METHOD AND APPARATUS FOR OPERATING AN AUTOMATED VEHICLE

Abstract

A method and apparatus for operating an automated vehicle. The method includes: acquiring environmental data values which represent objects in an environment of the automated vehicle; determining a position of the automated vehicle; comparing the environmental data values with a digital map, depending on the position of the automated vehicle, the digital map including environmental features, a first subset of the objects being determined as static objects when these objects are comprised as environmental features in the digital map, and a second subset of the objects are determined as non-static objects, when these objects are not comprised as an environmental feature in the digital map; determining a motion behavior of the non-static objects relative to the automated vehicle; determining a travel strategy for the automated vehicle, depending on the motion behavior of the non-static objects; and operating the automated vehicle, depending on the travel strategy.

Claims

1. A method of operating an automated vehicle, comprising the following steps: acquiring environmental data values using an environmental sensor system of the automated vehicle, wherein the environmental data values represent objects in an environment of the automated vehicle; determining a position of the automated vehicle; comparing the environmental data values with a digital map, depending on the determined position of the automated vehicle, wherein the digital map includes environmental features, wherein a first subset of the objects are determined as static objects, when the objects are included as environmental features in the digital map, and a second subset of the objects are determined as non-static objects, when the objects are not included as environmental features in the digital map; determining a motion behavior of the non-static objects relative to the automated vehicle; determining a travel strategy for the automated vehicle depending on the determined motion behavior of the non-static objects; and operating the automated vehicle depending on the travel strategy.

2. The method as recited in claim 1, wherein the digital map is configured as a highly accurate map, which includes the environmental features with a highly accurate position.

3. The method as recited in claim 1, wherein the determined position of the automated vehicle includes both a position indication in a predetermined coordinate system and a pose of the automated vehicle.

4. The method as recited in claim 1, wherein the motion behavior includes at least whether the non-static objects in the environment of the automated vehicle are moving or are not moving.

5. The method as recited in claim 1, wherein the travel strategy includes a trajectory for the automated vehicle and the operation includes driving along the trajectory.

6. An apparatus, comprising: a control unit configured to operate an automated vehicle, the control unit configured to: acquire environmental data values using an environmental sensor system of the automated vehicle, wherein the environmental data values represent objects in an environment of the automated vehicle; determining a position of the automated vehicle; compare the environmental data values with a digital map, depending on the determined position of the automated vehicle, wherein the digital map includes environmental features, wherein a first subset of the objects are determined as static objects, when the objects are comprised as environmental features in the digital map, and a second subset of the objects are determined as non-static objects, when these objects are not comprised as environmental feature in the digital map; determine a motion behavior of the non-static objects relative to the automated vehicle; determine a travel strategy for the automated vehicle depending on the determined motion behavior of the non-static objects; and operate the automated vehicle depending on the travel strategy.

7. A non-transitory machine-readable storage medium on which is stored a computer program of operating an automated vehicle, the computer program, when executed by a computer, causing the computer to perform the following steps: acquiring environmental data values using an environmental sensor system of the automated vehicle, wherein the environmental data values represent objects in an environment of the automated vehicle; determining a position of the automated vehicle; comparing the environmental data values with a digital map, depending on the determined position of the automated vehicle, wherein the digital map includes environmental features, wherein a first subset of the objects are determined as static objects, when the objects are comprised as environmental features in the digital map, and a second subset of the objects are determined as non-static objects, when these objects are not comprised as environmental feature in the digital map; determining a motion behavior of the non-static objects relative to the automated vehicle; determining a travel strategy for the automated vehicle depending on the determined motion behavior of the non-static objects; and operating the automated vehicle depending on the travel strategy.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Embodiment examples of the present invention are illustrated in the figures and are explained in more detail in the following description.

[0028] FIG. 1 shows an embodiment example of the method according to the present invention for operating an automated vehicle.

[0029] FIG. 2 shows an embodiment example of the method according to the present invention for operating an automated vehicle in the form of a flow chart.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0030] FIG. 1 shows a possible embodiment example of the method 300 according to the present invention for operating an automated vehicle 100 moving along a trajectory 110. The environment of the automated vehicle 100 includes both static objects 201 and non-static objects 202. The following explanations are made purely by way of example with reference to a video sensor, the environmental data values thus corresponding to image data or images.

[0031] In a possible embodiment, an object detection algorithm of the environmental sensor system or a downstream processing unit is adapted to allow this algorithm to distinguish static objects 201 from non-static objects 202. For this purpose, for example, a position and/or a pose of the automated vehicle 100 are determined using a digital map. This is done, for example, by localization on the basis of GNSS, Car-2-X signal transit time, or environmental sensor systems. After the position and/or pose are determined in the digital map, the object detection algorithm first identifies areas that are congruent with the static objects 201 of the digital map. In doing so, the position and/or pose of the automated vehicle 100 relative to the expected static objects encompassed by the digital map is taken into account as well. For this purpose, for example, the static structures of the digital map that are expected to be visible at this vehicle position are transformed into a coordinate system of the environmental sensor system. Subsequently, a comparison between the transformed static structures of the digital map, depending on the position and/or pose, with the environmental data values is performed using the object detection algorithm. As a result, image areas are obtained in the environmental data values that correspond to the static structures of the digital map. For example, these image areas are marked as static structures in the image data.

