DE102021214445A1 - Computer-implemented method and system for cooperative maneuver planning for a first vehicle - Google Patents

Abstract

A computer-implemented method for cooperative maneuver planning of a first vehicle is described, comprising the steps of: determining whether a second vehicle in a planning area surrounding the first vehicle has low precedence or high precedence based on position of the second vehicle and local traffic legislation. A low precedence indicates that the first vehicle in the planning area has the right of way over the second vehicle. A high precedence indicates that the second vehicle has priority over the first vehicle in the planning area. A planned trajectory of the first vehicle is calculated, for which calculation any planned trajectory of the second vehicle is not taken into account if for the second vehicle a low precedence has been determined and is considered if a high precedence has been determined for the second vehicle.

Description

BACKGROUND

The invention relates to a computer-implemented method and a system for cooperative maneuver planning.

Vehicles can exchange messages with each other and with infrastructure facilities via radio and other communication channels. For example, a vehicle can detect objects within its detection range and send an object message describing the detected objects. Another vehicle can thus include an object that was detected by the vehicle outside of its own detection area in its own calculations.

In addition, the vehicle can provide route messages that represent its planned route from the starting point to the destination point to enable improved route planning for other vehicles. The vehicle can also provide its planned trajectory - i.e. a small part of its planned route in terms of distance and/or time span, for example only a few tens to hundreds of meters of the route that the vehicle is about to drive - to other vehicles and can display the position on of the road, its speed, a lane change, etc. at specific times.

Based on the received trajectories of other vehicles, the vehicle can calculate its own planned trajectory, taking into account all possible trajectories and/or positions of the other vehicles and all possible trajectories and/or positions that the vehicle itself can assume.

As the number of other vehicles increases, the processing power required in the vehicle to calculate its own planned trajectory can increase greatly. The object of the invention is to reduce the processing power required in the vehicle when calculating planned trajectories.

EXECUTIVE SUMMARY

The object of the invention is achieved by providing a method according to claim 1 and a system according to claim 6.

• - Bestimmen, ob ein zweites Fahrzeug in einem um das erste Fahrzeug herum befindlichen Planungsbereich eine niedrige Präzedenz oder eine hohe Präzedenz aufweist, basierend auf der Position des zweiten Fahrzeugs und der lokalen Verkehrsgesetzgebung, wobei eine niedrige Präzedenz angibt, dass das erste Fahrzeug in dem Planungsbereich Vorfahrt vor dem zweiten Fahrzeug hat, und eine hohe Präzedenz angibt, dass das zweite Fahrzeug in dem Planungsbereich Vorfahrt vor dem ersten Fahrzeug hat; und
• - Berechnen einer geplanten Trajektorie des ersten Fahrzeugs, wobei für dieses Berechnen eine etwaige geplante Trajektorie des zweiten Fahrzeugs nicht berücksichtigt wird, wenn für das zweite Fahrzeug eine niedrige Präzedenz bestimmt wurde, und berücksichtigt wird, wenn für das zweite Fahrzeug eine hohe Präzedenz bestimmt wurde.

According to a first aspect, a computer-implemented method for cooperative maneuver planning for a first vehicle is provided, comprising the following steps:

• - determining whether a second vehicle has low precedence or high precedence in a planning area around the first vehicle based on the position of the second vehicle and local traffic legislation, with a low precedence indicating that the first vehicle is in the planning area has priority over the second vehicle and a high precedence indicates that the second vehicle has priority over the first vehicle in the planning area; and
• - calculating a planned trajectory of the first vehicle, for which calculation any planned trajectory of the second vehicle is ignored if a low precedence has been determined for the second vehicle and taken into account if a high precedence has been determined for the second vehicle.

A maneuver of a vehicle can be understood as steering, braking and/or accelerating the vehicle. The maneuvers may be speed dependent. For example, a current speed of the vehicle determines a current smallest negotiable curve radius. A smaller curve radius can be negotiated by braking before steering. A vehicle can be understood as a car, a truck, a bus, a robot taxi, or a motorcycle. The vehicle can be an autonomous vehicle.

