Granted Patent B2

US 10,739,778 · App. 15/974,234 · Granted Aug 11, 2020

Inventors: Franz Winkler (Munich, DE); Christoph Hellfritsch (Unterschleissheim, DE); Christian Rathgeber (Munich, DE); Cristina Menendez (Munich, DE)

Assignee: Bayerische Motoren Werke Aktiengesellschaft

G05D1/0223B60W30/16B60W50/0097G05D1/0088B60W2050/065B60W2520/10B60W2520/105B60W2554/4041B60W2554/801B60W2554/804B60W2720/10

Abstract

Claims (65)

1. A method for controlling a trajectory planning process of an ego-vehicle, the method comprising the steps of:

determining a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle;

determining a longitudinal movement of an object, the longitudinal movement comprising a speed of the object;

calculating a target trajectory of the object on the basis of a predicted trajectory of the object;

calculating an end time of a maneuver of the ego-vehicle, wherein the end time of the maneuver is a time at which a differential speed between the ego-vehicle and the object has decreased;

calculating a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego-vehicle; and

when the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value, then:

(a) setting the determined speed of the object as the target speed of the ego-vehicle; and

(b) transmitting the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle.

2. The method as claimed in claim 1 , wherein

the predicted trajectory is determined on the basis of a predefined movement model of the object on the basis of the determined longitudinal movement of the object;

the target trajectory takes into account a safety distance to the object; and/or

the predefined threshold value corresponds to the safety distance.

3. The method as claimed in claim 1 , wherein

the end time of the maneuver is calculated on the basis of a movement model of the object and a movement model for the ego-vehicle.

4. The method as claimed in claim 3 , wherein

the movement model of the object maintains an acceleration of the object constant until a predefined time and sets the acceleration to zero after the predefined time; and

the movement model of the ego-vehicle maintains a predefined average acceleration of the ego-vehicle until the end time of the maneuver.

5. The method as claimed in claim 1 , wherein

the position of the ego-vehicle is calculated by the movement model of the ego-vehicle on the basis of the determined longitudinal movement of the ego-vehicle at the end time of the maneuver; and

the position of the object is calculated by the movement model of the object on the basis of the determined longitudinal movement of the object at the end time of the maneuver.

6. The method as claimed in claim 1 , the method further comprising the steps of:

receiving a desired speed of the ego-vehicle; and

if the desired speed of the ego-vehicle is less than the speed of the object and/or the calculated distance of the ego-vehicle at the calculated end time of the maneuver exceeds a predefined threshold value,

setting the desired speed as the target speed of the ego-vehicle.

7. The method as claimed in claim 6 , the method further comprising the steps of:

receiving a desired speed of the ego-vehicle; and

if the desired speed of the ego-vehicle is greater than or equal to the speed of the object and/or the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value,

setting the speed of the object as the target speed of the ego-vehicle.

8. The method as claimed in claim 6 , the method further comprising the step of:

transmitting the target speed to a trajectory planning process for calculating a free travel trajectory for the ego-vehicle if the desired speed of the ego-vehicle is less than the speed of the object or the calculated distance of the ego-vehicle at the calculated end time of the maneuver exceeds the predefined threshold value.

9. The method as claimed in claim 1 , the method further comprising the steps of:

receiving a desired speed of the ego-vehicle; and

if the desired speed of the ego-vehicle is greater than or equal to the speed of the object and/or the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value,

setting the speed of the object as the target speed of the ego-vehicle.

10. A computer program product for controlling a trajectory planning process of an ego-vehicle, comprising a non-transitory computer readable medium having stored thereon program code sections that, when executed by one or more computers of the ego-vehicle, operate to:

determine a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle;

determine a longitudinal movement of an object, the longitudinal movement comprising a speed of the object;

calculate a target trajectory of the object on the basis of a predicted trajectory of the object;

calculate an end time of a maneuver of the ego-vehicle, wherein the end time of the maneuver is a time at which a differential speed between the ego-vehicle and the object has decreased;

calculate a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego-vehicle; and

when the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value, then:

(a) set the determined speed of the object as the target speed of the ego-vehicle; and

(b) transmit the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle.

11. A device for controlling a trajectory planning process of an ego-vehicle, the device comprising:

one or more control devices or computers of the ego-vehicle which execute program code sections to:

determine a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle;

determine a longitudinal movement of an object, the longitudinal movement comprising a speed of the object;

calculate a target trajectory of the object on the basis of a predicted trajectory of the object;

calculate an end time of a maneuver of the ego-vehicle, wherein the end time of the maneuver is a time at which a differential speed between the ego-vehicle and the object has decreased;

calculate a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego-vehicle; and

when the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value, then:

(a) set the determined speed of the object as the target speed of the ego-vehicle; and

(b) transmit the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle.

12. A vehicle, comprising:

a device for controlling a trajectory planning process, the device comprising:

one or more control devices or computers of the ego-vehicle which execute program code sections to:

determine a longitudinal movement of the ego-vehicle, the longitudinal movement comprising a speed of the ego-vehicle;

determine a longitudinal movement of an object, the longitudinal movement comprising a speed of the object;

calculate a target trajectory of the object on the basis of a predicted trajectory of the object;

calculate an end time of a maneuver of the ego-vehicle, wherein the end time of the maneuver is a time at which a differential speed between the ego-vehicle and the object has decreased;

calculate a distance between a position of the ego-vehicle and a position of the object with respect to the calculated target trajectory at the calculated end time of the maneuver of the ego-vehicle; and

when the calculated distance of the ego-vehicle at the calculated end time of the maneuver is equal to a predefined threshold value or undershoots a predefined threshold value, then:

(a) set the determined speed of the object as the target speed of the ego-vehicle; and

(b) transmit the target speed to the trajectory planning process for calculating a follow-on travel trajectory for the ego-vehicle.

Assignments (1)

Priority Claims (1)

Continuity (2)

Cited By (12)

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