Method and control unit for determining a cutting trajectory of a curve section of a roadway
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B62D-001/00
G08G-001/16
G06F-007/00
B62D-015/02
B60W-030/045
B60W-030/12
B62D-001/28
출원번호
US-0513152
(2010-11-30)
등록번호
US-9278712
(2016-03-08)
우선권정보
DE-10 2009 047 476 (2009-12-04)
국제출원번호
PCT/EP2010/068530
(2010-11-30)
§371/§102 date
20120817
(20120817)
국제공개번호
WO2011/067252
(2011-06-09)
발명자
/ 주소
Buerkle, Lutz
Fischer, Michael
Maurer, Thomas
출원인 / 주소
ROBERT BOSCH GMBH
대리인 / 주소
Kenyon & Kenyon LLP
인용정보
피인용 횟수 :
0인용 특허 :
6
초록▼
A method for determining a cutting trajectory that enables a curve section of a lane to be cut by a vehicle. In the method, information about the curve section is received, and the curve section is divided into at least one curve segment having a segment length and a start curvature, the curve segme
A method for determining a cutting trajectory that enables a curve section of a lane to be cut by a vehicle. In the method, information about the curve section is received, and the curve section is divided into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment. This is followed by determination of a cutting trajectory from the at least one curve segment, so that, at a specific point of the curve section, the cutting trajectory has a predetermined offset relative to a center of the lane.
대표청구항▼
1. A method for operating a lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, the method comprising: receiving, by the lane keeping system, information abo
1. A method for operating a lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, the method comprising: receiving, by the lane keeping system, information about the curve section of the predefined road lane via an interface;dividing, by the lane keeping system, the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment;determining, by the lane keeping system, a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; andproviding, by the lane keeping system, a vehicle trajectory guidance along the determined cutting trajectory;wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment;wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory;wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are determined taking into consideration a vehicle speed and a curve section curvature. 2. The method of claim 1, wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are so determined that the cutting trajectory has, at an apex of the curve section, a predetermined offset toward the inside of the curve relative to the center of the lane. 3. The method of claim 1, wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are so determined that an angular direction of the cutting trajectory at a start point corresponds to an angular direction of the center of the lane at a start point and an angular direction of the cutting trajectory at an end point corresponds to an angular direction of the center of the lane at an end point. 4. The method of claim 1, further comprising: ascertaining a lateral guidance of the vehicle based on the cutting trajectory, the lateral guidance being suitable for steering the vehicle through the curve section along the cutting trajectory. 5. The method of claim 1, further comprising: dividing a route section of the roadway into a plurality of curve sections representing a curve entry, a curve that becomes tighter or that opens out, an S-bend and/or a curve exit, and for each of the plurality of curve sections a cutting trajectory is determined, and a trajectory for the route section is formed by stringing together the cutting trajectories of the plurality of curve sections. 6. A method for operating a lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, the method comprising: receiving, by the lane keeping system, information about the curve section of the predefined road lane via an interface;dividing, by the lane keeping system, the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment;determining, by the lane keeping system, a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; andproviding, by the lane keeping system, a vehicle trajectory guidance along the determined cutting trajectory;wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment;wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory;wherein in a region directly adjoining the curve section, at least one further circular arc trajectory is determined so that a further curve trajectory has, in the region, a further predetermined offset relative to the center of the lane. 7. A lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, comprising: a receiving arrangement to receive information about the curve section of the predefined road lane via an interface;a dividing arrangement to divide the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment;a determining arrangement to determine a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; anda control arrangement to provide a vehicle trajectory guidance along the determined cutting trajectory;wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment;wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory;wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are determined taking into consideration a vehicle speed and a curve section curvature. 8. A non-transitory, computer readable medium having a computer program, which is executable by a processor, comprising: a program code arrangement having program code for operating a lane keeping system of a vehicle which provides a vehicle trajectory guidance by determining a cutting trajectory that enables a curve section of a predefined road lane to be cut by the vehicle, by performing the following: receiving, by the lane keeping system, information about the curve section of the predefined road lane via an interface;dividing, by the lane keeping system, the curve section of the predefined road lane into at least one curve segment having a segment length and a start curvature, the curve segment being a straight-line segment or a circular arc segment or a curve segment whose curvature is a function of an arc length of the curve segment;determining, by the lane keeping system, a cutting trajectory within the predefined road lane from the at least one curve segment, so that, at a specific point of the curve section of the predefined road lane, the cutting trajectory has a predetermined offset relative to a center of the predefined road lane; andproviding, by the lane keeping system, a vehicle trajectory guidance along the determined cutting trajectory;wherein the cutting trajectory is divided into a plurality of trajectory segments having a segment length and a start curvature, the start curvature corresponding to the end curvature of a preceding trajectory segment, and the curvature thereof either being constant over the arc length of the trajectory segment in the form of a straight-line segment or circular arc segment or changing linearly with the arc length of the trajectory segment in the form of a clothoid segment;wherein the straight-line segment length, the clothoid segment length, the start curvature of the clothoid segment, a parameter of the clothoid segment, the circular arc segment length and the circular arc curvature are so adjusted that a maximum curvature of the clothoid segment trajectory and a curvature of the circular arc segment trajectory is in each case less than a maximum curvature of the curve section, and in which a straight-line trajectory is determined which is associated with the straight-line segment, a clothoid trajectory is determined which is associated with the clothoid segment, and a circular arc trajectory is determined which is associated with the circular arc segment, and in which the cutting trajectory is determined from the straight-line trajectory, the clothoid trajectory and the circular arc trajectory;wherein the straight-line trajectory, the clothoid trajectory and the circular arc trajectory are determined taking into consideration a vehicle speed and a curve section curvature.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (6)
Gudat Adam J. ; Shin Dong Hun ; Whittaker William L. ; Kleimenhagen Karl W. ; Clow Richard G. ; Singh Sanjiv J. ; Christensen Dana A. ; Kemner Carl A. ; Bradbury Walter J. ; Koehrsen Craig L. ; Kyrts, Apparatus and method for autonomous vehicle navigation using absolute data.
Rao Prithvi N. (Pittsburgh PA) Shin Dong Hun (Pittsburgh PA) Whittaker William L. (Pittsburgh PA) Kleimenhagen Karl W. (Peoria IL) Singh Sanjiv J. (Pittsburgh PA) Kemner Carl A. (Peoria Heights IL) B, System and method for enabling an autonomous vehicle to track a desired path.
Sennott James W. (Bloomington IL) Kyrtsos Christos T. (Peoria IL) Gudat Adam J. (Edelstein IL) Christensen Dana A. (Peoria IL) Friedrich Douglas W. (Pekin IL) Stafford Darrell E. (Dunlap IL), Vehicle position determination system and method.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.