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EP-4739553-A1 - VALIDATION OF A PREDICTED TRAJECTORY OF A MOTOR VEHICLE

EP4739553A1EP 4739553 A1EP4739553 A1EP 4739553A1EP-4739553-A1

Abstract

Automotive control software storable in, and executable by, electronic automotive processing resources (1) of an electronic automotive system for controlling the dynamics of a motor vehicle (10) and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to receive automotive quantities provided by an automotive sensory platform (2) and comprising the position and driving speed of the motor vehicle (10) and determine lane boundaries (8) of a driving corridor (11) of the motor vehicle (10) and at least one predicted trajectory (14) of the motor vehicle (10) based on the automotive quantities received. The automotive control software is also designed to cause, when executed, the electronic automotive processing resources (1) to become configured to compute at least one comparison distance (( x safe ) and validate the predicted trajectory based on the comparison distance (( x safe ). In addition, the automotive control software is designed to cause, when executed, the electronic automotive processing resources (1) to also become configured to increase the comparison distance ( x safe ) as l°ng as one pre-established validation condition is satisfied.

Inventors

  • GIRARDI, Delia
  • CARDO, Silvio
  • REI, Claudio
  • RAFFONE, Enrico

Assignees

  • C.R.F. Società Consortile per Azioni

Dates

Publication Date
20260513
Application Date
20240703

Claims (10)

  1. 1. An automotive control software storable in, and executable by, electronic automotive processing resources (1) of an electronic automotive system for controlling the dynamics of a motor vehicle (10) and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: receive automotive quantities provided by an automotive sensory platform (2) and comprising the position and driving speed of the motor vehicle (10); determine lane boundaries (8) of a driving corridor (11) of the motor vehicle (10) and at least one predicted traj ectory (14) of the motor vehicle (10) based on the automotive quantities received; compute at least one comparison distance and validate the predicted trajectory based on the comparison distance the automotive control software is also designed to cause, when executed, the electronic automotive processing resources (1) to also become configured to: increase the comparison distance as long as one pre-established validation condition is satisfied.
  2. 2. The automotive control software according to claim 1 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: determine whether the predicted trajectory (14) intersects at least one of the lane boundaries (8) of the driving corridor (11) and, if at least one intersection is determined, compute the position of one intersection point (13) of the predicted trajectory (14); and validate the predicted trajectory (14) based on the intersection point (13) and the comparison distance
  3. 3. The automotive control software according to claim 2 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: compute an intersection distance (x e ) between the position of the motor vehicle (10) and the position of the intersection point (13) of the predicted trajectory (14); and validate the predicted trajectory (14) based on the comparison distance and the intersection distance (x e ).
  4. 4. The automotive control software according to claim 3 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to validate the predicted trajectory (14) as long as the intersection distance (x e ) is equal to or greater than the at least one computed comparison distance
  5. 5. The automotive control software according to claim 3 or 4 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: compute a further predicted traj ectory (15) and determine whether the further predicted trajectory (15) intersects one of the lane boundaries (8) of the driving corridor (11) and, if at least one intersection is determined, compute the position of a further intersection point (12); compute a further intersection distance (x eStatic ) between the position of the motor vehicle (10) and the position of the further intersection point (12); and increase the comparison distance based on at least one of the computed intersection distances (x e , x eStatic ).
  6. 6. The automotive control software according to claim 5 and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to increase the comparison distance as long as the comparison distance is smaller than the intersection distance (x e ) and is greater than the further intersection distance ( e static)-
  7. 7. The automotive control software according to any one of the previous claims and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to compute the at least one comparison distance based on the driving speed of the motor vehicle (10).
  8. 8. The automotive control software according to any one of the previous claims and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to: determine the predicted trajectory (14) based on the driving speed of the motor vehicle (10); and determine the further predicted traj ectory (15) without considering the driving speed of the motor vehicle (10).
  9. 9. The automotive control software according to any one of the previous claims and designed to cause, when executed, the electronic automotive processing resources (1) to become configured to compute both the predicted trajectories (14, 15) based on a pre-determined reference curvature (k des ) and the position of the motor vehicle (10).
  10. 10. A control system for controlling the dynamics of a motor vehicle (10) and comprising electronic automotive processing resources (1) having stored and configured to execute the automotive control software of any one of the previous claims.

