as wireless local area networks (WLANs) or networks providing wireless broadband access (BWA), or any combination thereof.Furthermore, the remote transport system 52 need not be connected via the fixed network communication system 62, but could include radiotelephone equipment so that it can communicate directly with a wireless network, such as the wireless carrier system 60.

[0043] Although in Fig. 2 illustrates only one user device 54, embodiments of the operating environment 50 may support any number of user devices 54, including multiple user devices 54 owned, operated, or otherwise used by a person. Each user device 54 supported by the operating environment 50 may be implemented using any suitable hardware platform. In this regard, the user device 54 may be implemented in a common form factor, including: a desktop computer; a mobile computer (e.g., a tablet computer, a laptop computer, or a netbook computer); a smartphone; a video game device; a digital media player; a component of a home entertainment device; a digital camera or video camera; a wearable computing device (e.g., a smart watch, smart glasses, smart clothing); or the like.Each user device 54 supported by operating environment 50 is implemented as a computer-implemented or computer-based device having the hardware, software, firmware, and / or processing logic necessary to perform the various techniques and methods described herein. For example, user device 54 includes a microprocessor in the form of a programmable device that includes one or more instructions stored in an internal memory structure and is operable to receive binary inputs and generate binary outputs. In some embodiments, user device 54 includes a GPS module that can receive GPS satellite signals and generate GPS coordinates based on those signals.In further embodiments, user device 54 includes cellular communication functionality such that the device performs voice and / or data communications over communication network 56 using one or more cellular communication protocols, as explained herein. In various embodiments, user device 54 includes a visual display, such as a graphical touchscreen display or other display.

[0044] The remote transportation system 52 includes one or more backend server systems that may be cloud-based, network-based, or resident at the particular campus or geographic location served by the transportation system 52. The remote transportation system 52 may be staffed with a live advisor, an automated advisor, or a combination of both. The remote transportation system 52 may communicate with the user devices 54 and the autonomous vehicles 10a-10n to schedule trips, relocate autonomous vehicles 10a-10n, and the like. In various embodiments, the remote transportation system 52 stores account information, such as subscriber authentication data, vehicle license plates, profile records, behavior patterns, and other related subscriber information.

[0045] According to a typical use case workflow, a registered user of the remote transportation system 52 may create a ride request via the user device 54. The ride request typically specifies the passenger's desired pickup location (or current GPS location), the desired destination (which may identify a predefined vehicle stop and / or a user-defined passenger destination), and a pickup time. The remote transportation system 52 receives the ride request, processes the request, and dispatches a selected one of the autonomous vehicles 10a-10n (when and if available) to pick up the passenger at the designated pickup location and time. The remote transportation system 52 may also generate and send an appropriately configured confirmation message or notification to the user device 54 to notify the passenger that a vehicle is en route.

[0046] As can be seen, the subject matter disclosed herein provides certain enhanced features and functionality for what may be considered a standard or baseline autonomous vehicle 10 and / or an autonomous vehicle-based transportation system 52. To this end, an autonomous vehicle-based transportation system may be modified, enhanced, or otherwise supplemented to provide the additional functionality described in more detail below.

[0047] According to various embodiments, the controller 34 implements an autonomous drive system (ADS) 70, as shown in Fig. 3. That is, suitable software and / or hardware components of the controller 34 (e.g., the processor 44 and the computer-readable storage medium 46) are used to provide an autonomous propulsion system 70 used in conjunction with the vehicle 10. In various embodiments, the Fig. 3 is executed in accordance with the description herein with respect to the controller 34.

[0048] In various embodiments, the autonomous driving system 70 described herein utilizes an advanced driver assistance system (ADAS) and an ADAS interface specification (ADASIS) to generate the eHorizon. The map road attributes and vehicle position refer to the distance along the vehicle's trajectory. Instead of, or in addition to, using only a relative distance of the vehicle with respect to reference points, the autonomous driving system 70 described herein refers to absolute coordinates of the vehicle, as described in more detail above and below.

