UTILIZATION OF A LOCALLY CUSTOMARY BEHAVIOR FOR AUTOMATED DRIVING FUNCTIONS

Abstract

A method for utilizing observed locally customary behavior from historical data sets in vehicle surroundings by a control unit. Historical data sets of vehicle trajectories of at least one first vehicle and/or at least one second vehicle are received.

A locally customary behavior of the first vehicle and/or of the second vehicle is ascertained from the historical data sets. A registered behavior of the first vehicle, of at least one third vehicle or a digital map being checked for deviations based on the ascertained locally customary behavior. When a deviation of the locally customary behavior from a registered behavior of the first vehicle, a registered behavior of a third vehicle, or a deviation of the locally customary behavior from the digital map is established, the execution of at least one function is initiated. A control unit, a computer program, and a machine-readable memory medium, are also described.

Claims

1. A method for utilizing observed locally customary behavior from historical data sets in vehicle surroundings by a control unit, the method comprising the following steps: receiving historical data sets of vehicle trajectories of at least one first vehicle and/or of at least one second vehicle; ascertaining a locally customary behavior of the first vehicle and/or of the second vehicle from the historical data sets; checking: (i) a registered behavior of the first vehicle or of at least one third vehicle, of (ii) a digital map, for deviations, based on the ascertained locally customary behavior; and when a deviation of the locally customary behavior from the registered behavior of the first vehicle or the third vehicle, or when a deviation of the locally customary behavior from the digital map is established, initiating execution of at least one function.

2. The method as recited in claim 1, wherein an adaptation of a driving behavior and/or of a trajectory of the first vehicle is carried out as a function of a classification of a digital map or of the third vehicle.

3. The method as recited in claim 1, wherein deviations of the digital map are identified based on a comparison of driving directions and/or speed profiles of the locally customary behavior.

4. The method as recited in claim 1, wherein the ascertained locally customary behavior is checked for deviations for checking ambiguous results in statistic surroundings during a mapping and/or a localization using instantaneously ascertained data sets of a digital map.

5. The method as recited in claim 4, wherein the data sets of the digital maps are classified as not being up-to-date when a deviation is established.

6. The method as recited in claim 3, wherein a classification of the at least one third vehicle is carried out based on the registered behavior of the third vehicle and the comparison to the ascertained locally customary behavior.

7. The method as recited in claim 1, wherein a driving behavior of the first vehicle is adapted to the locally customary behavior when a deviation of the locally customary behavior from the registered behavior of the first vehicle is established.

8. The method as recited in claim 1, wherein the ascertained locally customary behavior is taken into consideration as a prioritized suggestion during an implementation of an automated driving function.

9. The method as recited in claim 8, wherein the ascertained locally customary behavior is taken into consideration during a planning of the automated driving function.

10. A control unit configured to utilize observed locally customary behavior from historical data sets in vehicle surroundings, control unit configured to: receive historical data sets of vehicle trajectories of at least one first vehicle and/or of at least one second vehicle; ascertain a locally customary behavior of the first vehicle and/or of the second vehicle from the historical data sets; check: (i) a registered behavior of the first vehicle or of at least one third vehicle, of (ii) a digital map, for deviations, based on the ascertained locally customary behavior; and when a deviation of the locally customary behavior from the registered behavior of the first vehicle or the third vehicle, or when a deviation of the locally customary behavior from the digital map is established, initiate execution of at least one function.

11. A non-transitory machine-readable memory medium on which is stored a computer program for utilizing observed locally customary behavior from historical data sets in vehicle surroundings, the computer program, when executed by a computer, causing the computer to perform the following steps: receiving historical data sets of vehicle trajectories of at least one first vehicle and/or of at least one second vehicle; ascertaining a locally customary behavior of the first vehicle and/or of the second vehicle from the historical data sets; checking: (i) a registered behavior of the first vehicle or of at least one third vehicle, of (ii) a digital map, for deviations, based on the ascertained locally customary behavior; and when a deviation of the locally customary behavior from the registered behavior of the first vehicle or the third vehicle, or when a deviation of the locally customary behavior from the digital map is established, initiating execution of at least one function.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG. 1 shows a schematic top view onto vehicle surroundings, in accordance with an example embodiment of the present invention.

[0045] FIG. 2 shows a schematic flowchart for illustrating a utilization of locally customary behavior in a digital map, in accordance with an example embodiment of the present invention.

