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1. WO2020127689 - METHOD FOR THE AUTOMATED CONTROL OF A VEHICLE AT A PEDESTRIAN CROSSWALK, CONTROL UNIT

Publication Number WO/2020/127689
Publication Date 25.06.2020
International Application No. PCT/EP2019/086244
International Filing Date 19.12.2019
IPC
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 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
G06K 9/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
CPC
B60W 30/09
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
08Active safety systems; predicting or avoiding probable or impending collision ; or attempting to minimise its consequences
09Taking automatic action to avoid collision, e.g. braking and steering
B60W 30/0953
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
08Active safety systems; predicting or avoiding probable or impending collision ; or attempting to minimise its consequences
095Predicting travel path or likelihood of collision
0953the prediction being responsive to vehicle dynamic parameters
B60W 30/0956
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
08Active safety systems; predicting or avoiding probable or impending collision ; or attempting to minimise its consequences
095Predicting travel path or likelihood of collision
0956the prediction being responsive to traffic or environmental parameters
G06K 9/00342
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00335Recognising movements or behaviour, e.g. recognition of gestures, dynamic facial expressions; Lip-reading
00342Recognition of whole body movements, e.g. for sport training
G06K 9/00369
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
00362Recognising human body or animal bodies, e.g. vehicle occupant, pedestrian; Recognising body parts, e.g. hand
00369Recognition of whole body, e.g. static pedestrian or occupant recognition
Applicants
  • ROBERT BOSCH GMBH [DE]/[DE]
  • DAIMLER AG [DE]/[DE]
Inventors
  • MIELENZ, Holger
  • KELLER, Christoph Gustav
Agents
  • PATENTANWALTSKANZLEI WILHELM & BECK
Priority Data
10 2018 133 157.620.12.2018DE
10 2019 110 071.216.04.2019DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN ZUM AUTOMATISIERTEN STEUERN EINES FAHRZEUGS AN EINEM FUßGÄNGERÜBERWEG, STEUERGERÄT
(EN) METHOD FOR THE AUTOMATED CONTROL OF A VEHICLE AT A PEDESTRIAN CROSSWALK, CONTROL UNIT
(FR) PROCÉDÉ DE COMMANDE AUTOMATISÉE D'UN VÉHICULE SUR UN PASSAGE POUR PIÉTONS, BLOC DE COMMANDE
Abstract
(DE)
Die Erfindung betrifft ein Verfahren zum automatisierten Ausführen einer Fahrfunktion eines Fahrzeugsan einem Fußgängerüberweg, bei dem zunächst eine Fußgängertrajektorie eines Fußgängers vorhergesagt wird und eine Fahrzeugtrajektorie zur Überquerung des Fußgängerüberwegs ermittelt wird.Es wird ein erster Zeitpunkt, an dem der sich auf der Fußgängertrajektorie bewegende Fußgänger den Fußgängerüberweg erreichen wird und ein zweiter Zeitpunkt, an dem das sich auf der Fahrzeugtrajektorie bewegende Fahrzeug den Fußgängerüberweg verlassen wird, berechnet.Anschließend wird anhand des ersten Zeitpunkts und des zweiten Zeitpunkts eine Überquerungsentscheidung getroffen und aufgrund der Überquerungsentscheidung ein Steuersignal für eine Fahrfunktion des Fahrzeuges derart ausgegeben, dass das Fahrzeug sich entlang der Fahrzeugtrajektorie bewegt.
(EN)
The invention relates to a method for the automated performance of a driving function of a vehicle at a pedestrian crosswalk, in which method first a pedestrian trajectory of a pedestrian is predicted and a vehicle trajectory for the crossing of the pedestrian crosswalk is determined. A first time point at which the pedestrian moving on the pedestrian trajectory will reach the pedestrian crosswalk and a second time point at which the vehicle moving on the vehicle trajectory will leave the pedestrian crosswalk are calculated. Subsequently, a crossing decision is made using the first time point and the second time point, and a control signal for a driving function of the vehicle is output on the basis of the crossing decision in such a way that the vehicle moves along the vehicle trajectory.
(FR)
L'invention concerne un procédé d'exécution automatisée d'une fonction de conduite d'un véhicule sur un passage pour piétons, selon lequel une trajectoire d'un piéton est tout d'abord prédite et une trajectoire de véhicule pour la traversée du passage pour piétons est déterminée. Sont calculés un premier moment, auquel le piéton se déplaçant sur la trajectoire de piéton atteindra le passage pour piétons, et un deuxième moment, auquel le véhicule se déplaçant sur la trajectoire de véhicule quittera le passage pour piétons. Ensuite, sur la base du premier moment et du deuxième moment, une décision de traversée est prise et, sur la base de la décision de traversée, un signal de commande pour une fonction de conduite du véhicule est émis de telle sorte que le véhicule se déplace le long de la trajectoire de véhicule.
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