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1. WO2020109547 - ADVANCED HIGHWAY ASSIST SCENARIO

Publication Number WO/2020/109547
Publication Date 04.06.2020
International Application No. PCT/EP2019/083078
International Filing Date 29.11.2019
IPC
B60W 30/08 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
08Predicting or avoiding probable or impending collision
B60W 30/09 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
08Predicting or avoiding probable or impending collision
09Taking automatic action to avoid collision, e.g. braking and steering
B60W 30/12 2020.01
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
12Lane keeping
B60W 30/095 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
08Predicting or avoiding probable or impending collision
095Predicting travel path or likelihood of collision
B60W 40/04 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
40Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit
02related to ambient conditions
04Traffic conditions
B60W 60/00 2020.01
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
60Drive control systems specially adapted for autonomous road vehicles
CPC
B60W 2420/42
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
2420Indexing codes relating to the type of sensors based on the principle of their operation
42Image sensing, e.g. optical camera
B60W 2420/52
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
2420Indexing codes relating to the type of sensors based on the principle of their operation
52Radar, Lidar
B60W 2420/62
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
2420Indexing codes relating to the type of sensors based on the principle of their operation
62Laser
B60W 2554/00
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
B60W 2554/20
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
20Static objects
B60W 2710/18
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
2710Output or target parameters relating to a particular sub-units
18Braking system
Applicants
  • VALEO SCHALTER UND SENSOREN GMBH [DE]/[DE]
Inventors
  • TZEMPETZIS, Dimitrios
  • RUPP, Ornella
  • SUROVTCEV, Ivan
Agents
  • WITHOPF, Kristina
Priority Data
10 2018 130 243.629.11.2018DE
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) ADVANCED HIGHWAY ASSIST SCENARIO
(FR) SCÉNARIO AVANCÉ D'ASSISTANCE ROUTIÈRE
Abstract
(EN)
The present invention refers to a method for providing a multi-lane scenario driving support for an ego vehicle (10) in a traffic situation. Traffic surroundings are measured by an environment sensor system (14), whereby the traffic surroundings include data about traffic and free space within an ego lane (16) of the ego vehicle (10) and at least an adjacent lane (12a, 12b), and data about front proximity area (18) and rear proximity area (20) of the ego vehicle (10). A decision device (22) evaluates the measured traffic surroundings and decides a driving operation to be executed by the ego vehicle (10) based on at least one strategy. In the decision device (22) a cost function is used for choosing one of at least six strategies, the cost function being based on at least a core priority, whereby the core priority is to avoid collision of the ego vehicle (10) and not cause collision of the ego vehicle (10) with a third party vehicle (24). The decision device (22) by means of the cost function chooses one of at least the following six strategies: braking in the ego lane (16), to combine braking and steering within the ego lane (16) of the ego vehicle (10), steering within the ego lane (16) of the ego vehicle (10) to avoid an obstacle, to full-brake in the ego lane (16) of the ego vehicle (10), to combine braking and steering towards or when entering temporarily an adjacent lane (12a, 12b) and steering towards or when entering temporarily an adjacent lane (12a, 12b).
(FR)
La présente invention concerne un procédé pour fournir une assistance de conduite à scénario à voies multiples pour un véhicule autonome (10) dans une situation de circulation. L'environnement de circulation est mesuré par un système de capteur d'environnement (14), l'environnement de circulation comprenant des données concernant la circulation et l'espace libre à l'intérieur d'une voie pour véhicules autonomes (16) du véhicule autonome (10) et au moins une voie adjacente (12a, 12b), et des données concernant la zone de proximité avant (18) et la zone de proximité arrière (20) du véhicule autonome (10). Un dispositif de décision (22) évalue l'environnement de circulation mesuré et décide une opération de conduite à exécuter par le véhicule autonome (10) sur la base d'au moins une stratégie. Dans le dispositif de décision (22), une fonction de coût est utilisée pour choisir une stratégie parmi au moins six stratégies, la fonction de coût étant basée sur au moins une priorité majeure, la priorité majeure étant d'éviter une collision du véhicule autonome (10) et de ne pas provoquer de collision du véhicule autonome (10) avec un véhicule tiers (24). Le dispositif de décision (22), au moyen de la fonction de coût, choisit une stratégie parmi au moins les six stratégies suivantes : le freinage dans la voie pour véhicules autonomes (16), pour combiner le freinage et la direction à l'intérieur de la voie pour véhicules autonomes (16) du véhicule autonome (10), la direction à l'intérieur de la voie pour véhicules autonomes (16) du véhicule autonome (10) pour éviter un obstacle, pour freiner à fond dans la voie pour véhicules autonomes (16) du véhicule autonome (10), pour combiner le freinage et la direction vers ou lors de l'entrée temporaire dans une voie adjacente (12a, 12b) et la direction vers ou lors de l'entrée temporaire dans une voie adjacente (12a, 12b).
Also published as
Latest bibliographic data on file with the International Bureau