DE102019003304A1 - Method for operating an autonomously driving vehicle - Google Patents
Method for operating an autonomously driving vehicle Download PDFInfo
- Publication number
- DE102019003304A1 DE102019003304A1 DE102019003304.3A DE102019003304A DE102019003304A1 DE 102019003304 A1 DE102019003304 A1 DE 102019003304A1 DE 102019003304 A DE102019003304 A DE 102019003304A DE 102019003304 A1 DE102019003304 A1 DE 102019003304A1
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- DE
- Germany
- Prior art keywords
- vehicle
- friction
- coefficient
- measuring
- autonomous driving
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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
- 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
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zum autonomen Fahrbetrieb eines Fahrzeuges (1). Erfindungsgemäß ist vorgesehen, dass eine Planung und Fahrbarkeit einer Trajektorie für den autonomen Fahrbetrieb des Fahrzeuges (1) anhand erfasster ortsabhängiger Reibwertinformationen einer mittels eines spezifischen Messreifens (6) eines Messfahrzeuges (3) bei nasser Fahrbahn ermittelten Reibwertkarte (R) durchgeführt werden.The invention relates to a method for autonomous driving of a vehicle (1). According to the invention it is provided that a trajectory for the autonomous driving operation of the vehicle (1) is planned and drivable on the basis of recorded location-dependent coefficient of friction information from a coefficient of friction map (R) determined by a specific measuring tire (6) of a measuring vehicle (3) on a wet road.
Description
Die Erfindung betrifft ein Verfahren zum Betrieb eines autonom fahrenden Fahrzeuges.The invention relates to a method for operating an autonomously driving vehicle.
Aus der
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zum Betrieb eines autonom fahrenden Fahrzeuges anzugeben.The invention is based on the object of specifying a method for operating an autonomously driving vehicle which is improved over the prior art.
Die Aufgabe wird erfindungsgemäß durch die in Anspruch 1 angegebenen Merkmale gelöst.The object is achieved according to the invention by the features specified in
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the subclaims.
Ein Verfahren zum autonomen Fahrbetrieb eines Fahrzeuges sieht erfindungsgemäß vor, dass eine Planung und Fahrbarkeit einer Trajektorie für den autonomen Fahrbetrieb des Fahrzeuges anhand erfasster ortsabhängiger Reibwertinformationen einer mittels eines spezifischen Messreifens eines Messfahrzeuges bei nasser Fahrbahn ermittelten Reibwertkarte durchgeführt werden.A method for autonomous driving of a vehicle provides that planning and drivability of a trajectory for autonomous driving of the vehicle are carried out on the basis of recorded location-dependent coefficient of friction information from a coefficient of friction map determined by means of a specific measuring tire of a measuring vehicle on a wet road.
Durch Anwendung des Verfahrens, insbesondere mittels Verwendung der Reibwertkarte, kann eine für das autonom fahrende Fahrzeug geplante Trajektorie in Bezug auf ihre Fahrbarkeit überprüft werden, wodurch es dem Fahrzeug auf Grundlage der Reibwertkarte ermöglicht wird, entsprechend der Reibwertinformationen angemessen schnell und sicher zu fahren.By applying the method, in particular by using the coefficient of friction map, a trajectory planned for the autonomously driving vehicle can be checked with regard to its drivability, which enables the vehicle on the basis of the coefficient of friction map to drive appropriately quickly and safely in accordance with the coefficient of friction information.
Mittels der Reibwertkarte wird eine ortspezifische Nass-Reibwertinformation für den spezifischen Fahrzeugreifen ermittelt, wobei diese Nass-Reibwertinformation im Allgemeinen höher liegt als eine minimale Reibwertinformation, welche aus zufälligen Fahrdynamikereignissen ermittelt wird. Dadurch ermöglicht die Nass-Reibwertinformation prinzipiell, dass das Fahrzeug im autonomen Fahrbetrieb mit einer höheren Fahrgeschwindigkeit bewegt wird.Using the coefficient of friction map, location-specific wet coefficient of friction information is determined for the specific vehicle tire, this wet coefficient of friction information generally being higher than a minimum coefficient of friction information that is determined from random driving dynamics events. As a result, the wet coefficient of friction information basically enables the vehicle to be moved at a higher speed in autonomous driving mode.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert.Embodiments of the invention are explained in more detail below with reference to a drawing.
Dabei zeigt die:
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1 schematisch ein autonom fahrendes Fahrzeug, eine zentrale Rechnereinheit und ein Mess-Fahrzeug.
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1 schematically an autonomously driving vehicle, a central computer unit and a measuring vehicle.
In der einzigen Figur sind ein autonom fahrendes Fahrzeug
Eine Reibwertinformation, insbesondere ein Reibwert, bestimmt eine maximal mögliche Verzögerung eines Fahrzeuges
Im autonomen Fahrbetrieb des Fahrzeuges
Das kann zu einem Zielkonflikt führen, dass eine zu konservative Annahme einer Reibwertinformation zu einer vergleichsweise extrem langsamen Fahrweise des im autonomen Fahrbetrieb fahrenden Fahrzeuges
Auch im manuellen Fahrbetrieb des Fahrzeuges
Ohne eine vorhandene Reibwertkarte R ist es erforderlich, dass das autonom fahrende Fahrzeug
Um eine geplante Trajektorie des Fahrzeuges
Dabei dient das Messfahrzeug
Ein mittels des Messfahrzeuges
Darüber hinaus wird das mittels des Messfahrzeuges
Die ermittelten Nass-Reibwerte werden ortsabhängig mit ihren Positionsdaten einer Steuereinheit
Insbesondere sind die mittels des Messfahrzeuges
Die Reibwertkarte R wird an das Fahrzeug
Insbesondere ist vorgesehen, dass mittels des Messfahrzeuges
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDED IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturPatent literature cited
- WO 2017/100797 A1 [0002]WO 2017/100797 A1 [0002]
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019003304.3A DE102019003304A1 (en) | 2019-05-09 | 2019-05-09 | Method for operating an autonomously driving vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019003304.3A DE102019003304A1 (en) | 2019-05-09 | 2019-05-09 | Method for operating an autonomously driving vehicle |
Publications (1)
Publication Number | Publication Date |
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DE102019003304A1 true DE102019003304A1 (en) | 2020-11-12 |
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ID=72943683
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE102019003304.3A Pending DE102019003304A1 (en) | 2019-05-09 | 2019-05-09 | Method for operating an autonomously driving vehicle |
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DE (1) | DE102019003304A1 (en) |
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2019
- 2019-05-09 DE DE102019003304.3A patent/DE102019003304A1/en active Pending
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
R081 | Change of applicant/patentee |
Owner name: MERCEDES-BENZ GROUP AG, DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE Owner name: DAIMLER AG, DE Free format text: FORMER OWNER: DAIMLER AG, 70327 STUTTGART, DE |
|
R081 | Change of applicant/patentee |
Owner name: MERCEDES-BENZ GROUP AG, DE Free format text: FORMER OWNER: DAIMLER AG, STUTTGART, DE |