A trajectory is a data set describing the evolution over time of a state (e.g. position, orientation, velocity vectors and acceleration vectors, etc.) over which the vehicle can be controlled using the driving maneuvers. The trajectory is multidimensional, in particular two-dimensional or three-dimensional. The trajectory can extend along a roadway to be traveled by the vehicle, for example a street. The planned trajectory describes where the vehicle is planned to be during a future time period. This period can be predefined and/or specified by the planning area.

The trajectory can be planned at least up to a predetermined forecast horizon or planning area. For example, the prediction horizon or planning area may be determined by (or equal to) a sensor range of the vehicle. The forecast horizon or planning area can be speed dependent. The first vehicle can be referred to as the own vehicle from which the relationships with other vehicles are viewed. The first vehicle is able to its to send its own planned trajectory and, if necessary, a requested trajectory. Furthermore, the first vehicle is able to receive planned and/or requested trajectories and requests from other vehicles.

A second vehicle can be any vehicle within the planning area of the first vehicle. The second vehicle can have the same abilities as the first vehicle. For example, it may be able to send its own planned trajectory and, if applicable, a requested trajectory. Furthermore, the second vehicle may be able to receive planned and/or requested trajectories from the first vehicle and/or other vehicles.

A requested trajectory is a data set indicating a trajectory for a vehicle that is better than the planned trajectory for that vehicle and for which a second vehicle(s) would need to adjust its planned trajectory. The term "better" can mean one or more of the following effects for the first vehicle and/or for second vehicles: lower fuel consumption, shorter driving time, less steering.

A planned trajectory of a vehicle may be calculated based on one or more of the following: a planned route of the first vehicle and/or one or more second vehicle(s), road conditions, a road layout, received planned and/or requested trajectories from second vehicles, estimated trajectories of other vehicles (e.g. based on a calculation of the most probable trajectory of such a vehicle). A requirement for such a planned trajectory may be that it is collision-free, i. H. does not lead to a collision with the trajectories of other vehicles.

The calculation of a planned trajectory and a requested trajectory can become increasingly complex as the number of second vehicles increases. This then requires increased processing power in the first vehicle. This increase in processing power can be reduced if the right of way of the first and second vehicle(s) is/are taken into account.

According to the invention, it is determined whether a second vehicle has a low precedence or a high precedence in a planning area located around the first vehicle. If a second vehicle has low precedence, any planned trajectory of that second vehicle is ignored when calculating the planned trajectory for the first vehicle. This is because it can be assumed that this second vehicle is to be expected to give the first vehicle the right of way, regardless of its planned trajectory. This reduces the number of planned trajectories that must be taken into account when calculating the planned trajectory of the first vehicle.

It is determined whether a second vehicle has low precedence or high precedence based on the position of the second vehicle and local traffic legislation. Its position may be relative to a position of the first vehicle and/or its position on the road.

For example, it can be understood that, according to European traffic legislation, a second vehicle driving in the acceleration lane of a motorway has low precedence in relation to a first vehicle driving in the right-hand main lane of that motorway, since this second vehicle corresponds to the first vehicle must yield the right of way when entering the freeway.

Furthermore, it can be understood that a second vehicle driving in the left lane of a motorway has a high precedence in relation to a first vehicle driving in the right main lane of that motorway, according to European traffic legislation, since the first vehicle belongs to the give way to a second vehicle when changing lanes.

Note that second vehicles may not give way to the first vehicle, although required to do so under local traffic laws, and that second vehicles may make unplanned or unexpected maneuvers. In these cases, the first vehicle may implement collision avoidance procedures as is known in the art.

• - Berücksichtigen einer angefragten Trajektorie des zweiten Fahrzeugs für die Berechnung und/oder:
• - Berücksichtigen einer geplanten Trajektorie des zweiten Fahrzeugs als eine angefragte Trajektorie für die Berechnung, wenn für das zweite Fahrzeug eine niedrige Präzedenz bestimmt wurde.

