Search

DE-102015209974-B4 - transverse-longitudinal combined trajectory planning for a vehicle

DE102015209974B4DE 102015209974 B4DE102015209974 B4DE 102015209974B4DE-102015209974-B4

Abstract

Method (400) for determining a transverse-longitudinal trajectory (112) for a driving maneuver of an ego vehicle (100), wherein the ego vehicle (100) travels on an ego driving curve, wherein the method (400) comprises, - Determine (401), at a current time, environmental data relating to an environment of the Ego vehicle (100); - Detect (402), based on the environment data, a set of relevant objects (102, 103, 104) in the environment of the ego vehicle (100); wherein the detection (402) of a relevant object (102, 103, 104) comprises: checking whether, at the current time, an object (103) is located on the ego travel path in the direction of travel in front of the ego vehicle (100); and checking whether, within a predefined time period from the current time, an object (102, 104) which is not located on the ego travel path at the current time can appear on the ego travel path; - Determine (403) a first longitudinal trajectory with respect to a first relevant object (102, 103, 104) from the set of relevant objects (102, 103, 104); and - Determine (404) a first transverse trajectory for the first longitudinal trajectory; and - Determining (405) a first transverse-longitudinal trajectory for the current time as a combination of the first transverse trajectory and the first longitudinal trajectory; where the set of relevant objects (102, 103, 104), in particular only those comprising one or more objects (102, 103, 104) in the vicinity of the Ego vehicle (100), which - are currently located on the ego driving curve in front of the ego vehicle (100) in the direction of travel; or - can appear on the ego driving curve within the predefined period from the current time; and whereby - for determining (403) the first longitudinal trajectory, one or more other relevant objects (102, 103, 104) from the set of relevant objects (102, 103, 104) are disregarded; - for determining (403) the first longitudinal trajectory, it is assumed that the first relevant object (102, 103, 104) is located on the ego lane; and - to determine (404) the first transverse trajectory, one or more other relevant objects (102, 103, 104) from the set of relevant objects (102, 103, 104) are taken into account.

Inventors

  • Benjamin Gutjahr
  • Moritz Werling

Assignees

  • BAYERISCHE MOTOREN WERKE AKTIENGESELLSCHAFT

Dates

Publication Date
20260513
Application Date
20150529

Claims (8)

