Method and apparatus in a motor vehicle for automated driving
A method for the automated driving of a motor vehicle which provides environment data, detects objects in the environment data, selects a current scenario by a scenario-interpretation apparatus on the basis of the detected objects, wherein a scenario has at least one elementary situation which is assigned at least one monitoring region and an enable criterion as attributes, and in addition successively for each of the elementary situations of the current scenario, estimates a destination point, plans a trajectory to the destination point by a maneuver-planning apparatus, interrogates information about a monitoring region from the environment-perception apparatus by the scenario-interpretation apparatus, checks for the presence of the at least one enable criterion by the scenario-interpretation apparatus, and if the at least one enable criterion is satisfied, automated driving along the trajectory as far as the destination point by a controller. Also disclosed is an associated device.
1. A method for the automated driving of a motor vehicle, the method comprising:
providing environment data;
detecting objects in the environment data by an environment-perception apparatus;
selecting a current scenario from a provided set of known scenarios by a scenario-interpretation apparatus based on the detected objects, wherein a scenario has at least one elementary situation assigned at least one monitoring region and an enable criterion as attributes;
estimating a destination point for a current elementary situation by the scenario-interpretation apparatus;
planning a trajectory to the destination point by a maneuver-planning apparatus;
interrogating information about a monitoring region, associated with the elementary situation, from the environment-perception apparatus by the scenario-interpretation apparatus;
checking for the presence of the at least one enable criterion, associated with the elementary situation, based on the interrogated information by the scenario-interpretation apparatus; and
in response to the at least one enable criterion being satisfied, performing automated driving along the trajectory as far as the destination point by controlling at least one actuator system of the motor vehicle by a controller.
2. The method of claim 1 , wherein the scenario-interpretation apparatus continuously checks whether the selected current scenario is still present, or there is a need for a change in the current scenario.
3. The method of claim 1 , wherein at least one elementary situation has a further attribute that is a specific object whose presence is interrogated from the environment-perception apparatus by the scenario-interpretation apparatus.
4. The method of claim 1 , wherein the estimation of the destination point is dynamically adapted by the scenario-interpretation apparatus based on the information interrogated from the environment-perception apparatus.
5. A device for the automated driving of a motor vehicle, the device comprising:
an environment-perception apparatus for detecting objects in provided environment data;
a scenario-interpretation apparatus for selecting a current scenario from a provided set of known scenarios based on the detected objects, wherein a scenario has at least one elementary situation assigned at least one monitoring region and an enable criterion as attributes;
a maneuver-planning apparatus; and
a controller,
wherein the scenario-interpretation apparatus estimates a destination point for a current elementary situation to interrogate information about the monitoring region, associated with the elementary situation, of the environment-perception apparatus, and checks for the presence of the at least one enable criterion of the current elementary situation based on the interrogated information, and
wherein the controller drives the motor vehicle, insofar as the at least one enable criterion is satisfied, along a trajectory, planned by the maneuver-planning apparatus, as far as the destination point in an automated state by controlling at least one actuator system of the motor vehicle, and the scenario-interpretation apparatus processes, after the reaching of the destination point, a subsequent elementary situation of the current scenario.
6. The device of claim 5 , further comprising at least one sensor system which detects the environment of the motor vehicle and provides the environment data.
7. The device of 5 , wherein the device has a memory, and the environment data is alternatively or additionally provided as a stored map of the environment.
8. The device of claim 5 , wherein the device has a communication interface, and the environment data is alternatively or additionally made available via the communications interface.
9. The device of claim 5 , further comprising a prediction apparatus, wherein the prediction apparatus predicts future trajectories of detected objects within the at least one monitoring region of an elementary situation.
10. The device of claim 9 , wherein an enable criterion is that a trajectory of the motor vehicle to the nearest destination point is free of collisions with trajectories of other objects.