In one or more embodiments, the method further comprises:

• - taking into account a requested trajectory of the second vehicle for the calculation and/or:
• - considering a planned trajectory of the second vehicle as a requested trajectory for the calculation if a low precedence was determined for the second vehicle.

The cooperative maneuver planning of vehicles can be further improved if not only planned trajectories, but also requested ones Trajectories are taken into account. The first vehicle's planned trajectory may or may not enable a second vehicle to travel according to its requested trajectory (thus converting the second vehicle's requested trajectory to its planned trajectory).

How to decide whether or not a planned trajectory of the first vehicle will enable a second vehicle to travel according to its requested trajectory is known in the art.

By considering the planned trajectory of a second vehicle with a low precedence as a requested trajectory, the cooperative maneuver planning of vehicles can be further improved.

• - wenn keine geplante Trajektorie von dem zweiten Fahrzeug empfangen wurde, Bestimmen einer wahrscheinlichsten Trajektorie für das zweite Fahrzeug; und
• - Berücksichtigen der bestimmten wahrscheinlichsten Trajektorie als eine empfangene Trajektorie für die Berechnung.

In one or more embodiments, the method further comprises:

• - if no planned trajectory has been received from the second vehicle, determining a most likely trajectory for the second vehicle; and
• - considering the determined most likely trajectory as a received trajectory for the calculation.

It may be the case that a second vehicle is unable to send its planned trajectory and/or its requested trajectory. For example, if this second vehicle does not have the technical capabilities to send data.

According to these embodiments, a most probable trajectory (MPT) is determined for such a second vehicle. For example, based on flashing direction indicators. By considering the MPT as a planned trajectory, the cooperative maneuver planning of vehicles can be further improved.

• - eine oder mehrere Verarbeitungseinheiten zum Ausführen der Schritte eines Verfahrens nach einer der Ausführungsformen, wie in diesem Dokument beschrieben; und
• - einen Sendeempfänger zum Empfangen und Senden geplanter und/oder angefragter Trajektorien.

According to a second aspect of the invention, there is provided a system for cooperative maneuver planning for a first vehicle, comprising:

• - one or more processing units for carrying out the steps of a method according to one of the embodiments as described in this document; and
• - a transceiver for receiving and transmitting planned and/or requested trajectories.

According to a third aspect of the invention, a vehicle is equipped with a system for cooperative maneuver planning as described in this document.

According to a further aspect of the invention there is provided a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of a method according to any of the embodiments as described in this document. Also provided is a computer-readable medium storing the computer program as described in this document.

The functionality, advantages and embodiments of the system, the vehicle and the functionality, advantages and embodiments of the computer program and the computer-readable medium correspond to the functionality, advantages and embodiments of the method as described in this document and vice versa.

character list

• 1 eine schematische Übersicht einer Verkehrssituation, welche die Funktionsweise einer oder mehrerer Ausführungsformen der Erfindung veranschaulichen kann;
• 2 eine schematische Übersicht einer oder mehrerer Ausführungsformen des Verfahrens zur kooperativen Manöverplanung für ein erstes Fahrzeug gemäß der Erfindung; und
• 3 eine schematische Übersicht einer oder mehrerer Ausführungsformen eines Fahrzeugs und eines Systems zur kooperativen Manöverplanung für ein erstes Fahrzeug gemäß der Erfindung.

For a more complete understanding of the present invention, in the following description, reference is made to the accompanying drawings. It shows:

• 1 a schematic overview of a traffic situation, which can illustrate the functioning of one or more embodiments of the invention;
• 2 a schematic overview of one or more embodiments of the method for cooperative maneuver planning for a first vehicle according to the invention; and
• 3 a schematic overview of one or more embodiments of a vehicle and a system for cooperative maneuver planning for a first vehicle according to the invention.

DETAILED DESCRIPTION

1 shows a schematic overview of a traffic situation with a first vehicle 110 and second vehicles 120, 130 and 140. The first vehicle 110 can have a system for cooperative maneuvers 310 (see also 3 ) comprising one or more processing units 320 for performing the steps of one or more embodiments of the method as described in this document and a transceiver 330 for receiving and transmitting planned and/or requested trajectories.

