AT518489A3 - Driver assistance system for assisting a driver in driving a vehicle - Google Patents

Driver assistance system for assisting a driver in driving a vehicle Download PDF

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Publication number
AT518489A3
AT518489A3 ATA50248/2017A AT502482017A AT518489A3 AT 518489 A3 AT518489 A3 AT 518489A3 AT 502482017 A AT502482017 A AT 502482017A AT 518489 A3 AT518489 A3 AT 518489A3
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Austria
Prior art keywords
publication
assistance system
driver assistance
vehicle
driving
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ATA50248/2017A
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German (de)
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AT518489A2 (en
AT518489B1 (en
Inventor
Dipl Ing Dr Schöggl Peter
Jürgen Holzinger Dr
Uwe Dieter Grebe Dr
Ing Mario Oswald Dipl
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Avl List Gmbh
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Publication of AT518489A3 publication Critical patent/AT518489A3/en
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Publication of AT518489B1 publication Critical patent/AT518489B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Die Erfindung betrifft ein Fahrerassistenzsystem zum Unterstützen eines Fahrers beim Führen eines Fahrzeugs, wobei das Fahrerassistenzsystem vorzugsweise wenigstens einen Sensor aufweist, welcher eingerichtet ist, eine Fahrsituation eines Fahrzeugs wenigstens teilweise zu erfassen und wenigstens eine erste Datenschnittstelle zum Einlesen von Verkehrsdaten einer vorausliegenden Strecke. Weiterhin umfasst das Fahrerassistenzsystem vorzugsweise wenigstens eine zweite Datenschnittstelle zum Einlesen von Fahrbahndaten, insbesondere Topographie und/oder Fahrbahnverlauf eines vorausliegenden Fahrbahnabschnitts und/oder eines zurückliegenden Fahrbahnabschnitts. Ein Vorhersagemodul des Fahrerassistenzsystems ist vorzugsweise eingerichtet, um auf der Grundlage der momentanen Fahrsituation, den Verkehrsdaten und den Fahrbahndaten wenigstens ein zukünftiges Fahrszenario dynamisch zu simulieren und wiederum auf der Grundlage des wenigstens einen zukünftigen Fahrszenarios mögliche Trajektorien des Fahrzeugs dynamisch zu simulieren und auszugeben. Ein Optimierungsmodul des Fahrerassistenzsystems ist vorzugsweise eingerichtet, um anhand von wenigstens einer vorbestimmten Randbedingung, welche ein Fahrstilattribut des Fahrerassistenzsystem charakterisiert, eine der möglichen Trajektorien auszuwählen und auszugeben und ein Steuermodul ist vorzugsweise mit dem Längssystem, dem Bremssystem und/oder dem Antriebssystem des Fahrzeugs in der Weise verbunden, um das Fahrzeug auf der Grundlage der ausgewählten Trajektorie zu führen.The invention relates to a driver assistance system for assisting a driver in driving a vehicle, wherein the driver assistance system preferably has at least one sensor which is set up to detect a driving situation of a vehicle at least partially and at least one first data interface for reading in traffic data of a preceding route. Furthermore, the driver assistance system preferably comprises at least one second data interface for reading in roadway data, in particular topography and / or roadway course of a preceding roadway section and / or a preceding roadway section. A predictive module of the driver assistance system is preferably configured to dynamically simulate at least one future driving scenario based on the current driving situation, the traffic data, and the roadway data, and dynamically simulate and output possible trajectories of the vehicle based on the at least one future driving scenario. An optimization module of the driver assistance system is preferably set up to select and output one of the possible trajectories based on at least one predetermined boundary condition which characterizes a driving style attribute of the driver assistance system and a control module is preferably connected to the longitudinal system, the braking system and / or the drive system of the vehicle in FIG Way connected to guide the vehicle based on the selected trajectory.