[0046] FIG. 3 shows a schematic flowchart for illustrating a method for utilizing observed locally customary behavior from historical data sets according to one specific embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0047] FIG. 1 shows a schematic top view onto vehicle surroundings 1. An exemplary first vehicle 2, which is operable in an automated manner according to the BASt standard, is present in vehicle surroundings 1.

[0048] For carrying out automated driving functions, first vehicle 2 includes a surroundings sensor system 4 and a vehicle-side control unit 6. Control unit 6 is able to receive measured data of surroundings sensor system 4 and, based on the measured data, carry out a control of first vehicle 2.

[0049] Surroundings sensor system 4 may, for example, include camera sensors, LIDAR sensors, radar sensors and the like.

[0050] First vehicle 2 may receive data of a digital map from a vehicle-external control unit 8 or an external server unit. Vehicle-external control unit 8 may, for example, be configured as a cloud.

[0051] The data of the digital map serve first vehicle 2 for the implementation of localization functions and planning functions. To be able to optimize these functions of first vehicle 2, the data of the digital map include historical data sets and/or data regarding a locally customary behavior.

[0052] Such data of the locally customary behavior may be obtained from one or multiple second vehicle(s) 10. For example, second vehicles 10 may be employed as mapping vehicles, and may thus provide their trajectories and measured data to vehicle-external control unit 8.

[0053] Vehicle-external control unit 8 may create digital maps, based on the measured data and trajectories of second vehicles 10, and ascertain data of the locally customary behavior from the historical data sets or measured data of second vehicles 10.

[0054] Based on the received data regarding the locally customary behavior, first vehicle 2 may implement a verification or check of the digital map or of a third vehicle 12 or of a road user.

[0055] For example, control unit 6 of first vehicle 2 may check whether a road user 12 is driving corresponding to the locally customary behavior or deviates from this behavior. If a deviation is established, road user 12 may be classified as a special purpose vehicle or as an exception. Based on such a classification of the at least one road user 12, a driving style of first vehicle 2 may be set as more cautious by control unit 6.

[0056] First vehicle 2, second vehicle 10, and third vehicle 12 may also each appear in a plurality and are not limited to a specific number.

[0057] FIG. 2 shows a schematic flow chart for illustrating a utilization 14 of locally customary behavior in a digital map. The mapping of the digital map may, for example, take place by vehicle-external control unit 8.

[0058] In a step 16, measured data are received from at least one or multiple second vehicle(s) 10 and locally oriented. In subsequent steps, a creation of a planning level 18 and the creation of a localization level 20 take place.

[0059] A behavior level 22 is created during the mapping, in parallel to the creation of the planning level 18 and the creation of the localization level 20.

[0060] The digital map thus receives a new layer in which the historical behavior of second vehicles 10 is stored. The historical behavior corresponds to the locally customary behavior and may be utilized 24 for improving the mapping. During the utilization 24, the locally customary behavior or the data of the locally customary behavior may be used to detect, and subsequently correct, errors and deviations in the mapping and the locally oriented measured data of second vehicles 10.

[0061] The locally customary behavior is stored in a behavior level 26, in parallel to a planning level 28 and a localization level 30, in digital map K.

[0062] FIG. 3 shows a schematic flowchart for illustrating a method 32 for utilizing observed locally customary behavior from historical data sets according to one specific embodiment. Method 32 is used to utilize observed locally customary behavior from historical data sets in vehicle surroundings 1 and may be carried out by a vehicle-external control unit 8 or a vehicle-side control unit 6.

[0063] In a step 34, historical data sets of vehicle trajectories of at least one first vehicle 2 and/or at least one second vehicle 10 are received. The historical data set may, in principle, be received or ascertained by all available road users 2, 10, 12.

[0064] A locally customary behavior of the at least one first vehicle 2 and/or of the at least one second vehicle 10 is ascertained 36 from the historical data sets.

[0065] In a further step 38, a registered behavior of first vehicle 2, of at least one third vehicle 12 or digital map K is checked for deviations, based on the ascertained locally customary behavior.

[0066] Thereafter, when a deviation of the locally customary behavior from a registered behavior of first vehicle 2, a registered behavior of a third vehicle 12, or a deviation of the locally customary behavior from digital map K is established, the execution of at least one function 40 is initiated.