The one or more processing units 320 can perform the following Be set up steps of a method 200 for cooperative maneuver planning for a first vehicle. (see also 2 ):

Step 210: Determine whether a second vehicle in a planning area surrounding the first vehicle has low precedence or high precedence based on the position of the second vehicle and local traffic legislation, with a low precedence indicating that the first vehicle is in has priority over the second vehicle in the planning area, and a high precedence indicates that the second vehicle has priority over the first vehicle in the planning area.

In the example of 1 the second vehicles 120, 130 and 140 are all in the planning area 190 of the first vehicle 110. According to the local traffic legislation, in the traffic situation of 1 be the case that this first vehicle 110 has the right of way over the second vehicle 120 because the second vehicle 120 is about to enter a freeway on which the first vehicle 110 is already driving. Therefore, it can be determined that the second vehicle 120 has a low precedence.

Furthermore, it may be the case that, according to local traffic laws, the first vehicle 110 must give way to the second vehicle 130 if the first vehicle 110 wants to change lanes. Therefore, it can be determined that the second vehicle 130 has a high precedence.

Step 220: calculating a planned trajectory of the first vehicle, for which calculation any planned trajectory of the second vehicle is not taken into account if a low precedence has been determined for the second vehicle and taken into account if a high precedence has been determined for the second vehicle became.

In the example of 1 a planned trajectory 170 of the first vehicle 110 can be calculated taking into account a planned trajectory 150 of the second vehicle 130 since the second vehicle 130 has a high precedence, while a planned trajectory 160 of the second vehicle 120 can be disregarded since the second Vehicle 120 has a low precedence.

This is because planned trajectories of second vehicles that would infringe the right of way of the first vehicle do not have to be taken into account, since these second vehicles must give way to the first vehicle.

Since the planned trajectory of the second vehicle 120 does not have to be taken into account, the processing power required for the calculation of the planned trajectory 170 of the first vehicle 110 can be reduced.

• Schritt 230: Berücksichtigen einer angefragten Trajektorie des zweiten Fahrzeugs für die Berechnung und/oder: Berücksichtigen einer geplanten Trajektorie des zweiten Fahrzeugs als eine angefragte Trajektorie für die Berechnung, wenn für das zweite Fahrzeug eine niedrige Präzedenz bestimmt wurde.

In one or more embodiments, the method may further include one or more of the following steps:

• Step 230: considering a requested trajectory of the second vehicle for the calculation and/or: considering a planned trajectory of the second vehicle as a requested trajectory for the calculation if a low precedence was determined for the second vehicle.

In the example of 1 the second vehicle 120 can send the planned trajectory 160 to the first vehicle 110 . However, since it has been determined that the second vehicle 120 has a low precedence, this planned trajectory is not considered as such. It can then be considered as a requested trajectory.

Step 240: if no planned trajectory has been received from the second vehicle, determining a most likely trajectory for the second vehicle; and considering the determined most likely trajectory as a received trajectory for the calculation.

In the example of 1 For example, the first vehicle 110 may not have received either a planned trajectory or a requested trajectory from the second vehicle 140 . In one or more embodiments, a reason for this may be: (i) this second vehicle 140 does not have the technical capability to transmit planned and/or requested trajectories, (ii) the second vehicle 140 does not yet have a planned and/or requested trajectory sent but may do so later, or (iii) the second vehicle 140 sent a planned and/or requested trajectory to the first vehicle 110 but it was not received and/or processed by the first vehicle 110 .

In the example of 1 it can be detected that the right turn signal of the second vehicle 140 is blinking and that an exit of the highway is approaching. Then the trajectory 180 can be calculated as the MPT and subsequently considered as a received trajectory.

Step 250: calculating a requested trajectory of the first vehicle, the requested trajectory relating to at least one second vehicle for which a high precedence was determined.

Since second vehicles with a low precedence have to give way to the first vehicle anyway, it is not necessary to calculate and/or send a requested trajectory to such a second vehicle. By calculating and/or sending only those requested trajectories that relate to at least one second vehicle for which a high precedence has been determined, the processing power required for this calculation and/or sending is further reduced.

