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1. WO2020089311 - CONTROL SYSTEM AND CONTROL METHOD FOR SAMPLING-BASED PLANNING OF POSSIBLE TRAJECTORIES FOR MOTOR VEHICLES

Publication Number WO/2020/089311
Publication Date 07.05.2020
International Application No. PCT/EP2019/079696
International Filing Date 30.10.2019
IPC
B60W 30/10 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
10Path keeping
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
B60W 30/18 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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
18Propelling the vehicle
B60W 50/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
CPC
B60W 2554/80
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
2554Input parameters relating to objects
80Spatial relation or speed relative to objects
B60W 30/10
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
10Path keeping
B60W 30/18163
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
30Purposes 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 ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
18Propelling the vehicle
18009related to particular drive situations
18163Lane change; Overtaking manoeuvres
B60W 50/0097
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit ; , e.g. process diagnostic or vehicle driver interfaces
0097Predicting future conditions
B60W 60/001
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
60Drive control systems specially adapted for autonomous road vehicles
001Planning or execution of driving tasks
G05D 1/0212
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
Applicants
  • TRW AUTOMOTIVE GMBH [DE]/[DE]
Inventors
  • LIENKE, Christian
  • WISSING, Christian
  • SCHMIDT, Manuel
  • HOMANN, Andreas
  • BERTRAM, Torsten
  • BUSS, Markus
  • KELLER, Martin
  • GLANDER, Karl-Heinz
Agents
  • OESTREICHER, Lucas
Priority Data
10 2018 008 624.131.10.2018DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) STEUERUNGSSYSTEM UND STEUERUNGSVERFAHREN ZUM SAMPLINGBASIERTEN PLANEN MÖGLICHER TRAJEKTORIEN FÜR KRAFTFAHRZEUGE
(EN) CONTROL SYSTEM AND CONTROL METHOD FOR SAMPLING-BASED PLANNING OF POSSIBLE TRAJECTORIES FOR MOTOR VEHICLES
(FR) SYSTÈME DE COMMANDE ET PROCÉDÉ DE COMMANDE DE PLANIFICATION, SUR LA BASE D'ÉCHANTILLONNAGES, DE TRAJECTOIRES POSSIBLE POUR DES VÉHICULES AUTOMOBILES
Abstract
(DE)
Ein Steuerungssystem (10) ist zum Einsatz in einem eigenen Kraftfahrzeug (12) geeignet und dazu eingerichtet und bestimmt, eine aktuelle Fahrsituation des eigenen Kraftfahrzeugs und weiterer Kraftfahrzeugs zu überwachen und eine optimale Trajektorie für ein folgendes Fahrmanöver des eigenen Kraftfahrzeugs (12) zu bestimmen, der das eigene Kraftfahrzeug (12) folgen soll, basierend auf der Steuerung bereitgestellten Umfelddaten des eigenen Kraftfahrzeugs (12). Das Steuerungssystem ist dazu eingerichtet und bestimmt, Information bezüglich einer aktuellen Fahrsituation des eigenen Kraftfahrzeugs (12) und/oder mindestens eines anderen Kraftfahrzeugs basierend auf den bereitgestellten Umfelddaten zu ermitteln. Weiter ist das Steuerungssystem (10) dazu eingerichtet und bestimmt, basierend auf der Information bezüglich der aktuellen Fahrsituation des eigenen Kraftfahrzeugs und/oder des anderen Kraftfahrzeugs eine Mehrzahl lateraler Positionen und eine Mehrzahl longitudinaler Positionen und/oder Geschwindigkeiten zu ermitteln. Das Steuerungssystem (10) ist schließlich dazu eingerichtet und bestimmt, aus der Mehrzahl lateraler Positionen und der Mehrzahl longitudinaler Positionen und/oder Geschwindigkeiten Haltepunkte für eine optimale Trajektorie zu ermitteln, der das eigene Kraftfahrzeug (12) beim Ausführen eines Fahrmanövers folgen soll und die optimale Trajektorie für das eigene Kraftfahrzeug (12) mittels einer splinebasierten Interpolation zwischen den ermittelten Haltepunkten und entsprechend der lateralen Positionen an den Haltepunkten zu bestimmen.
(EN)
A control system (10) is suitable for use in an own motor vehicle (12) and is designed and intended to monitor a current driving system of the own motor vehicle and of a further motor vehicle and to determine an optimum trajectory, to be followed by the own motor vehicle (12), for a subsequent driving manoeuvre of the own motor vehicle (12), on the basis of environmental data of the own motor vehicle (12) provided to the controller. The control system is designed and intended to determine information relating to a current driving situation of the own motor vehicle (12) and/or of at least one other motor vehicle on the basis of the provided environmental data. The control system (10) is further designed and intended to determine a plurality of lateral positions and a plurality of longitudinal positions and/or speeds on the basis of the information relating to the current driving system of the own motor vehicle and/or of the other motor vehicle. Finally, the control system (10) is designed and intended to determine, from the plurality of lateral positions and the plurality of longitudinal positions and/or speeds, stop points for an optimum trajectory to be followed by the own motor vehicle (12) when executing a driving manoeuvre and to define the optimum trajectory for the own motor vehicle (12) by means of a spline-based interpolation between the determined stop points and in accordance with the lateral positions at the stop points.
(FR)
L'invention concerne un système de commande (10) adapté pour être utilisé dans un véhicule automobile (12) propre et mis au point pour et se destinant à surveiller une situation de conduite instantanée du véhicule automobile propre et d'autres véhicule automobile et définir une trajectoire optimale pour une manœuvre de conduite qui suit du véhicule automobile (12) propre que le véhicule automobile (12) propre doit suivre, sur la base de la commande de données d'environnement, fournies par la commande, du véhicule automobile (12) propre. Le système de commande est mis au point et se destine à déterminer une information concernant une situation de conduite instantanée du véhicule automobile (12) propre et/ou d'au moins un autre véhicule automobile sur la base des données d'environnement fournies. Le système de commande (10) est mis au point pour et se destine par ailleurs à déterminer, sur la base de l'information concernant la situation de conduite instantanée du véhicule automobile propre et/ou de l'autre véhicule automobile, une multitude de positions latérales et une multitude de positions longitudinales et/ou de vitesses. Pour finir, le système de commande (10) est mis au point pour et se destine à déterminer à partir de la multitude de positions latérales et de la multitude de positions longitudinales et/ou de vitesses, des points d'arrêt pour une trajectoire optimale que le véhicule automobile (12) propre doit suivre lors de l'exécution d'une manœuvre de conduite et définir la trajectoire optimale pour le véhicule automobile (12) propre au moyen d'une interpolation par spline entre les points d'arrêt déterminés et conformément aux positions latérales sur les points d'arrêt.
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