[0049] In various embodiments, ADAS utilizes multiple data sources, e.g., lidar, radar, imaging, global positioning system (GPS), map data, inter-vehicle data exchange, etc. These data sources correspond at least in part to the sensing devices 28 described herein. ADASIS standardizes the map localization data model and defines a common interface for predicting road geometry and attributes ahead of a vehicle based on vehicle position and the digital map, paving the way for ADAS and automated driving applications.

[0050] In various embodiments, the instructions of the autonomous driving system 70 may be structured according to function or system. For example, the autonomous driving system 70 may, as shown in Fig. 3, a computer vision system 74, a positioning system 76, a guidance system 78, and a vehicle control system 80. As can be appreciated, in various embodiments, the instructions may be organized into any number of systems (e.g., combined, further subdivided, etc.), as the disclosure is not limited to the present examples.

[0051] In various embodiments, the computer vision system 74 synthesizes and processes sensor data and predicts the presence, location, classification, and / or history of objects and features in the environment of the vehicle 10. In various embodiments, the computer vision system 74 may include information from multiple sensors, including, but not limited to, cameras, lidars, radars, and / or any number of other types of sensors. The computer vision system 74 may also be referred to as a sensor fusion system because it secures the input from multiple sensors.

[0052] The positioning system 76 processes sensor data along with other data to determine a position (e.g., a local position relative to a map, an exact position relative to the lane of a road, vehicle direction, speed, etc.) of the vehicle 10 relative to its surroundings. The guidance system 78 processes sensor data along with other data to determine a route for the vehicle 10 to follow. The vehicle control system 80 generates control signals for controlling the vehicle 10 according to the determined route.

[0053] In various embodiments, the controller 34 implements machine learning techniques to support the functionality of the controller 34, such as feature detection / classification, obstacle mitigation, route traversal, mapping, sensor integration, ground truth determination, and the like.

[0054] The vehicle control system 80 is configured to transmit a vehicle control output to the actuator system 30. In an exemplary embodiment, the actuators 42 include a steering control, a shift control, a throttle control, and a brake control. The steering control may, for example, control a steering system 24, as shown in Fig. 1. The gearshift control may, for example, control a transmission system 22 as shown in Fig. 1. The throttle control may, for example, control a drive system 20 as shown in Fig. 1. The brake control may, for example, control the wheel brake system 26, as shown in Fig. 1 shown.

[0055] In various embodiments, the autonomous driving system 70 includes a positioning system 76 configured to determine, by a processor, a current position of the vehicle 10 between a point of origin of the vehicle and a horizon point in front of the vehicle. The positioning system 76 is configured to receive, by a processor, map data including at least one road attribute. In various embodiments, the map data is received via the communication system and / or stored in the data storage 32. The positioning system is configured to receive, by a processor, a plurality of trajectory points located between the point of origin and the horizon point and to determine a trajectory connecting the plurality of trajectory points.In other words, the trajectory corresponds to a connecting line that connects the trajectory points and describes a possible path of movement according to the trajectory points. In various embodiments, the trajectory is determined by interpolating the individual trajectory points along a curvature of the road. The positioning system is configured to determine an absolute position of the vehicle by a processor and to determine a projection point from the at least one road attribute and the absolute current position of the vehicle onto the trajectory. The positioning system is further configured to determine the current position of the vehicle and its projection onto the trajectory and to determine the current position of the vehicle, ieThe positioning system compares the current position of the vehicle, in particular a position of the projection of the vehicle position onto the trajectory, with a distance of the projection point from the origin point along the road and its curvature.

[0056] In various embodiments, the positioning system 76 is configured to determine the projection point by determining a perpendicular line to the trajectory. In other words, the road attribute is projected perpendicularly onto the trajectory, such that the road attribute and its projection point are the same distance from the origin point.