In the example of 1 no requested trajectory for the first vehicle 110, which only affects the second vehicle 120, has to be calculated and/or sent. Regardless of the requested trajectory for the first vehicle 110, the second vehicle 120 must cooperate with the first vehicle 110 and give way. Because the second vehicle 120 has in 1 a low precedence.

Therefore, only one requested trajectory for the first vehicle 110 that relates to at least one second vehicle with a high precedence needs to be calculated and/or sent. in the example of 1 a requested trajectory relating to the second vehicle 130 would be such a requested trajectory.

Step 260: sending the calculated planned trajectory of the first vehicle and optionally the calculated requested trajectory to the second vehicle.

In the example of 1 the first vehicle 110 can send its planned trajectory and/or its requested trajectory to the second vehicles 120, 130 and 140, which are located in the planning area 190. It can send them directly or using a back-end server that first receives the planned trajectory and/or the requested trajectory from the first vehicle 110 and then distributes it among the second vehicles in the planning area 190 .

3 12 shows a schematic overview of one or more embodiments of a first vehicle 110 and a system 310 for cooperative maneuver planning of a first vehicle according to the invention. The system 310 may include one or more processing units 320 for performing the steps of one or more embodiments of the method as described in this document and a transceiver 330 for receiving and transmitting trajectories and requests regarding a cooperative maneuver.

Those skilled in the art will appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or combinations of both. To make this interchangeability of hardware and software clear, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether this functionality is implemented in hardware or software depends on the specific application(s) and design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as causing a departure from the scope of the present invention.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The beneficial effects and advantages that can be provided by the present invention have been described above with reference to concrete embodiments. Such beneficial effects and advantages, and any elements or limitations that may cause them to occur or be magnified, are not to be construed as critical, required, or essential features of any or all claims. As used herein, the terms "comprises," "comprising," or any other form thereof shall be construed as not exclusively including the elements or limitations that follow those terms. Accordingly, a system, method, or other embodiment that includes a group of elements is not limited to only those elements, but may include other elements not expressly listed or inherent in the claimed embodiment.

Although the present invention with reference to specific embodiments has been described, it should be understood that the embodiments are illustrative and that the scope of the invention is not limited to these embodiments. Many variations, modifications, additions and improvements are possible to the embodiments described above. It is intended that these variations, modifications, additions and improvements fall within the scope of the invention as detailed in the following claims.

Claims (7)

Computer-implemented method for cooperative maneuver planning for a first vehicle, comprising the following steps: - determining whether a second vehicle has low precedence or high precedence in a planning area around the first vehicle based on the position of the second vehicle and local traffic legislation, with a low precedence indicating that the first vehicle is in the planning area has priority over the second vehicle and a high precedence indicates that the second vehicle has priority over the first vehicle in the planning area; and - calculating a planned trajectory of the first vehicle, for which calculation any planned trajectory of the second vehicle is ignored if a low precedence has been determined for the second vehicle and taken into account if a high precedence has been determined for the second vehicle. Computer-implemented method claim 1 , further comprising: - considering a requested trajectory of the second vehicle for the calculation and/or: - considering a planned trajectory of the second vehicle as a requested trajectory for the calculation if a low precedence was determined for the second vehicle. A computer-implemented method according to any one of the preceding claims, further comprising: - if no planned trajectory has been received from the second vehicle, determining a most likely trajectory for the second vehicle; and - considering the determined most likely trajectory as a received trajectory for the calculation. System for cooperative maneuver planning for a first vehicle, comprising: - one or more processing units for carrying out the steps of a method according to any one of Claims 1 - 3 ; and - a transceiver for receiving and transmitting planned and requested trajectories. vehicle with a system for cooperative maneuver planning claim 4 . A computer program comprising instructions which, when executed by a computer, cause the computer to perform the steps of a method according to any one of Claims 1 - 3 executes Computer-readable medium on which the computer program claim 6 is saved.

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