DE102014202313A1 - Method for transmitting an environment model - Google Patents
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- DE102014202313A1 DE102014202313A1 DE102014202313.0A DE102014202313A DE102014202313A1 DE 102014202313 A1 DE102014202313 A1 DE 102014202313A1 DE 102014202313 A DE102014202313 A DE 102014202313A DE 102014202313 A1 DE102014202313 A1 DE 102014202313A1
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007613 environmental effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
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- 238000004090 dissolution Methods 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
-
- 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
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
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- 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
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
-
- 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
- G08G1/096791—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 another vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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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
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Atmospheric Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mathematical Physics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Traffic Control Systems (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Die vorliegende Erfindung betrifft ein Verfahren zum Übertragen eines Umgebungsmodells (1) wobei eine erste Station (2) das Umgebungsmodell (1) von einer zweiten Station (3) anfordert, das Umgebungsmodell (1) aus Kacheln (4) gebildet ist und eine Umgebung (5) der ersten Station (2) und/oder der zweiten Station (3) beschreibt, und eine Auflösung der Kacheln (4) von der ersten Station (2) gewählt wird.The present invention relates to a method for transmitting an environment model (1), wherein a first station (2) requests the environment model (1) from a second station (3), the environment model (1) is formed from tiles (4) and an environment ( 5) of the first station (2) and / or the second station (3), and a resolution of the tiles (4) from the first station (2) is selected.
Description
Stand der TechnikState of the art
Die vorliegende Erfindung betrifft ein Verfahren zum Übertragen eines Umgebungsmodells. Weiterhin betrifft die Erfindung ein Fahrzeug, mit dem ein derartiges Verfahren durchführbar ist.The present invention relates to a method for transmitting an environment model. Furthermore, the invention relates to a vehicle with which such a method is feasible.
Fahrerassistenzsysteme von Fahrzeugen verwenden Umfeldinformationen, die sie in der Regel über entsprechende Umfeldsensoren einholen und sammeln. Um aus den Umfeldinformationen ein Umgebungsmodell zu bilden, kennt der Stand der Technik Occupancy Grids, die eine Umgebung des Fahrzeugs als zweidimensionales Gitter repräsentieren, dessen Gitterzellen jeweils die Informationen beinhalten, ob der von der Gitterzelle repräsentierte Bereich der Umgebung befahrbar oder durch ein Hindernis belegt, also nicht befahrbar ist. In der Regel wird dies durch entsprechende Wahrscheinlichkeitswerte für eine Belegung der Zelle umgesetzt. Occupancy Grids sind jedoch sehr unflexibel, da ein einmal angelegtes Modell nicht erweitert werden kann. Soll das Modell vergrößert werden, so muss ein neues Modell angelegt werden und das ursprüngliche Modell in das neue Modell integriert werden. Somit ist die Verwaltung von Occupancy Grids sehr rechenintensiv.Driver assistance systems of vehicles use environment information, which they usually obtain and collect via corresponding environmental sensors. In order to form an environment model from the environment information, the prior art knows occupancy grids which represent an environment of the vehicle as a two-dimensional grid whose grid cells each contain the information as to whether the area of the environment represented by the grid cell is passable or occupied by an obstacle, So not passable. As a rule, this is implemented by appropriate probability values for occupancy of the cell. However, occupancy grids are very inflexible, as a once created model can not be extended. If the model is to be enlarged, a new model must be created and the original model integrated into the new model. Thus, the administration of Occupancy Grids is very computationally intensive.
Der Stand der Technik kennt weitere Möglichkeiten, Umgebungsmodelle zu erstellen. Dazu gehören unter anderem GridTiles. GridTiles sind meist quadratische Kacheln, die Nachbarschaftsinformationen zu benachbarten GridTiles speichern. Anhand der Nachbarschaftsinformationen sind Modelle aus GridTiles sehr einfach erweiterbar, da lediglich an nicht besetzten Nachbarschaften neue GridTiles eingefügt werden.The prior art knows of other ways to create environment models. These include GridTiles. GridTiles are mostly square tiles that store neighborhood information about neighboring GridTiles. Based on the neighborhood information, models from GridTiles are very easy to extend, since new GridTiles are only added to unoccupied neighborhoods.
GridTiles müssen dabei keine Kacheln quadratischer Form sein, sondern können auch andere Formen annehmen.GridTiles do not have to be tiles of square shape, but can also take other forms.
