Robert Boschgmbh

Honda Research Institute Europe Gmbh

Continental Teves, Ag and Company Ohg

Continental Automotive Technologies Gmbh

Thomas Michalke

Hendrik Fuchs

Florian Wildschuette

Frank Hofmann

Carsten Hasberg

Jan Rohde

Maxim Dolgov

Florian Alexander Schiegg

Thomas Grotendorst

Lutz Buerkle

Thomas Benjamin Gussner

Matthias Haug

Stefan Hoffmann

Ignacio Llatser Marti

Robert Kastner

Sebastian Strunck

Claudius Glaeser

Jonas Schönichen

Piyapat Saranrittichai

Thomas Maurer

Gernot Schroeder

Florian Wildschütte

Jannik Fritsch

Jan Stellet

Matthias Schleicher

Ulrich Baumann

Artur Koch

Raquel Tirach

A method for operating a vehicle for highly automated driving. The method includes a step of reading sensor data that comprise trip data of the vehicle from at least one acceleration sensor, at least one position sensor, and a velocity sensor, infrastructure data of infrastructure elements in a predefined environment of the vehicle from at least one environmental sensor, and object data of recognized traffic objects in the predefined environment from the environmental sensor. An environmental model for behavior planning and maneuver planning of the vehicle within the predefined environment is determined. The environmental model is determined by simultaneous localization and mapping using the sensor data and a factor graph into which the sensor data are integrated as factors. The environmental model is output to an interface to a planning device for behavior planning and maneuver planning of the vehicle.

Method and apparatus for operating a vehicle for highly automated driving, and vehicle for highly automated driving

A method for providing an object message about an object, recognized in surroundings of a road user, in a communication network for communicating with other road users. The road user includes a sensor system for detecting the surroundings and an evaluation unit for evaluating sensor data generated by the sensor system and transferring object messages via the communication network. The method includes: receiving sensor data, generated by the sensor system, in the evaluation unit; recognizing at least one object in the surroundings of the road user based on the sensor data, a movement parameter and a further object parameter being ascertained; calculating an object transfer priority; determining, based on the object transfer priority, whether the recognized object is to be included in an object message; and, if so, generating the object message including the recognized object, and sending the object message via the wireless communication network.

Method for providing an object message about an object, which is recognized in the surroundings of a road user, in a communication network for the communication with other road users

A method for exchanging pieces of maneuver information between vehicles. A parameterizable third-party trajectory planner provided by a third-party vehicle and mapping future pieces of maneuver information of the third-party vehicle are parameterized and executed in an ego vehicle, using at least one time parameter, to obtain at least one future third-party trajectory of the third-party vehicle.

Method and device for exchanging maneuver information between vehicles

A method for providing a maneuver message for coordinating a maneuver between a road user and at least one further road user in a communication network. The method includes: receiving the communication data and/or the sensor data in the evaluation unit; determining a possible trajectory of the road user based on the communication data and/or the sensor data, at least one trajectory parameter describing a property of the possible trajectory being ascertained; calculating a trajectory transfer priority from the trajectory parameter, the trajectory transfer priority representing a relevance of the at least one possible trajectory for the road user and/or the further road user; determining, based on the trajectory transfer priority, whether the at least one possible trajectory is to be included in a maneuver message; if so: generating the maneuver message including the at least one possible trajectory, and sending the maneuver message via the communication network.

Method for providing a maneuver message for coordinating a maneuver between a road user and at least one further road user in a communication network

A method for transferring a message in a communications network for communication between a road user and at least one further road user. The road user and the further road user each include an evaluation unit for transferring messages via the communications network. The method includes: receiving a first message in the evaluation unit, the first message including message segments, each including a priority value; determining an instantaneous capacity utilization of the communications network; filtering message segments to be transferred out of the first message, based on the priority values and the instantaneous capacity utilization of the communications network; and generating a second message including the message segments to be transferred, and sending the second message via the communications network.

Method for transferring a message in a communications network for communication between a road user and at least one further road user

A method for vehicle control. The method includes a step of reading in a camera signal, a step of executing a semantic segmentation, and a step of ascertaining a control signal. The camera signal represents an optically detected image of a roadway to be driven by a vehicle. In the step of executing, the semantic segmentation of the image represented by the camera signal is executed, to detect a free area ahead of the vehicle from the image as a drivable road section. In addition, a roadway signal representing the detected drivable road section is provided. In the step of ascertaining, the control signal for activating at least one vehicle component is ascertained, using the roadway signal.

Method and device for vehicle control

A method for fusing state data via a control unit. State data of a first mobile unit and of an object ascertained via a sensor system of the first mobile unit are received. State data of an object ascertained via a sensor system of a second mobile unit and/or state data of the second mobile unit, transmitted via a communication link from the second mobile unit to the first mobile unit, are received. A node is created in a time-position diagram for each set of received state data of the first mobile unit, the second mobile unit, and the objects. A data optimization of the state data ascertained by the first mobile unit and/or by the second mobile unit is carried out. An optimization problem is created based on the optimized state data ascertained by the first mobile unit and the optimized state data received from the second mobile unit.