[0032] In a next step, these image areas, which are not congruent with the digital map, are marked as potential candidates for the non-static objects 202. In these imaging areas of the environmental sensor system, the non-static objects 202 are then determined in a targeted manner using the object detection algorithm. For this purpose, for example, the image flow of these image areas of the potentially non-static objects 202 is also taken into account via multiple images of environmental sensor system. For example, it is analyzed whether the image area of the potentially non-static objects 202 is moving in a particular direction within the environmental data values, or whether the positions of the potentially non-static objects 202 are moving uniformly relative to the automated vehicle 100.

[0033] For example, if the potentially non-static objects 202 move in a particular direction, the position within the environmental data values as well as the accordingly transformed positions of these objects 202 relative to the automated vehicle 100 will change over time. This is detected using the object detection algorithm. In the environmental data values, the static domains that are congruent with the digital map are discarded for of the purpose of considering the non-static objects 202 and only the image areas of the potentially non-static objects 202 are evaluated.

[0034] However, if the potentially non-static objects 202 do not move in a particular direction, it is, for example, a parked vehicle. This is detected using the proposed object detection algorithm. The corresponding object is then marked as static, for example, and is not further considered as a non-static object 202. Thus, for example, parked vehicles, i.e. only temporarily static objects, are not evaluated or considered further.

[0035] For example, in another embodiment, the motion detection of objects 201, 202 is decoupled from actual object detection. It means that a first intelligent algorithm, for example of an artificial intelligence and/or a neural network, is first used to perform a comparison between the digital map and the environmental data values, thereby determining image areas of static objects 201 and potentially non-static objects 202. Subsequently, in the same or in a downstream algorithm, the detection of the movement of the potential non-static objects 202 is performed by an evaluation of multiple environmental data values, which are recorded at different time points. Further, a highly accurate object detection algorithm is used to perform the highly accurate evaluation of the non-static objects 202 in the marked image areas of the first algorithm.

[0036] For example, in another embodiment, an object detection of the static objects 201 and of the non-static objects 202 is performed in a separate manner. For example, a rather slow object detection algorithm is used for the static objects 201, or the map data are used directly after the comparison with the digital map. Another, rather faster, object detection algorithm is executed in parallel for the potential non-static objects 202.

[0037] In another embodiment, it may be the case for example that there are no image areas that include potential non-static objects 202. Here, the algorithm for the highly accurate detection of the non-static objects 202 can be placed in a type of sleep mode, thereby conserving valuable resources of the automated vehicle. The simple object detection algorithm for the static objects 201 continues to execute until again potential non-static objects 202 can be determined in the environmental data values that cannot be matched to the digital map or that move over time. Then, the corresponding highly accurate algorithm can be awakened from the sleep mode. In this way, valuable computing capacities of the automated vehicle 100 are conserved and released only when needed.

[0038] In a further embodiment, for example, the environmental sensor system of the automated vehicle 100 includes so-called main sensors and associated redundant sensors. The environmental data values of the main sensors are used in this embodiment to categorize the corresponding image areas into static image areas and image areas with non-static objects 202 using the downstream algorithm or algorithms. In this case, the redundant sensors are temporarily not used and are actively engaged only when potentially non-static objects 202 are determined in the environmental data values of the main sensors. The image areas with these potentially non-static objects 202 are subsequently determined highly accurately by the main sensors and by means of the associated redundant sensors, and a position of these objects relative to the automated vehicle 100 is determined and/or tracked over time. Thus, resources of the automated vehicle 100 can also be conserved by using the redundant sensors only when non-static objects 202 are encompassed by the environment of the automated vehicle 100.

[0039] For example, in another embodiment, the redundant sensors are only used or actively engaged if a highly accurate detection of the potentially non-static objects 202 in the environmental data values recorded by the main sensors is not clear or is not possible with a specified accuracy. In this case, the redundant sensors can be used to improve the accuracy of the detection of the potentially non-static objects 202 relative to the automated vehicle 100.

[0040] FIG. 2 shows a possible embodiment example of a method 300 for operating an automated vehicle 100.

[0041] The method 300 starts at step 301.

[0042] In step 310, environmental data values are recorded using an environmental sensor system of the automated vehicle 100, wherein the environmental data values represent objects in an environment of the automated vehicle 100.

[0043] In step 320, a position of the automated vehicle 100 is determined.

[0044] In step 330, the environmental data values are compared to a digital map depending on the position of the automated vehicle 100, wherein the digital map includes environmental features, wherein a first subset of the objects 201, 202 are determined as static objects 201 when those objects 201 are encompassed as environmental features by the digital map, and a second subset of the objects 201, 202 are determined to be non-static objects 202 when these objects 202 are not encompassed as an environmental feature by the digital map.

[0045] In step 340, a motion behavior of the non-static objects 202 relative to the automated vehicle 100 is determined.

[0046] In step 350, a travel strategy for the automated vehicle 100 is determined depending on the motion behavior of the non-static objects 202.

[0047] In step 360, the automated vehicle 100 is operated depending on the travel strategy.

[0048] The method 300 ends at step 370.