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WO2011098107A1 - Procédé de détermination d'un tracé de voie d'un trajet - Google Patents

Procédé de détermination d'un tracé de voie d'un trajet Download PDF

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Publication number
WO2011098107A1
WO2011098107A1 PCT/EP2010/007591 EP2010007591W WO2011098107A1 WO 2011098107 A1 WO2011098107 A1 WO 2011098107A1 EP 2010007591 W EP2010007591 W EP 2010007591W WO 2011098107 A1 WO2011098107 A1 WO 2011098107A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
route
determined
course
vehicles
Prior art date
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.)
Ceased
Application number
PCT/EP2010/007591
Other languages
German (de)
English (en)
Inventor
Mirko Mählisch
Werner Ritter
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mercedes Benz Group AG
Original Assignee
Daimler AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Publication of WO2011098107A1 publication Critical patent/WO2011098107A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on 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
    • 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
    • B60W40/072—Curvature of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
    • B62D12/02—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames for vehicles operating in tandem
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • 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
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"

Definitions

  • the invention relates to a method for determining a track course of a route according to the preamble of claim 1.
  • Modern vehicles are often equipped with assistance functions that use and require predictions of lanes of the vehicle's preceding lanes. Such predictions are often determined by a position determination of the vehicle by means of digital road maps. In this case, the lane course of a route lying ahead of the vehicle is taken from a digital road map, after the position of the vehicle has been determined.
  • a vehicle control apparatus which comprises a vehicle control means for controlling the vehicle on the basis of road data of a road ahead and a detected vehicle speed and a receiving means for receiving information about the road shape, the information about the road shape is provided from outside the vehicle.
  • the vehicle control device further includes map information output means for outputting map information containing road data
  • Vehicle position detecting means for detecting a vehicle position on a map
  • vehicle speed detecting means for detecting vehicle speed
  • setting means for setting a control amount and / or a control time of the vehicle
  • Vehicle control means based on the received information about the road shape.
  • the invention has for its object to provide an improved method for predicting a lane course of a route.
  • the object is achieved by a method having the features specified in claim 1.
  • Track course detection means for determining the track course of a covered by him first route.
  • the lane course of a first travel distance covered by it is determined for the first vehicle and transmitted to the second vehicle.
  • the lane course of the connection route between the two vehicles is determined by means of an evaluation unit of the second vehicle by the position of the second vehicle on the transmitted lane course of the first
  • the lane course of a connection route lying ahead of it is determined by the second vehicle, which lies between it and the first vehicle driving ahead of it.
  • the tracking of a distance traveled by him is determined by the first vehicle.
  • the first vehicle transmits the lane course determined by it to the second vehicle.
  • the second vehicle determines its position on the transmitted lane course and determines therefrom the lane course of the connection route between the two vehicles lying ahead of it.
  • Spurverlaufser Rectivereau and spursffenn are equipped, which is a very accurate determination of the lane and road course traveled by a vehicle routes
  • Such lane tracking detection means are, for example, sensors of known systems for vehicle dynamics control such as ESP (electronic ESP).
  • Stability program z. Steering angle, yaw rate and velocity sensors, and / or environmental sensors of radar, lidar or camera systems.
  • the second vehicle can thus be given a very accurate lane course of the route traveled by the first vehicle, from which it already has the lane course preceding it from that of the first vehicle traversed link determined by determining its position on the transmitted from the first vehicle lane course.
  • the method allows a much more accurate prediction than prior art methods using digital road maps for prediction, since digital maps available today are relatively inaccurate and therefore allow only a comparatively inaccurate prediction or a digital map used is already obsolete and a provides incorrect prediction.
  • the method according to the invention does not depend on the availability of such digital cards.
  • a direct prediction of a lane course by means of environmental sensors arranged on the vehicle, such as radar, laser scanners or cameras, permits a precise prediction of the lane course only in a near zone of the vehicle, which, however, becomes increasingly inaccurate at greater distances from the vehicle and is therefore inferior to the prediction according to the invention.
  • driver assistance systems that require the most accurate prediction of lanes of a preceding vehicle routes.
  • driver assistance systems are, for example, night vision assistance systems or
  • Fig. 1 shows schematically a plan view of a lane course of a traveled by two vehicles route.
  • Figure 1 shows schematically two vehicles 1, 2, which drive a common route 3, 4.
  • a first vehicle 1 precedes the second vehicle 2.
  • the first Vehicle 1 has covered a first route 3, which consists of a second
  • each of the vehicles 1, 2 is a first embodiment, each of the vehicles 1, 2
  • the first vehicle 1 has a
  • Transmitting unit for transmitting track history data, which determined a
  • the second vehicle 2 has a receiving unit for receiving such track profile data and an evaluation unit for evaluating the track profile data.
  • the transmitting and receiving units are preferably transmitting and receiving units of electromagnetic waves, such as radio waves.
  • lane course detection means of the first vehicle By means of the lane course detection means of the first vehicle 1, a lane course of the first lane 3 traveled by the first vehicle 1 is determined.
  • the lane course data describing this determined lane course are determined by means of the
  • Transmission unit of the first vehicle 1 transmitted to the second vehicle 2 and received by the receiving unit.
  • a lane course of the second vehicle 2 is obtained
  • Route 4 determined. From the knowledge of the lanes of the first route 3 and the second route 4, the position of the second vehicle 2 on the lane course of the first route 3 and from the lane course of the connecting route 5 is determined by means of the evaluation unit.
  • the described method is also applicable when the second vehicle 2 travels only a part of the distance traveled by the first vehicle 1, for example because it turns from another distance to the distance traveled by the first vehicle 1 first distance 3.
  • the comparison of the tracks provides the covered by the vehicles 1, 2 routes 3, 4 only one covered by both vehicles route section to connect to both ends only covered by the first vehicle 1 route sections.
  • the second vehicle 2 determines a lane course of a driving route ahead of it, if it is preceded by a plurality of first vehicles 1, which each determine first travel distances 3 covered by them and transmit them to the second vehicle 2.
  • An evaluation of the lane course data transmitted by a plurality of first vehicles 1 has, in particular, the advantage that transmission errors and failures in the data transmission and errors in the lane course determination of a preceding vehicle 1 can be detected and corrected by comparing these lane course data.
  • the second vehicle 2 preferably also transmits lane course data of lane courses of routes covered by it to other vehicles, in order to enable them to correspondingly predict lane courses of routes ahead of them.
  • the method according to the invention can be used to set up a road map-independent
  • Track course detection means for determining a track course of the traveled by the first vehicle 1 route 3, 4 have.
  • the first vehicle 1 has a transmission unit for transmission of lane course data, which describe a determined lane course
  • the second vehicle 2 has a
  • Receiving unit for receiving such track profile data and a
  • Evaluation unit for evaluating the track history data on.
  • a distance between the two vehicles 1, 2 and an angle between a longitudinal axis of the second vehicle 2 and a connection connecting the two vehicles are determined. Based on the determined
  • Distance and the determined angle are from the evaluation unit of the second Vehicle 2 whose position on the transmitted lane course of the first route 3 and from the track course of the connecting route 5 is determined.
  • Positioning system such as a satellite-based
  • Positioning system such as GPS or Galileo, from each of the two vehicles 1, 2 determines its position.
  • the first vehicle 1 transmits its position data to the second vehicle 2.
  • the evaluation unit of the second vehicle 2 determines from the positions of the vehicles 1, 2 the position of the second vehicle 2 on the transmitted lane course of the first route 3 and determines therefrom the lane course of the connecting route 5 ,

