Procedure for releasing a route

Abstract

Method for releasing a route (F) for automated driving of a vehicle (1), wherein a route (F) ahead of the vehicle (1) is released for automated driving of the vehicle (1) if it is determined by means of a digital map (3), which is used for landmark-based localization of the vehicle (1) during automated driving, that landmarks (L) are present along the route (F) which, with regard to their suitability for longitudinal and transverse localization of the vehicle (1), meet requirements which are predetermined depending on a course of the route (F).

Description

[0001] The invention relates to a method for releasing a route for automated driving of a vehicle.

[0002] US 2011 / 0118979 A1 discloses a method for operating a vehicle tracking system, wherein a warning is issued in a timely manner if the vehicle tracking system cannot satisfactorily meet specified performance criteria. The method comprises determining a satellite-based position estimate, determining a position estimate for dead reckoning, determining a location estimate by combining the satellite-based position estimate and the position estimate for dead reckoning, determining a map-matched position, and determining the integrity of a location determination by comparing a test statistic. The test statistic is calculated by evaluating the map-matched position and the position estimate, with a decision threshold being specified based on a specified location estimation accuracy specification.If the test statistic is greater than the decision threshold, the vehicle tracking system provides an indication that the integrity of the position estimate does not meet the specified location estimate accuracy specification.

[0003] DE 10 2014 013 672 A1 discloses a method for ensuring autonomous or semi-autonomous operation of a vehicle. An evaluation unit determines whether a route is suitable for autonomous or semi-autonomous driving. The suitability test is based on determining the deviation between landmarks stored in a digital map and landmarks detected by the vehicle's sensors.

[0004] DE 10 2017 004 118 A1 discloses a method for operating a driver assistance system for a vehicle. The method involves predicting the accuracy with which the vehicle can be located on a digital map on a route ahead, and predicting an accuracy threshold depending on the route. A decision regarding the release of fully automated driving is made based on the predicted accuracy and the predicted accuracy threshold.

[0005] From DE 10 2016 224 042 A1 a method for detecting erroneous data in a digital map is known, wherein the method is based on carrying out a simulation in which a vehicle is moved virtually over several routes defined by the map.

[0006] The invention is based on the object of specifying a method for releasing a route for automated driving of a vehicle that is improved compared to the prior art.

[0007] The object is achieved according to the invention by the features specified in claim 1.

[0008] Advantageous embodiments of the invention are the subject of the subclaims.

[0009] A method for releasing a route for automated driving of a vehicle provides according to the invention that a route ahead of the vehicle is released for automated driving of the vehicle if it is determined by means of a digital map, which is used for landmark-based localization of the vehicle during automated driving, that landmarks are present along the route which, with regard to their suitability for longitudinal and transverse localization of the vehicle, meet requirements which are predetermined depending on a course of the route.

[0010] By applying the method, automated driving of the vehicle is possible if, for example, on a straight section of road, the edge of the road is relatively well marked and if a sufficient number of landmarks are available for lateral localization of the vehicle.

[0011] One embodiment of the method provides for determining route information from the digital map, and based on this information, subdividing the route into straight and curved sections. In particular, the subdivision into straight and curved sections is performed because the landmarks are used to distinguish whether they are suitable for longitudinal or transverse localization, or both.

[0012] In a further embodiment of the method, landmarks located along the route are identified as additional information based on the digital map. In particular, the landmarks are identified as additional information so that it can be determined whether the route, or at least sections of the route, are suitable for automated driving of the vehicle.

[0013] For this purpose, the landmarks are analyzed in a further development with regard to their suitability for longitudinal and lateral localization of the vehicle. This analysis determines whether safe automated driving of the vehicle is possible on the route or at least on a section of the route with corresponding landmarks. For this purpose, for example, the distance between the individual landmarks can also be determined.

[0014] One embodiment of the method provides that the automated driving operation of the vehicle is released for a straight section of road if it is determined that there is a predetermined number of landmarks along the straight section of road that are suitable for lateral localization of the vehicle, so that safe automated driving operation of the vehicle on this straight section of road is possible.

[0015] In a further embodiment, the automated driving operation of the vehicle is enabled for a curved section of road if it is determined that there is a predetermined number of landmarks along the curved section of road that are suitable for lateral localization and longitudinal localization of the vehicle in order to enable automated driving operation for the vehicle.

[0016] In particular, in a possible further development of the method, at least one edge development of the roadway is or will be recorded as landmarks for transverse localization of the vehicle, whereby a certain number of edge developments must be present on the route to enable automated driving.

[0017] A possible further embodiment of the method provides for at least one bridge crossing a roadway without bridge piers to be detected as a landmark for longitudinal localization of the vehicle. Such a landmark is determined using the digital map, particularly as additional information, to enable automated driving of the vehicle on the corresponding section of the road.

[0018] Based on the vehicle's localization accuracy and depending on the route section, a maximum driving speed can be specified for the vehicle during authorized automated driving. This largely ensures that the vehicle travels at a speed appropriate for the route section during authorized automated driving. This largely ensures that the vehicle does not pose a danger to itself or to road users in the immediate vicinity during authorized automated driving.

[0019] Embodiments of the invention are explained in more detail below with reference to a drawing.

[0020] The following shows: Fig. 1 schematically shows a vehicle and a route ahead of the vehicle.

[0021] The single figure shows a vehicle 1 in a highly simplified manner and a route F ahead of the vehicle 1.

[0022] The vehicle 1 has an assistance system 2 for automated driving, in which a driving task of the vehicle 1 is fully carried out by the vehicle 1, so that a vehicle user, ie a driver, can pursue other activities during the automated driving operation.