Description

indung betrifft ein Fahrerassistenzsystem zum Unterstützen eines Fahrers beim Führen eines Fahrzeugs, wobei das Fahrerassistenzsystem vorzugsweise wenigstens einen Sensor aufweist, welcher eingerichtet ist, eine Fahrsituation eines Fahrzeugs wenigstens teilweise zu erfassen und wenigstens eine erste Datenschnittstelle zum Einlesen von Verkehrsdaten einer vorausliegenden Strecke. Weiterhin umfasst das Fahrerassistenzsystem vorzugsweise wenigstens eine zweite Datenschnittstelle zum Einlesen von Fahrbahndaten, insbesondere Topographie und/oder Fahrbahnverlauf eines vorausliegenden Fahrbahnabschnitts und/oder eines zurückliegenden Fahrbahnabschnitts. Ein Vorhersagemodul des Fahrerassistenzsystems ist vorzugsweise eingerichtet, um auf der Grundlage der momentanen Fahrsituation, den Verkehrsdaten und den Fahrbahndaten wenigstens ein zukünftiges Fahrszenario dynamisch zu simulieren und wiederum auf der Grundlage des wenigstens einen zukünftigen Fahrszenarios mögliche Trajektorien des Fahrzeugs dynamisch zu simulieren und auszugeben. Ein Optimierungsmodul desIndation relates to a driver assistance system for assisting a driver when driving a vehicle, the driver assistance system preferably having at least one sensor which is set up to at least partially detect a driving situation of a vehicle and at least one first data interface for reading in traffic data of a route ahead. Furthermore, the driver assistance system preferably comprises at least one second data interface for reading in lane data, in particular topography and / or course of a lane section ahead and / or a lane section behind. A prediction module of the driver assistance system is preferably set up to dynamically simulate at least one future driving scenario on the basis of the current driving situation, the traffic data and the lane data and in turn dynamically simulate and output possible trajectories of the vehicle on the basis of the at least one future driving scenario. An optimization module of the

Fahrerassistenzsystems ist vorzugsweise eingerichtet, um anhand von wenigstens einer vorbestimmten Randbedingung, welche ein Fahrstilattribut des Fahrerassistenzsystem charakterisiert, eine der möglichen Trajektorien auszuwählen und auszugeben und ein Steuermodul ist vorzugsweise mit dem Längssystem, dem Bremssystem und/oder dem Antriebssystem des Fahrzeugs in der Weise verbunden, um das Fahrzeug auf der Grundlage der ausgewählten Trajektorie zu führen.Driver assistance system is preferably set up to select and output one of the possible trajectories on the basis of at least one predetermined boundary condition, which characterizes a driving style attribute of the driver assistance system, and a control module is preferably connected to the longitudinal system, the braking system and / or the drive system of the vehicle in such a way that to guide the vehicle based on the selected trajectory.

Figure AT518489A3_D0001

Fig.tFig.t

DVR 0078018DVR 0078018

Recherchenbericht zu A 50248/2017Research report on A 50248/2017

Figure AT518489A3_D0002

Klassifikation des Anmeldungsgegenstands gemäß IPC:Classification of the subject of the application according to IPC:

B60W 30/08 (2012.01); B60W 30/14 (2006.01)B60W 30/08 (2012.01); B60W 30/14 (2006.01)

Klassifikation des Anmeldungsgegenstands gemäß CPC:Classification of the application according to CPC:

B60W 30/08 (2013.01); B60W 30/14 (2013.01)B60W 30/08 (2013.01); B60W 30/14 (2013.01)

Recherchierter Prüfstoff (Klassifikation):Researched test substance (classification):

B60WB60W

Konsultierte Online-Datenbank:Consulted online database:

EPODOC, WPIAP, TXTnnEPODOC, WPIAP, TXTnn

Dieser Recherchenbericht wurde zu den am 29.03.2017 eingereichtenThis research report was published on 29.03.2017

Claims (3)