  1. Method (400) for determining a transverse-longitudinal trajectory (112) for a driving maneuver of an ego vehicle (100), wherein the ego vehicle (100) travels on an ego driving curve, the method (400) comprising: - Determining (401), at a current time, environmental data relating to an environment of the ego vehicle (100); - Detecting (402), based on the environmental data, a set of relevant objects (102, 103, 104) in the environment of the ego vehicle (100); wherein the detection (402) of a relevant object (102, 103, 104) comprises: Checking whether, at the current time, there is an object on the ego driving curve in the direction of travel ahead the ego vehicle (100) is located on an object (103); and check whether, within a predefined time period from the current time, an object (102, 104) which is not on the ego's driving curve at the current time can appear on the ego's driving curve; - Determine (403) a first longitudinal trajectory with respect to a first relevant object (102, 103, 104) from the set of relevant objects (102, 103, 104); and - Determine (404) a first transverse trajectory for the first longitudinal trajectory; and - Determine (405) a first transverse-longitudinal trajectory for the current time as a combination of the first transverse trajectory and the first longitudinal trajectory; wherein the set of relevant objects (102, 103, 104) includes, in particular, only those objects (102, 103, 104) in the vicinity of the ego vehicle (100) that - are located on the ego travel path in front of the ego vehicle (100) in the direction of travel at the current time; or - may appear on the ego travel path within the predefined time period from the current time; and wherein - for determining (403) the first longitudinal trajectory, one or more other relevant objects (102, 103, 104) from the set of relevant objects (102, 103, 104) are disregarded; - for determining (403) the first longitudinal trajectory, it is assumed that the first relevant object (102, 103, 104) is located on the ego travel path; and - for determining (404) the first transverse trajectory, one or more other relevant objects (102, 103, 104) from the set of relevant objects (102, 103, 104) are taken into account.
  2. Procedure (400) according to Claim 1 , wherein - for each of the relevant objects (102, 103, 104) from the set of relevant objects (102, 103, 104) at most one longitudinal trajectory is determined; and - for each longitudinal trajectory at most one transverse trajectory is determined.
  3. A method (400) according to any one of the preceding claims, further comprising: - determining a set of longitudinal trajectories depending on the set of relevant objects (102, 103, 104); - determining a set of transverse trajectories corresponding to the set of longitudinal trajectories; - determining a set of transverse-longitudinal trajectories as respective combinations of longitudinal and transverse trajectories; and - selecting the first transverse-longitudinal trajectory from the set of transverse-longitudinal trajectories.
  4. Procedure (400) according to Claim 3 , further comprising, - determining a set of values of a longitudinal selection measure for the corresponding set of longitudinal trajectories; - determining a set of values of a transverse selection measure for the corresponding set of transverse trajectories; - determining a set of values of a combined longitudinal-transverse selection measure for the set of transverse-longitudinal trajectories based on the set of values of the longitudinal selection measure and on the basis of the set of values of the transverse selection measure; and - selecting the first transverse-longitudinal trajectory from the set of transverse-longitudinal trajectories depending on the set of values of the combined longitudinal-transverse selection measure.
  5. Procedure (400) according to one of the Claims 3 until 4 , where the set of longitudinal trajectories also includes a longitudinal trajectory for a journey of the ego vehicle (100) at constant speed.
  6. Method (400) according to one of the preceding claims, comprising determining a longitudinal trajectory and/or a transverse trajectory, - determining (201) initial values for a plurality of state variables of the ego vehicle (100); wherein the plurality of state variables is a position (x 1 (t)) of the ego vehicle (100), a velocity (ẋ 1 (t)) of the ego vehicle (100), an acceleration (ẍ 1 (t)) of the ego vehicle (100) and/or a jerk ( x 1 ( 3 ) ( t ) ) of the ego vehicle (100) includes; - Determining (202) final values at a final time for the plurality of state variables of the ego vehicle (100); and - Determining (203) a longitudinal trajectory and/or a transverse trajectory based on the initial values, the final values, the final time and based on a model of the dynamics of the ego vehicle (100).
  7. Method (400) according to one of the preceding claims, further comprising determining a steering input for an auxiliary steering system of the Ego vehicle (100) and/or a deceleration input for a braking system of the Ego vehicle (100) and/or an acceleration input for a drive system of the Ego vehicle (100) depending on the first transverse-longitudinal trajectory.
  8. Device for determining a transverse-longitudinal trajectory (112) for a driving maneuver of an ego-vehicle (100), wherein the ego-vehicle (100) travels along an ego-trajectory path, the device being configured: - to determine environmental data relating to the environment of the ego-vehicle (100) at a given time; - to detect, based on the environmental data, a set of relevant objects (102, 103, 104) in the environment of the ego-vehicle (100) by checking whether an object (103) is located on the ego-trajectory path in front of the ego-vehicle (100) in the direction of travel at the given time; and by checking whether an object (102, 104) can appear on the ego-trajectory path within a predefined time period from the given time; - to determine a first longitudinal trajectory with respect to a first relevant object (102, 103, 104) from the set of relevant objects (102, 103, 104); to determine a first transverse trajectory for the first longitudinal trajectory; and to determine a first transverse-longitudinal trajectory for the current time as a combination of the first transverse trajectory and the first longitudinal trajectory; where the set of relevant objects (102, 103, 104) includes, in particular, only those objects (102, 103, 104) in the vicinity of the ego vehicle (100) that - are located on the ego trajectory in the direction of travel in front of the ego vehicle (100) at the current time; or - can appear on the ego trajectory within the predefined time period from the current time; and wherein - for determining (403) the first longitudinal trajectory, one or more other relevant objects (102, 103, 104) from the set of relevant objects (102, 103, 104) are disregarded; - for determining (403) the first longitudinal trajectory, it is assumed that the first relevant object (102, 103, 104) is located on the ego lane; and - for determining (404) the first transverse trajectory, the one or more other relevant objects (102, 103, 104) from the set of relevant objects (102, 103, 104) are taken into account.