[0023] For automated, particularly highly automated, driving operation, a precise positioning of the vehicle 1 is required, for which purpose a satellite-based positioning unit is arranged in the vehicle 1. However, a positioning signal from a satellite is not sufficient to carry out automated driving operation.

[0024] In order to release a route F for automated driving of vehicle 1, a procedure described below is provided.

[0025] A route F is released for automated driving of the vehicle 1 if landmarks L are stored along the route F in a digital map 3, which is used for landmark-based localization of the vehicle 1, which landmarks L meet certain requirements with regard to their suitability for longitudinal localization and transverse localization of the vehicle 1.

[0026] These requirements are specified depending on the course of the route F, since different requirements exist for the accuracy of the longitudinal localization and transverse localization of the vehicle 1 for straight route sections S1 and curved route sections S2.

[0027] For this purpose, information about the route F is determined using a digital map 3 available to the vehicle 1, whereby this information is used to divide the route F into straight-line sections S1 and curved sections S2.

[0028] In addition, further information about landmarks L located along the route F is extracted from the digital map 3. In particular, lane markings and peripheral buildings are recorded as landmarks L in the digital map 3.

[0029] Once the landmarks L have been recorded, they are analyzed with regard to their suitability for longitudinal and transverse localization of vehicle 1. A solid lane marking M at the edge of the road, for example, is only suitable for transverse localization, i.e., for transverse positioning, of vehicle 1.

[0030] A bridge crossing the route F, in particular the roadway, is, however, only suitable as a landmark L for the longitudinal localization of vehicle 1.

[0031] Once the route F has been analyzed with regard to the landmarks L, automated driving is enabled or not.

[0032] In particular, automated driving operation is enabled for vehicle 1 if there are landmarks L along the straight-line section S1 that are suitable for lateral localization of vehicle 1 and that are present in sufficient numbers along the straight-line section S1.

[0033] Furthermore, automated driving is enabled for vehicle 1 if landmarks L are located along the curved road section S2 that are suitable for longitudinal and transverse localization of vehicle 1 and are present in sufficient numbers along the curved road section S2. In particular, landmarks L are required for longitudinal localization of vehicle 1 on a curved road section S2 in order to largely rule out the possibility of vehicle 1 unintentionally leaving the roadway during automated driving.

[0034] By applying the method, it is possible for automated driving of vehicle 1 to be permitted on a straight section of road S1 with comparatively good lane markings M at the edge of the road, as long as landmarks L are present in sufficient number for transverse localization of vehicle 1.

[0035] The assumed localization accuracy decreases with the length of a route traveled without new landmarks L as localization objects. For example, if lampposts of a street lighting system are present at a comparatively short distance before a curved route section S2, the curved route section S2 can be navigated automatically, even if no further landmarks L are present within the curved route section S2.

[0036] Based on the localization accuracy, a comfortable maximum driving speed for the automated driving operation of vehicle 1 can also be derived and specified depending on the route section S1, S2.

[0037] If vehicle 1 is traveling on a relatively clear, straight section of road S1 without landmarks L for longitudinal positioning of vehicle 1, followed by a curved section of road S2, the curve can be negotiated at a reduced speed, although this speed also depends on the curve's curvature. If the traveled speed is not significantly lower than that at which the curve is negotiated in manual driving mode, the traveled speed of vehicle 1 is acceptable for a relatively short section of the curved section of road S2.

[0038] On sections of curved sections S2 of a route F which cannot be driven at an acceptable, i.e. lower, speed, posts can be positioned, in particular built, as landmarks L at the edge of the road as peripheral structures in order to enable automated driving of the vehicle 1 there. List of reference symbols 1 vehicle 2 Assistance system 3 digital map F Driving distance L Landmark M Road marking S1 straight section S2 winding section

Claims

[1] Method for releasing a route (F) for automated driving of a vehicle (1), wherein a route (F) ahead of the vehicle (1) is released for automated driving of the vehicle (1) if it is determined by means of a digital map (3), which is used for landmark-based localization of the vehicle (1) during automated driving, that landmarks (L) are present along the route (F) which, with regard to their suitability for longitudinal and transverse localization of the vehicle (1), meet requirements which are predetermined depending on a course of the route (F). [2] Method according to claim 1, characterized by that information on the route (F) is determined using the digital map (3) and, based on this information, the route (F) is divided into straight route sections (S1) and curved route sections (S2). [3] Method according to claim 1 or 2, characterized by that landmarks (L) located along the route (F) are determined as additional information using the digital map (3). [4] Method according to one of the preceding claims, characterized by that the landmarks (L) are analyzed with regard to their suitability for the longitudinal and transverse localization of the vehicle (1). [5] Method according to one of the preceding claims, characterized by that the automated driving operation of the vehicle (1) is released for a straight-line section of the route (S1) when it is determined that there is a predetermined number of landmarks (L) along the straight-line section of the route (S1) which are suitable for the transverse localization of the vehicle (1). [6] Method according to one of the preceding claims, characterized bythat the automated driving operation of the vehicle (1) is released for a curved section of road (S2) when it is determined that there is a predetermined number of landmarks (L) along the curved section of road (S2) which are suitable for the transverse localization and the longitudinal localization of the vehicle (1). [7] Method according to one of the preceding claims, characterized by that at least one road marking (M) and / or lighting units of a street lighting are or will be detected as landmarks (L) for a transverse localization of the vehicle (1). [8] Method according to one of the preceding claims, characterized by that at least one bridge crossing a carriageway without bridge piers and / or lighting units of a street lighting is or will be detected as landmarks (L) for a longitudinal localization of the vehicle (1). [9] Method according to one of the preceding claims, characterized bythat a maximum driving speed of the vehicle (1) for automated driving operation is specified based on a localization accuracy of the vehicle (1) and depending on the route section (S1, S2).

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