[0057] In various embodiments, the positioning system 76 is configured to determine a distance value of the vehicle from the origin point from the current position of the vehicle and compare this distance value with the position of the projection point. Thus, the distance of the vehicle from the projection point is determined and used to navigate the vehicle. If the distance value of the vehicle from the origin point is equal to the distance between the origin point and the projection point of the road attribute, it is determined that the vehicle is currently near the respective road attribute, and this information is used to navigate the vehicle.

[0058] In various embodiments, the positioning system 76 is configured to iteratively track the current position of the vehicle while driving. Thus, in various embodiments, the distance of the vehicle from a projection point and the respective road attribute is also determined iteratively or repeatedly.

[0059] In various embodiments, the positioning system 76 is configured to determine a distance traveled by the vehicle from the origin point. The traveled distance allows the position of the vehicle relative to the origin point to be determined. In various embodiments, the traveled distance is used in a redundant functional module to determine the position of the vehicle. In this embodiment, the positioning system is optionally configured to determine a distance between the origin point and the road attribute and to compare the distance traveled by the vehicle with the distance between the origin point and the road attribute.Alternatively, the positioning system 76 is configured to use the road attribute for vehicle control when the distance traveled by the vehicle is equal to the distance between the origin point and the road attribute and, in addition, the current position of the vehicle is equal to the position of the projection point between the origin point and the horizon point.

[0060] Alternatively, the positioning system 76 is configured to generate an error signal for transferring the vehicle to a predetermined mode when the distance traveled by the vehicle is equal to the distance between the origin point and the road attribute, and in addition, the current position of the vehicle is not equal to the position of the projection point between the origin point and the horizon point; or generate an error signal for transferring the vehicle to a predetermined mode when the distance traveled by the vehicle is not equal to the distance between the origin point and the road attribute, and in addition, the current position of the vehicle is equal to the position of the projection point between the origin point and the horizon point.

[0061] Fig. 4 schematically illustrates how the position of a vehicle 10 along a road between the origin point 88 and a horizon point 86 is determined. The vehicle 10 uses an electronic horizon, i.e., map data of the road section(s) preceding the vehicle 10, together with the road attributes associated with the road. In various embodiments, the horizon point 86 corresponds to the maximum range or distance of the electronic horizon. As the vehicle moves forward, additional map data is provided for moving along the electronic horizon. In particular, the location of the road attributes is relevant for autonomous driving. Therefore, the position of the vehicle with respect to the road attributes is relevant.

[0062] In various embodiments, the position of the vehicle is determined by tracking the distance travelled d hv,tkfrom the origin point 88. The distance traveled is determined in proportion to the distance d sp between the origin point 88 and the road attribute 90, in this example a split point. If the hv,tk - d sp = 0, vehicle 10 is currently located at road attribute 90.

[0063] In various embodiments of the autonomous driving system 70 described herein, the current position of the vehicle is projected onto the trajectory 94, such that the projection of the vehicle position is compared with the projection of the road attribute onto the trajectory. Thus, the lateral offset of the vehicle's trajectory and / or the road attribute (the vehicle is moving in the second lane from the right while the trajectory is between the third and fourth lanes, see Fig. 5) relative to trajectory 94.

[0064] Fig. 5 schematically illustrates how the controller 34 described herein, according to various embodiments, determines the position of the vehicle 10 using trajectory points 92 within the electronic horizon between the origin point 88 and the horizon point 86. The map data stored in the data storage device 32 and / or received via the communication system 36 includes a plurality of trajectory points p m,k (lat, lon, d α, ρ) 92, which describe a trajectory path 94 (dashed line) connecting the individual trajectory points. In various embodiments, each trajectory point 92 stored in the data storage device 32 contains information including latitude coordinate (lat), longitude coordinate (lon), offset or distance from the origin point 88 (d), heading angle (α), and curvature (ρ, inverse of radius).