Description

The invention relates to a method and a corresponding device for determining a trajectory for controlling and/or regulating the lateral/longitudinal guidance of a vehicle during a driving maneuver. The realization of partially or highly automated driving operation for vehicles (especially road vehicles) is being pursued both in research and increasingly in the automotive industry. A key aspect of partially or highly automated driving operation is planning the most optimal vehicle trajectory possible to avoid collisions with other road users. Determining such a trajectory (e.g., an evasive maneuver, a following trajectory, and/or a lane-change trajectory) involves a high level of computational effort that is typically not possible, or only possible to a limited extent, from the control units in a vehicle. One in the DE 100 36 276 A1 The described automatic braking and steering system for a vehicle includes a sensor unit for recording vehicle status parameters, vehicle characteristics, and environmental conditions. Furthermore, a control unit and actuators for adjusting the vehicle's brakes and/or steering are provided. To enable automatic evasive maneuvers with the greatest possible safety, an alternative route is determined in the event of an obstacle in the vehicle's path. If another obstacle lies along the alternative route, the strategy for determining the alternative route is applied again. If a collision-free alternative route cannot be found, the route with the smallest difference between the remaining braking distance and the remaining distance to the obstacle is selected. The DE 10 2013 214 225 A1 This describes a method for determining a vehicle's evasive trajectory. The evasive trajectory is determined with respect to an obstacle that interferes with a predicted vehicle trajectory. The method includes determining the vehicle's motion. It further includes determining the obstacle's position. In addition, the method includes transforming the vehicle's motion and the obstacle's position into state data relative to a reference trajectory. The reference trajectory is a straightened version of the predicted vehicle trajectory. Finally, the method includes determining a control variable to influence the vehicle's motion based on the state data, where the control variable causes the vehicle to move along an evasive trajectory. The DE 102 31 556 A1 Proposes a method and a device for predicting the motion trajectories of a vehicle to prevent or mitigate the consequences of an impending collision. Only those trajectories are considered for predicting motion trajectories where, as a result of a combination of steering and braking interventions, the forces acting on the vehicle's wheels fall within the range corresponding to the maximum force that can be transmitted from the wheel to the road. In particular, in systems that provide automatic braking and/or steering intervention to avoid a collision or reduce the severity of an accident with another object, automatic braking and/or steering intervention occurs depending on the predicted motion trajectories. This document addresses the technical challenge of determining the most optimal transverse-longitudinal trajectory for a vehicle with reduced computational effort. A transverse-longitudinal trajectory typically comprises a longitudinal component and a transverse component. Specifically, the computational effort required to determine a transverse-longitudinal trajectory should be reduced to such an extent that trajectory planning can be implemented on the vehicle's control unit. The problem is solved by the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. According to one aspect, a method for determining a transverse-longitudinal trajectory for a driving maneuver of an ego vehicle (in particular, a road vehicle) is described. The ego vehicle travels along an ego driving curve (e.g., in an ego lane of a roadway, where the roadway may have multiple lanes). The ego driving curve can generally be a reference curve along which the ego vehicle is to be guided. The driving maneuver typically involves the longitudinal and/or lateral guidance of the ego vehicle. The method can, for example, be executed on a control unit of the ego vehicle. The determined transverse-longitudinal trajectory can be used for this purpose. The system will provide automatic support to the driver of the ego vehicle with regard to the longitudinal and/or lateral guidance of the ego vehicle. Furthermore, the determined longitudinal and transverse trajectory can be used to automatically guide the ego vehicle longitudinally and/or laterally. In particular, depending on the determined longitudinal and transverse trajectory, a steering input for an electronic power steering system and/or for the steering of the ego vehicle and/or a deceleration input for the braking system of the ego vehicle and/or a input for the propulsion of the ego vehicl