Graph-based method for the holistic fusion of measured data

The present invention relates to a method of cooperatively coordinating future driving maneuvers of a vehicle with fellow maneuvers of at least one fellow vehicle, wherein trajectories for the vehicle are rated with an effort value each, trajectories and fellow trajectories of the fellow vehicle are combined into tuples, the trajectory and the associated effort value of a collision-free tuple are selected as reference trajectory and reference effort value, trajectories with a lower effort value than the reference effort value are classified as demand trajectories, trajectories with higher effort value than the reference effort value are classified as alternative trajectories, and a data packet having a trajectory set consisting of the reference trajectory and the associated reference effort value as well as at least one trajectory from a group comprising the demand trajectories and the alternative trajectories as well as the respective effort values is transmitted to the fellow vehicle.

Method and device for a cooperative coordination between future driving maneuvers of one vehicle and the maneuvers of at least one other vehicle

A method for selecting a main object for an assistance function or automated driving function of a driver assistance system or driving system of a motor vehicle, the system containing object selection branches which include a first rule-based object selection branch for selecting a main object for the function and a second object selection branch, the second object selection branch including an artificial neural network for selecting a main object for the function, having the following steps: Aggregating of sensor data of the at least one sensor to form one or more object data records; Evaluating a novelty of a traffic situation characterized by the aggregated object data records in relation to training data of the artificial neural network; Switching between the object selection branches of the system, a rule-based object selection branch being used when the novelty of the traffic situation exceeds a threshold value.

Selection of a main object for an assistance function or automated driving function of a driver assistance system or driving system of a motor vehicle

The present invention relates to a method of cooperatively coordinating future driving maneuvers of a vehicle with fellow maneuvers of at least one fellow vehicle, wherein a fellow data packet is received from the fellow vehicle, in which a fellow trajectory set of a fellow reference trajectory is contained, a trajectory from a trajectory set for the vehicle is selected as a reference trajectory for the vehicle using the fellow reference trajectory, wherein a trajectory which is collision-free towards the fellow reference trajectory is selected, the trajectories of the trajectory set are rated using limit trajectories, and at least one cooperation trajectory is selected from the trajectories of the trajectory set using the reference effort value, wherein a data packet containing the reference trajectory and the cooperation trajectory is transmitted to the fellow vehicle.

Method and apparatus for cooperatively coordinating future driving maneuvers of a vehicle with foreign maneuvers of at least one foreign vehicle

A method is provided for correcting a positional probability distribution, at least two mobile systems each ascertaining a positional probability distribution through respective GNSS receivers, at least one mobile system ascertaining a distance to at least one second mobile system, the at least two mobile systems exchanging the ascertained positional probability distribution among themselves through a communication link, and by using the at least two ascertained positional probability distributions and the distance between the at least two mobile systems, an improvement of the positional probability distributions being calculated. Furthermore, a method for providing at least one correction term is provided.

Method for providing and improving a positional probability distribution for GNSS received data

A method is provided for maneuver planning and implementation for a vehicle by a vehicle-internal control unit. The control unit includes a strategic planning level for carrying out route planning, a tactical planning level for providing lane-accurate trajectories to possible destination points, and an operative planning level for selecting a destination point and a negotiable trajectory to the selected destination point. The planning levels have a cascading design. When each planning level is executed, an information exchange with neighboring vehicles is carried out via a communication link in order to ascertain collisions. When a collision is ascertained in at least one planning level, a maneuver coordination is carried out between the vehicles via the communication link. Moreover, a control unit is provided.

Method for cooperative maneuver coordination

A plausibility check module for a vehicle driver assistance system, including at least one sensor for detecting the vehicle surroundings, and Kl-module(s) to classify objects in the surroundings based on the sensor data supplied by the sensor with an internal processing chain established by parameters, the plausibility check module receiving pieces of reference information about objects in the surroundings supplied by other vehicles and/or by an infrastructure, and comparing the pieces of reference information with the classification result by the Kl-module and to initiate at least one measure for a deviation established by the comparison, so that the parameters of the processing chain of the Kl-module are adapted to the effect that the deviation is reduced in comparable situations. Also described are a driver assistance system having the plausibility check module and Kl-module(s), a method for calibrating a sensor for detecting the vehicle surroundings, and an associated computer program.

Plausibility check of the object recognition for driver assistance systems

A method is described for segmenting an occupancy grid for a surroundings model of a driver assistance system for a vehicle. The method encompasses a step of reading in an occupancy grid having a plurality of grid cells, each grid cell of the plurality of grid cells having assigned to it a grid cell information item that encompasses an information item about a degree of occupancy and at least one additional information item about the grid cell; and a step of assigning at least one object and/or a plurality of objects to the plurality of grid cells using the grid cell information item, in order to segment the occupancy grid for a surroundings model.

Method and apparatus for segmenting an occupancy grid for a surroundings model of a driver assistance system for a vehicle background of the invention

A method for situation analysis for a driver assistance system on board a motor vehicle includes steps of providing a representation of the surroundings of the motor vehicle, the representation including a system of cells that are reversibly unambiguously associated with predetermined sections of the surroundings, scanning the surroundings of the motor vehicle with the aid of at least one sensor in order to detect an obstacle, and marking cells, based on the scan, in such a way that a cell that is associated with an obstacle-free section of the surroundings carries a first marker, and a cell that is associated with a section of the surroundings in which an obstacle has been detected carries a second marker. A morphological filter is subsequently used on the representation in order to provide cells, which are not accessible by the motor vehicle, with the second marker.

Growing community of inventors

Weil der Stadt, Germany

Thomas Michalke