Falls mehrere Fahrzeuge dieselben Gebiete befahren, so muss jedes Fahrzeug das Umgebungsmodell für das Gebiet selbst erstellen. Dies ist insbesondere für solche Gebiete nachteilig, die von vielen Fahrzeugen frequentiert werden. Dazu gehören beispielsweise Parkplätze oder Parkhäuser. If several vehicles drive the same areas, each vehicle must create the environment model for the area itself. This is especially detrimental to areas that are frequented by many vehicles. These include, for example, parking lots or parking garages.
Offenbarung der ErfindungDisclosure of the invention
Das erfindungsgemäße Verfahren erlaubt ein Übertragen von Umgebungsmodellen zwischen einer ersten Station und einer zweiten Station. Somit können gesammelte Informationen anderen Verkehrsteilnehmern zur Verfügung gestellt werden. Um einen entsprechenden Kommunikationskanal effizient nutzen zu können, wird erfindungsgemäß die Größe der zu übertragenen Daten dadurch begrenzt, dass eine Auflösung von Kacheln, aus denen das Umgebungsmodell gebildet ist, unterschiedlich gewählt wird. Zum Übertragen des Umgebungsmodells fordert eine erste Station das Umgebungsmodell von einer zweiten Station an. Bei der Anforderung des Umgebungsmodells wird von der ersten Station außerdem eine Auflösung der einzelnen Kacheln des Umgebungsmodells gewählt. Somit bestimmt die erste Station über die Qualität des zu übertragenden Umgebungsmodells, wobei die erste Station die Qualität anhand eigener Anforderungen, insbesondere anhand von Anforderungen eigener Assistenzsysteme, die Umgebungsinformationen verschiedener Güte benötigen, festlegt. Die Kacheln repräsentieren dabei örtlich begrenzte Bereiche der Umgebung. Eine Form der Kacheln ist beliebig wählbar, wobei die Kacheln bevorzugt quadratisch sind. Die Umgebung ist insbesondere eine Umgebung der ersten Station und/oder eine Umgebung der zweiten Station. The inventive method allows a transmission of environment models between a first station and a second station. Thus, collected information can be made available to other road users. In order to be able to use a corresponding communication channel efficiently, the size of the data to be transmitted is limited according to the invention in that a resolution of tiles, from which the environment model is formed, is selected differently. To transmit the environment model, a first station requests the environment model from a second station. When requesting the environment model, the first station also selects a resolution of the individual tiles of the environment model. Thus, the first station determines the quality of the environment model to be transmitted, the first station determining the quality based on its own requirements, in particular based on requirements of its own assistance systems, the environment information of different quality. The tiles represent localized areas of the environment. A shape of the tiles is arbitrary, the tiles are preferably square. The environment is in particular an environment of the first station and / or an environment of the second station.
Die Unteransprüche zeigen bevorzugte Weiterbildungen der Erfindung. Die Auflösung der Kacheln wird bevorzugt in Abhängigkeit von einer Entfernung der von den Kacheln repräsentierten Bereiche der Umgebung von der ersten Station gewählt. So werden weit entfernte Bereiche lediglich gering aufgelöst, während nahe Bereiche hoch aufgelöst werden. So stehen der ersten Station umfassende Informationen zur Verfügung, so dass insbesondere eine genaue Navigation sowie ein generelle Planung eines Bewegungspfades, entlang dessen sich die erste Station bewegen soll, möglich sind.The dependent claims show preferred developments of the invention. The resolution of the tiles is preferably selected as a function of a distance of the areas of the surroundings represented by the tiles from the first station. So far away areas are only slightly resolved, while close areas are resolved high. Thus, the first station comprehensive information is available, so that in particular a precise navigation and a general planning of a movement path along which the first station is to move, are possible.
Alternativ oder zusätzlich wird die Auflösung der Kacheln vorteilhafterweise in Abhängigkeit von einer in der ersten Station zu Verfügung stehenden Speicherkapazität gewählt. So ist insbesondere vorgesehen, dass für Manöver, die große Flächen benötigen, sämtliche dafür benötigten Kacheln angefordert werden, wobei eine Auflösung der Kacheln an zu Verfügung stehende Speicherressourcen angepasst wird.Alternatively or additionally, the resolution of the tiles is advantageously selected as a function of a storage capacity available in the first station. It is thus provided in particular that all the tiles required for this purpose are requested for maneuvers which require large areas, a resolution of the tiles being adapted to available storage resources.