[0065] A projection point d sp , (p m,k-1 , pm,k ) 84 between the trajectory points k and k-1 is generated dynamically and its absolute coordinates, e.g., GPS coordinates, are determined according to the following formula: psp,proj(lat,lon)=pm,k−1(lat,lon)+dsp−dpm,k−1dpm,k−dpm,k−1∗pm,k−1(lat,lon)

[0066] As the vehicle 10 approaches the respective road attribute 90, the current absolute position of the vehicle is tracked and compared with the position of the projection point as follows: d(phv,tk,Pm,k−1)=|phv,tk−pm,k−1|∗cosθ; θ=αphv,tk−αpm,k−1 phv,tk,proj(lat,lon)=pm,k−1(lat,lon)+dhv,tk−dpm,k−1dpm,k−dpm,k−1∗pm,k−1(lat,lon)

[0067] The angle θ is the angle between the heading angle of the vehicle's movement and the heading angle of the map trajectory point. The angle θ is used to project the distance traveled by the vehicle relative to the trajectory line during a predetermined time and to obtain the net incremental distance, i.e., the net distance traveled by the vehicle along the trajectory line 94. When the vehicle 10 is moving along the map trajectory line 94, θ is approximately 0°. When the vehicle 10 changes lanes or departs, θ is not equal to 0° for at least a certain distance.

[0068] Based on these considerations, the vehicle is currently at the split point when the distance between the projection of the current vehicle position onto the trajectory and the projection of the road attribute onto the trajectory is 0. Thus, the approach described herein and the implementation of the autonomous driving system 70 provide robust, absolute coordinate-based localization independent of the vehicle's travel distance from the origin point. Fig. 5, the projection 96 of the current position of the vehicle 10 onto the trajectory is displayed by vertical projection lines 98.

[0069] Fig. Figure 6 schematically illustrates an implementation example of the autonomous driving system 70 described herein. The left column represents the functional modules used for localization based on the origin point 88 and the distance d hv,tkthat the vehicle 10 travels with respect to the origin point 88. The right column represents the functional modules used for localization based on the absolute current position of the vehicle 10 and the trajectory points 92, wherein the current position of the vehicle 10 and the position of the road attribute 90 are projected onto the trajectory 94 to determine the distance between the vehicle 10 and the road attribute 90.

[0070] The start state 102 initiates the vehicle localization. In state 104, a map module, which is part of the data storage device 32, provides information about a road attribute, e.g., a split point, in particular information about the distance d sp of the street attribute. In state 106, the controller stores 34 d sp in the buffer and tracks the vehicle position d hv,tk . If th hv,tk = d spit is assumed that the vehicle is currently located at the respective road attribute.

[0071] States 104, 106, 108 describe a vehicle localization scheme, while a redundant localization scheme is provided by states 110, 112, 114. In state 110, the distance d sp used to create a projection point p sp,proj (lat,lon) of the respective road attribute onto the trajectory 94. Subsequently, in state 112, a projection point p hv,tk,proj (lat,lon) of the current vehicle position onto the trajectory 94. The distance between the road attribute projection point and the vehicle projection point is determined, and if this distance is 0, the vehicle is located at the road attribute.

[0072] Thus, the vehicle position is determined according to two different schemes, and the results of these localization schemes or methods are compared in state 116. If the position values ​​match, the road attribute is used for vehicle control (state 118); otherwise, the vehicle is transferred to a system-safe mode (state 120).

[0073] Fig.7 is a schematic representation of a method 130 for determining a current position of a vehicle. In various embodiments, this method is implemented by an autonomous driving system 70 described herein. The method includes the following steps: receiving 132 map data having at least one road attribute 90; receiving 134 a plurality of trajectory points 92 located between an origin point 88 and a horizon point 86 and determining a trajectory 94 connecting the plurality of trajectory points 92; determining 136 an absolute position of the vehicle 10; determining a projection point 84 of the at least one road attribute 90 onto the trajectory 94; determining the current position of the vehicle 10 and comparing the current position of the vehicle with a position of the projection point of the road attribute between the origin point and the horizon point.