Ansprüchen 1 bis 20 erstellt.Claims 1 to 20 created. Kategorie*·Category*· Bezeichnung der Veröffentlichung:Title of the publication: Ländercode, Veröffentlichungsnummer, Dokumentart (Anmelder), Veröffentlichungsdatum, Textstelle oder Figur soweit erforderlichCountry code, publication number, document type (applicant), publication date, text or figure if necessary BetreffendConcerning Anspruchclaim XX YY YY YY YY AA DE 102013210941 Al (BOSCH GMBH ROBERT [DE]) 18. Dezember 2014 (18.12.2014)DE 102013210941 Al (BOSCH GMBH ROBERT [DE]) December 18, 2014 (December 18, 2014) Abs.Section. 2 bis 302 to 30 DE 10200002 Al (PAL ZOLTAN [DE]) 22. August 2002 (22.08.2002)DE 10200002 Al (PAL ZOLTAN [DE]) August 22, 2002 (August 22, 2002) Abs. 10 bis 12, 39 bis 48 und 59 bis 6110 to 12, 39 to 48 and 59 to 61 DE 102014208311 Al (CONTI TEMIC MICROELECTRONIC [DE])DE 102014208311 Al (CONTI TEMIC MICROELECTRONIC [DE]) 05. November 2015 (05.11.2015)November 5, 2015 (November 5, 2015) Abs. 13, 14 und 24 bis 31Paras. 13, 14 and 24 to 31 DE 102013225057 Al (FRAUNHOFER GES ZUR FÖRDERUNG DERDE 102013225057 Al (FRAUNHOFER GES TO PROMOTE THE ANGEWANDTEN FORSCHUNG Ε V [DE]) 11. Juni 2015 (11.06.2015)APPLIED RESEARCH Ε V [DE]) June 11, 2015 (June 11, 2015) Abs. 13 und 23 bis 50Paras. 13 and 23 to 50 DE 10334203 Al (VOLKSWAGEN AG [DE]) 10. März 2005 (10.03.2005)DE 10334203 Al (VOLKSWAGEN AG [DE]) March 10, 2005 (March 10, 2005) Abs. 31 bis 39Paras. 31 to 39 1, 2, 5 bis 9, 13 bis 17,1, 2, 5 to 9, 13 to 17, 19, 2019, 20 3, 4, 10 bis 12, 183, 4, 10 to 12, 18 3, 10 bis bis 203, 10 to to 20 Datum der Beendigung der Recherche: ς t 1 1 Prüfer(in):Date of completion of the research: ς t 1 1 examiner: 05.02.2018 bene 1 von 1 WEISZ Andreas > Kategorien der angeführten Dokumente: A Veröffentlichung, die den allgemeinen Stand der Technik definiert.05.02.2018 bene 1 von 1 WEISZ Andreas> Categories of the listed documents: A Publication that defines the general state of the art. X Veröffentlichung von besonderer Bedeutung: der Anmeldungs- P Dokument, das von Bedeutung ist (Kategorien X oder Y), jedoch nach gegenständ kann allein aufgrund dieser Druckschrift nicht als neu bzw. auf dem Prioritätstag der Anmeldung veröffentlicht wurde.X Publication of particular importance: the application P document which is of importance (categories X or Y), but according to the subject cannot be published as new or on the priority date of the application simply because of this publication. erfinderischer Tätigkeit beruhend betrachtet werden. E Dokument, das von besonderer Bedeutung ist (Kategorie X), aus deminventive activity can be considered based. E Document of particular importance (Category X) from which Y Veröffentlichung von Bedeutung: der Anmeldungsgegenstand kann nicht ein „älteres Recht“ hervorgehen könnte (früheres Anmeldedatum, jedoch als auf erfinderischer Tätigkeit beruhend betrachtet werden, wenn die nachveröffentlicht, Schutz ist in Österreich möglich, würde Neuheit in FrageY Publication of importance: the subject of the application cannot be an “older right” (earlier filing date, however, should be considered as based on inventive step, if the republished, protection is possible in Austria, novelty would be considered) Veröffentlichung mit einer oder mehreren weiteren Veröffentlichungen stellen).Make publication with one or more other publications). dieser Kategorie in Verbindung gebracht wird und diese Verbindung für & Veröffentlichung, die Mitglied der selben Patentfamilie ist.is associated with this category and this connection for & publication which is a member of the same patent family. einen Fachmann naheliegend ist.is obvious to a specialist. 1/11.1 DVR 0078018DVR 0078018
ATA50248/2017A 2016-03-29 2017-03-29 Driver assistance system for assisting a driver in driving a vehicle AT518489B1 (en)

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DE102016205152.0A DE102016205152A1 (en) 2016-03-29 2016-03-29 Driver assistance system for assisting a driver in driving a vehicle

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