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de détermination d'un tracé de voie d'un trajet de liaison (5) entre un premier véhicule (1) et un second véhicule (2), le premier véhicule (1) circulant devant le second véhicule (2) et comprenant des moyens de détection du tracé de voie destinés à déterminer le tracé de voie d'un trajet parcouru par ledit véhicule. Le tracé de voie d'un trajet (3) parcouru par le premier véhicule (1) est déterminé et transmis au second véhicule (2). Le tracé de voie du trajet de liaison (5) entre les deux véhicules (1, 2) est déterminé par la détermination d'une position du second véhicule (2) sur le tracé de voie transmis.
PCT/EP2010/007591 2010-02-09 2010-12-14 Procédé de détermination d'un tracé de voie d'un trajet Ceased WO2011098107A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010007240A DE102010007240A1 (de) 2010-02-09 2010-02-09 Verfahren zur Ermittlung eines Spurverlaufes einer Fahrstrecke
DE102010007240.0 2010-02-09

Publications (1)

Publication Number Publication Date
WO2011098107A1 true WO2011098107A1 (fr) 2011-08-18

Family

ID=43798549

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2010/007591 Ceased WO2011098107A1 (fr) 2010-02-09 2010-12-14 Procédé de détermination d'un tracé de voie d'un trajet

Country Status (2)

Country Link
DE (1) DE102010007240A1 (fr)
WO (1) WO2011098107A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2511750A (en) * 2013-03-11 2014-09-17 Jaguar Land Rover Ltd A driving assistance system, vehicle and method
CN104228827A (zh) * 2014-09-16 2014-12-24 成都衔石科技有限公司 一种基于车道线检测以实现换道跟驰的跟驰汽车
CN106354135A (zh) * 2016-09-19 2017-01-25 武汉依迅电子信息技术有限公司 基于北斗高精度定位的车道保持系统及方法