Weiterhin ist bevorzugt vorgesehen, dass die erste Station eine Pfadplanung durchführt, wobei das Umgebungsmodell sämtliche Kacheln umfasst, die entlang eines geplanten Pfads gelegen sind. Für eine Pfadplanung wird insbesondere eine geringe Auflösung für die Kacheln gewählt.Furthermore, it is preferably provided that the first station performs a path planning, wherein the environment model includes all tiles that are located along a planned path. In particular, a low resolution for the tiles is selected for path planning.
Sollten genauere Informationen für Bereiche benötigt werden, für die bereits gering aufgelöste Kacheln vorliegen, so werden bevorzugt die Kacheln erneut angefordert. Dazu wird bevorzugt zunächst ein erster Satz Kacheln mit einer geringen Auflösung angefordert. Zu einem späteren Zeitpunkt, zu dem insbesondere genauere Informationen benötigt werden, werden schließlich die Kacheln aus dem ersten Satz mit einer hohen Auflösung angefordert. So wird insbesondere ermöglicht, dass genauere Informationen bereitgestellt werden, wenn bei einer Bahnplanung festgestellt wird, dass eine Engstelle durchfahren werden muss. Durch die Engstelle ist jedoch die Bahn nicht gefahrlos planbar, so dass die Gefahr einer Kollision nicht ausgeschlossen werden kann. In diesem Fall werden die für die Engstelle relevanten Kacheln mit hoher Auflösung erneut angefordert.If more detailed information is required for areas for which already low-resolution tiles are available, the tiles are preferably requested again. For this purpose, a first set of tiles with a low resolution is preferably first requested. At a later time, in particular more accurate information is needed, finally, the tiles from the first set are requested with a high resolution. In particular, this allows more accurate Information is provided when it is determined in a path planning that a bottleneck must be passed through. Due to the bottleneck, however, the railway can not be planned without danger so that the risk of a collision can not be ruled out. In this case, the tiles that are relevant for the bottleneck are requested again with high resolution.
Vorteilhafterweise ist außerdem vorgesehen, dass eine Vielzahl von Auflösungsstufen vordefiniert ist, wobei sich die Auflösungsstufen um ganzzahlige Vielfache unterscheiden. Dies vereinfacht insbesondere ein Überführen von Informationen mit einer ersten Auflösungsstufe in Informationen mit einer zweiten Auflösungsstufe. Somit lassen sich Kacheln, die denselben Bereich der Umgebung repräsentieren, die aber unterschiedliche Auflösungen aufweisen, einfach und effizient zusammenführen.Advantageously, it is also provided that a plurality of resolution levels is predefined, wherein the resolution levels differ by integer multiples. In particular, this simplifies transferring information at a first level of resolution into information at a second level of resolution. Thus, tiles that represent the same area of the environment but have different resolutions can be merged easily and efficiently.
Bevorzugt umfassen die Kacheln eine Vielzahl von Zellen. Jeder der Zellen umfasst eine Belegtheitswahrscheinlichkeit, die insbesondere anzeigt, ob der von der jeweiligen Zelle repräsentierte Bereich der Umgebung frei oder belegt ist. Bevorzugt ist außerdem vorgesehen, dass jede Kachel eine ganzzahlige Anzahl von Zellen aufweist. Die Auflösung einer Kachel wird insbesondere durch die Anzahl von Zellen innerhalb der Kachel definiert.Preferably, the tiles comprise a plurality of cells. Each of the cells comprises a probability of occupancy, which in particular indicates whether the area of the environment represented by the respective cell is free or occupied. In addition, it is preferably provided that each tile has an integer number of cells. The resolution of a tile is defined in particular by the number of cells within the tile.
Vorteilhafterweise ist vorgesehen, dass die Kacheln GridTiles sind. Diese erlauben ein einfaches und flexibles Bilden von Umgebungsmodellen.Advantageously, it is provided that the tiles are GridTiles. These allow easy and flexible modeling of environment models.
Weiterhin betrifft die Erfindung ein Fahrzeug, das zumindest ein Steuergerät umfasst. Mit dem Fahrzeug ist bevorzugt das zuvor beschriebene Verfahren ausführbar. Insbesondere ist das Verfahren auf dem Steuergerät des Fahrzeugs ausführbar. Das Fahrzeug entspricht dabei entweder der ersten Station oder der zweiten Station.Furthermore, the invention relates to a vehicle comprising at least one control unit. With the vehicle, the method described above is preferably executable. In particular, the method is executable on the control unit of the vehicle. The vehicle corresponds to either the first station or the second station.