Description

VALIDATION OF A PREDICTED TRAJECTORY OF A MOTOR VEHICLE CROSS-REFERENCE TO RELATED APPLICATIONS This Patent Application claims priority from Italian Patent Application No. 102023000014298 filed on July 7, 2023, the entire disclosure of which is incorporated herein by reference. TECHNICAL FIELD OF THE INVENTION The present invention relates in general to the automotive sector, in particular to an electronic automotive system for controlling the dynamics of a motor vehicle, in particular an assisted or autonomous driving motor vehicle, and designed to validate predicted trajectories of the motor vehicle. STATE OF THE ART As is known, predicting motor vehicle trajectories is a complex task involving the collection and analysis of data from sensors and other automotive detection systems. In the automotive field, the use of automotive systems to validate trajectories, after predicting them, is of paramount importance to ensure the safety and efficiency of autonomous vehicles and vehicles equipped with automotive driver assistance systems. For the purpose of validating trajectories autonomously, collision detection algorithms are known to be used to identify potential collisions along the pre-determined trajectory followed by the motor vehicle. In addition, simulation tools are widely used to validate motor vehicle trajectories, allowing the creation of virtual scenarios and the testing of trajectories under realistic conditions. Simulations may include environmental factors, such as the presence of other vehicles, pedestrians or road obstacles, to assess the effectiveness and safety of the proposed trajectories. OBJECT AND SUMMARY OF THE INVENTION The Applicant noted that the solutions according to the prior art, although satisfactory in certain respects, can be improved. Therefore, the object of the present invention is to provide a solution which is effective, but above all different from the solutions of the prior art. According to the present invention, automotive control software is provided as claimed in the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a functional block diagram of the validation of automotive trajectories in an electronic automotive system for controlling the dynamics of a motor vehicle according to the present invention. Figure 2 schematically shows a road driving corridor of a motor vehicle and a functional block diagram of the planning of automotive trajectories in the electronic automotive system for controlling the dynamics of a motor vehicle according to the present invention. Figure 3 schematically shows different road scenarios related to the validation of automotive trajectories. Figures 4 and 5 show time courses of automotive quantities involved in the validation of automotive trajectories. DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION The present invention will now be described in detail with reference to the attached figures in order to allow a skilled person to implement it and use it. Various modifications to the described embodiments will be readily apparent to those skilled in the art and the general principles described may be applied to other embodiments and applications without however departing from the protective scope of the present invention as defined in the attached claims. Therefore, the present invention should not be regarded as limited to the embodiments described and illustrated herein but should be allowed the broadest protection scope consistent with the features described and claimed herein. Unless otherwise defined, all technical and scientific terms used herein have the same meaning commonly understood by one of ordinary skill in the art to which the invention belongs. In case of conflict, the present specification, including the definitions provided, will control. Furthermore, the examples are provided for illustrative purposes only and as such should not be construed as limiting. In particular, the block diagrams included in the attached figures and described below are not to be understood as a representation of the structural features, i.e. construction restrictions, but must be understood as a representation of functional features, i.e. intrinsic properties of the devices defined by the effects obtained, that is to say functional restrictions, which can be implemented in different ways, so as to protect the functionalities thereof (operational capability). In order to facilitate the understanding of the embodiments described herein, reference will be made to some specific embodiments and a specific language will be used to describe the same. The terminology used herein is used for the purpose of describing particular embodiments only and is not intended to limit the scope of the present invention. Figure 1 shows a functional block diagram relating to the validation of automotive trajectories carried out by electronic processing resources 1 of an electronic automotive system for controlling the dynamics of a motor veh