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012009238A1 (de) 2012-05-09 2012-11-29 Daimler Ag Verfahren zur Längsführung von Fahrzeugen unter Berücksichtigung von Kommunikation
US9026300B2 (en) * 2012-11-06 2015-05-05 Google Inc. Methods and systems to aid autonomous vehicles driving through a lane merge
DE102013012324A1 (de) * 2013-07-25 2015-01-29 GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) Verfahren und Vorrichtung zur Fahrwegfindung
US9079587B1 (en) * 2014-02-14 2015-07-14 Ford Global Technologies, Llc Autonomous control in a dense vehicle environment
DE102015213743B4 (de) * 2015-07-21 2021-10-28 Volkswagen Aktiengesellschaft Verfahren und System zur automatischen Steuerung zumindest eines Folgefahrzeugs mit einem Scout-Fahrzeug
CN110803163B (zh) * 2018-07-19 2021-04-13 广州小鹏汽车科技有限公司 车辆行驶轨迹的预测、车辆跟随目标的选择方法及设备
DE102019008368A1 (de) * 2019-12-02 2021-06-02 Daimler Ag Verfahren zum Betrieb eines Fahrzeugs und Vorrichtung zur Durchführung des Verfahrens

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DE19816133A1 (de) 1997-04-09 1998-10-22 Honda Motor Co Ltd Fahrzeugsteuervorrichtung
DE19949448A1 (de) * 1999-10-14 2001-05-03 Daimler Chrysler Ag Regel- und Steuersystem zur Beeinflussung des Fahrzustands eines Fahrzeugs
FR2844088A1 (fr) * 2002-09-03 2004-03-05 Daimler Chrysler Ag Dispositif d'avertissement de danger par radio
EP1669722A1 (fr) * 2003-09-25 2006-06-14 Matsushita Electric Industrial Co., Ltd. Dispositif de communication installe sur un vehicule
EP1933291A1 (fr) * 2006-12-14 2008-06-18 Robert Bosch Gmbh Dispositif d'assistance d'un conducteur et procédé pour guider le trafic
EP1953502A2 (fr) * 2007-01-30 2008-08-06 Xanavi Informatics Corporation Appareil d'affichage de carte à bord d'un véhicule et système d'affichage de carte dans un automobile
WO2009015943A1 (fr) * 2007-08-02 2009-02-05 Robert Bosch Gmbh Dispositif de signalisation

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19816133A1 (de) 1997-04-09 1998-10-22 Honda Motor Co Ltd Fahrzeugsteuervorrichtung
DE19949448A1 (de) * 1999-10-14 2001-05-03 Daimler Chrysler Ag Regel- und Steuersystem zur Beeinflussung des Fahrzustands eines Fahrzeugs
FR2844088A1 (fr) * 2002-09-03 2004-03-05 Daimler Chrysler Ag Dispositif d'avertissement de danger par radio
EP1669722A1 (fr) * 2003-09-25 2006-06-14 Matsushita Electric Industrial Co., Ltd. Dispositif de communication installe sur un vehicule
EP1933291A1 (fr) * 2006-12-14 2008-06-18 Robert Bosch Gmbh Dispositif d'assistance d'un conducteur et procédé pour guider le trafic
EP1953502A2 (fr) * 2007-01-30 2008-08-06 Xanavi Informatics Corporation Appareil d'affichage de carte à bord d'un véhicule et système d'affichage de carte dans un automobile
WO2009015943A1 (fr) * 2007-08-02 2009-02-05 Robert Bosch Gmbh Dispositif de signalisation

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2511750A (en) * 2013-03-11 2014-09-17 Jaguar Land Rover Ltd A driving assistance system, vehicle and method
GB2511750B (en) * 2013-03-11 2015-07-29 Jaguar Land Rover Ltd A driving assistance system, vehicle and method
US9518829B2 (en) 2013-03-11 2016-12-13 Jaguar Land Rover Limited Driving assistance system, vehicle and method
CN104228827A (zh) * 2014-09-16 2014-12-24 成都衔石科技有限公司 一种基于车道线检测以实现换道跟驰的跟驰汽车
CN106354135A (zh) * 2016-09-19 2017-01-25 武汉依迅电子信息技术有限公司 基于北斗高精度定位的车道保持系统及方法

Also Published As

Publication number Publication date
DE102010007240A1 (de) 2011-08-11

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