Bevorzugt weist das erfindungsgemäße Fahrzeug Umfeldsensoren auf, mit denen eine aktuelle Umgebung des Fahrzeugs erfassbar ist. Somit ist anhand der Daten zumindest ein Bereich des Umgebungsmodells erstellbar. Die mit den Umfeldsensoren gewonnenen Daten sind vorteilhafterweise für unterschiedliche Assistenzsysteme des Fahrzeug einsetzbar. Derartige Assistenzsysteme sind insbesondere Parkassistenzsystem oder Manöverassistenzsysteme. Durch das erfindungsgemäße Verfahren ist es dem Fahrzeug möglich, durch die Übertragung des Umgebungsmodells von einer weiteren Station die Daten der Umfeldsensoren zu erweitern. Somit stehen dem Fahrzeug detaillierte Information über die Umgebung zur Verfügung.Preferably, the vehicle according to the invention has environment sensors with which a current environment of the vehicle can be detected. Thus, based on the data at least a portion of the environment model can be created. The data obtained with the environment sensors are advantageously used for different assistance systems of the vehicle. Such assistance systems are in particular parking assistance system or maneuver assistance systems. The method according to the invention makes it possible for the vehicle to expand the data of the environment sensors by transmitting the environment model from another station. Thus, the vehicle detailed information about the environment are available.
Kurze Beschreibung der ZeichnungenBrief description of the drawings
Nachfolgend werden Ausführungsbeispiele der Erfindung unter Bezugnahme auf die begleitenden Zeichnungen im Detail beschrieben. In den Zeichnungen ist:Hereinafter, embodiments of the invention will be described in detail with reference to the accompanying drawings. In the drawings:
Ausführungsbeispiele der ErfindungEmbodiments of the invention
Eine erste Station
Das Fahrzeug
Die erste Station
Das erste Umgebungsmodell
Die zweite Station
Aus den
Die Auflösung der Kacheln
In den Figuren sind unterschiedliche Wahrscheinlichkeitswerte durch unterschiedliche Schraffuren gezeigt.In the figures, different probability values are shown by different hatching.
In dem ersten Umgebungsmodell
Um das erste Umgebungsmodell
Die erste Station
Insgesamt ermöglicht das dritte Umgebungsmodell
Ebenso ist vorteilhaft, wenn die erste Station
Claims (10)
Priority Applications (3)
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DE102014202313.0A DE102014202313A1 (en) | 2014-02-07 | 2014-02-07 | Method for transmitting an environment model |
FR1550893A FR3017482B1 (en) | 2014-02-07 | 2015-02-05 | METHOD OF TRANSMISSION OF AN ENVIRONMENT MODEL |
GB1501989.6A GB2524162B (en) | 2014-02-07 | 2015-02-06 | Method for transmitting an environment model |
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DE102014202313.0A DE102014202313A1 (en) | 2014-02-07 | 2014-02-07 | Method for transmitting an environment model |
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Cited By (1)
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CN108407804A (en) * | 2018-02-07 | 2018-08-17 | 维森软件技术(上海)有限公司 | A kind of multi-path presentation method of aid parking |
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CN105857306B (en) * | 2016-04-14 | 2018-07-10 | 中国科学院合肥物质科学研究院 | A kind of vehicle autonomous parking paths planning method for a variety of scenes of parking |
US20180217603A1 (en) * | 2017-01-31 | 2018-08-02 | GM Global Technology Operations LLC | Efficient situational awareness from perception streams in autonomous driving systems |
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JP2003004468A (en) * | 2001-06-26 | 2003-01-08 | Alpine Electronics Inc | Navigation system and display method for map thereof |
US20090228172A1 (en) * | 2008-03-05 | 2009-09-10 | Gm Global Technology Operations, Inc. | Vehicle-to-vehicle position awareness system and related operating method |
US8594923B2 (en) * | 2011-06-14 | 2013-11-26 | Crown Equipment Limited | Method and apparatus for sharing map data associated with automated industrial vehicles |
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2014
- 2014-02-07 DE DE102014202313.0A patent/DE102014202313A1/en active Pending
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2015
- 2015-02-05 FR FR1550893A patent/FR3017482B1/en not_active Expired - Fee Related
- 2015-02-06 GB GB1501989.6A patent/GB2524162B/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108407804A (en) * | 2018-02-07 | 2018-08-17 | 维森软件技术(上海)有限公司 | A kind of multi-path presentation method of aid parking |
Also Published As
Publication number | Publication date |
---|---|
GB201501989D0 (en) | 2015-03-25 |
GB2524162B (en) | 2020-07-29 |
FR3017482A1 (en) | 2015-08-14 |
FR3017482B1 (en) | 2021-02-12 |
GB2524162A (en) | 2015-09-16 |
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