Claims

[1] An autonomous drive system (70) for a vehicle (10), the autonomous drive system (70) comprising: a positioning system (76) configured to determine, by a processor (44), a current position of the vehicle between an origin point (88) of the vehicle (10) and to determine a horizon point (86) in front of the vehicle (10); wherein the positioning system (76) is further configured to, by a processor (44): receive map data containing at least one road attribute (90); receive a plurality of trajectory points (92) located between the origin point (88) and the horizon point (86) and determine a trajectory (94) connecting the plurality of trajectory points (92); to determine an absolute current position of the vehicle (10); to determine a projection point (84) from the at least one road attribute (90) onto the trajectory (94); to determine a projection of the absolute current positions of the vehicle (10) onto the trajectory (94); to compare the projection of the absolute current position of the vehicle (10) onto the trajectory (94) with a position of the projection point (84) of the road attribute (90) between the origin point (88) and the horizon point (86), wherein the positioning system (76) compares the position of the projection of the absolute current position of the vehicle (10) onto the trajectory (94) with a distance of the projection point (84) from the origin point (88) along the road and its curvature. [2] The autonomous propulsion system (70) of claim 1, wherein the positioning system (76) is configured to determine the projection point (84) by determining a perpendicular line to the trajectory (94). [3] The autonomous driving system (70) of claim 1, wherein the positioning system (76) is configured to determine a distance value of the vehicle (10) from the origin point (88) based on the current position of the vehicle (10) and to compare this distance value with the position of the projection point (84). [4] The autonomous driving system (70) of claim 1, wherein the positioning system (76) is configured to iteratively track the current position of the vehicle (10) as the vehicle (10) moves. [5] The autonomous drive system (70) of claim 1, wherein the positioning system (76) is configured to determine a distance traveled by the vehicle (10) from the origin point (88). [6] The autonomous driving system (70) of claim 5, wherein the positioning system (76) is configured to determine a distance between the origin point (88) and the road attribute (90) and to compare the distance traveled by the vehicle (10) with the distance between the origin point (88) and the road attribute (90). [7] The autonomous driving system (70) of claim 5, wherein the positioning system (76) is configured to use the road attribute (90) for vehicle controls when the distance traveled by the vehicle (10) is equal to the distance between the origin point (88) and the road attribute (90) and, in addition, the current position of the vehicle (10) is equal to the position of the projection point (84) between the origin point (88) and the horizon point (86). [8] Autonomous drive system (70) according to claim 5, wherein the positioning system (76) is configured to to generate an error signal for transferring the vehicle (10) to a predetermined mode if the distance traveled by the vehicle (10) corresponds to the distance between the origin point (88) and the road attribute (90) and, in addition, the current position of the vehicle (10) does not correspond to the position of the projection point (84) between the origin point (88) and the horizon point (86); or to generate an error signal for transferring the vehicle (10) to a predetermined mode if the distance traveled by the vehicle (10) is not equal to the distance between the origin point (88) and the road attribute (90) and additionally the current position of the vehicle (10) is equal to the position of the projection point (84) between the origin point (88) and the horizon point (86). [9] Vehicle (10) having a controller (34), wherein the controller (34) implements an autonomous drive system (70) for the vehicle (10), wherein the autonomous drive system (70) comprises: a positioning system (76) configured to determine, by a processor (44), a current position of the vehicle (10) between an origin point (88) of the vehicle (10) and a horizon point (86) in front of the vehicle (10); wherein the positioning system (76) is further configured to, by a processor (44): receive map data containing at least one road attribute (90); receive a plurality of trajectory points (92) located between the origin point (88) and the horizon point (86) and determine a trajectory (94) connecting the plurality of trajectory points (92); to determine an absolute current position of the vehicle (10); to determine a projection point (84) from the at least one road attribute (90) onto the trajectory (94); to determine a projection of the absolute current positions of the vehicle (10) onto the trajectory (94); to compare the projection of the absolute current position of the vehicle (10) onto the trajectory (94) with a position of the projection point (84) of the road attribute (90) between the origin point (88) and the horizon point (86), wherein the positioning system (76) compares the position of the projection of the absolute current position of the vehicle (10) onto the trajectory (94) with a distance of the projection point (84) from the origin point (88) along the road and its curvature.

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