CONTROL OF A MOTOR VEHICLE IN THE EVENT OF PARTIAL FIELD-OF-VIEW CONCEALMENT

Abstract

A method of automatically controlling a motor vehicle may involve generating environment data and the data being taken as a basis for determining a concealed region of a field of view. A reference point on a boundary between the concealed region and an unconcealed region of the field of view is determined, and at least two risk zones, each risk zone having the reference point as the centre, may be determined. A risk zone of the risk zones (Sa, Sb, Sc) may be assigned a risk characteristic, and the motor vehicle may be controlled on the basis of the risk characteristics.

Claims

1-15. (canceled)

16. A method to at least partially automatic control a motor vehicle, comprising: by an environmental sensor system of the motor vehicle, generating environmental data to represent surroundings of the motor vehicle; and by a processor, determining, based on the environmental data, a region of a field of view of the environmental sensor system concealed by at least one concealing object by, determining a reference point on a boundary between a concealed region and an unconcealed region of the field of view, and determining at least two risk zones, each risk zone of the at least two risk zones with a reference point as a center of the risk zone, and a respective risk value assigned to each risk zone of the at least two risk zones, so that the motor vehicle is controllable at least partially automatically depending on the respective risk value of each risk zone of the at least two risk zones.

17. The method according to claim 16, wherein, the respective risk value is assigned to each risk zone of the at least two risk zones by the processor depending on a respective minimum distance of each risk zone of the risk zones from the reference point.

18. The method according to claim 16, further comprising: determining, by the processor, a current risk zone of the at least two risk zones, wherein a position of the motor vehicle is situated within the current risk zone so that the motor vehicle is controllable at least partially automatically depending on the respective risk value assigned to the current risk zone.

19. The method according to claim 18, wherein the motor vehicle is controllable at least partially automatically according to a vehicle speed or vehicle maximum speed depending on the respective risk value of the current risk zone.

20. The method according to claim 16, further comprising: planning, by the processor, a trajectory for the motor vehicle depending on the at least two risk zones.

21. The method according to claim 20, further comprising: optimizing, by the processor, a cost function based on variations among potential trajectories for the motor vehicle to plan the trajectory, the cost function depending on the respective risk value of each risk zone of the at least two risk zones, through which a potential trajectory among the potential trajectories extends.

22. The method according to claim 16, wherein the at least two risk zones are continuously or periodically adapted by the processor depending on a change of a position of the motor vehicle.

23. The method according to claim 16, wherein the reference point is determined as a point on the boundary with minimum distance to the motor vehicle.

24. The method according to claim 16, further comprising: determining, by the processor, a point on the boundary with a minimum distance to the motor vehicle; and shifting, by the processor, the point on the boundary with the minimum distance depending on an expectable minimum extension of a potentially concealed object concealed by the at least one concealing object to determine the reference point.

25. The method according to claim 16, further comprising: reading, by the processor, map information from an electronic map to determine a respective size of each risk zone of the at least two risk zones depending on the map information.

26. An electronic vehicle guidance system, comprising an environmental sensor system configured to generate environmental data to represent surroundings of the environmental sensor system; and a first processor configured to, determine a region of a field of view of the environmental sensor system concealed by at least one concealing object, based on the environmental data, determine a reference point on a boundary between the concealed region and an unconcealed region of the field of view, and determine at least two risk zones, each risk zone of the at least two risk zones with the reference point as a center of the risk zone, and assigning a respective risk value to each risk zone of at least two risk zones; and a second processor configured to generate at least one control signal to control a motor vehicle at least partially automatically depending on the respective risk value of each risk zone of the at least two risk zones.

27. The electronic vehicle guidance system according to claim 26, wherein the environmental sensor system includes at least one system from among a camera system, a lidar system, a radar system, and an ultrasonic sensor system.

28. The electronic vehicle guidance system according to claim 26, wherein the first processor is configured to determine a current risk zone of the at least two risk zones with a position of the motor vehicle situated within the current risk zone, and the second processor is configured to determine the at least one control signal depending on the respective risk value assigned to the current risk zone; and/or the first processor is configured to plan a trajectory for the motor vehicle depending on the at least two risk zones.

29. A motor vehicle with an electronic vehicle guidance system according to claim 26.

30. A non-transitory computer readable medium with stored commands, which, upon execution by the first processor of the electronic vehicle guidance system according to claim 26, cause the electronic vehicle guidance system to execute a method comprising: generating environmental data to represent surroundings of the motor vehicle; and determining, based on the environmental data, a region of a field of view of the environmental sensor system concealed by at least one concealing object by, determining a reference point on a boundary between a concealed region and an unconcealed region of the field of view, and determining at least two risk zones, each risk zone of the at least two risk zones with a reference point as a center of the risk zone, and a respective risk value assigned to each risk zone of the at least two risk zones, so that the motor vehicle is controllable at least partially automatically depending on the respective risk value of each risk zone of the at least two risk zones.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0061] These and other aspects and advantages will become more apparent and more readily appreciated from the following description of the examples, taken in conjunction with the accompanying drawings of which:

[0062] FIG. 1 is a schematic representation of a motor vehicle with an example of an electronic vehicle guidance system according to the improved concept;

[0063] FIG. 2 is a schematic representation for defining vehicle speeds for risk zones according to an example of a method according to the improved concept;

[0064] FIG. 3A is a schematic representation of a situation according to a further example of a method according to the improved concept;

[0065] FIG. 3B is a schematic representation of a further situation according to a further example of a method according to the improved concept;

[0066] FIG. 3C is a schematic representation of a further situation according to a further example of a method according to the improved concept;

[0067] FIG. 4 is a schematic representation of a further situation according to a further exemplary embodiment of a method according to the improved concept;

[0068] FIG. 5A is a schematic representation of a further situation according to a further example of a method according to the improved concept;

[0069] FIG. 5B is a schematic representation of a further situation according to a further example of a method according to the improved concept; and

[0070] FIG. 5C is a schematic representation of a further situation according to a further example of a method according to the improved concept.

DESCRIPTION

[0071] The examples explained in the following are examples of the invention. In the examples, the described components each represent individual features to be considered independently of each other, which also each develop the examples independently of each other and thereby are also to be considered as a constituent of the invention in individual manner or in a combination different from the shown one. Furthermore, the described examples can also be supplemented by further ones of the already described features of the examples.

[0072] In the figures, functionally identical elements are each provided with the same reference characters.

[0073] In FIG. 1, a motor vehicle 1 is schematically illustrated, which includes an electronic vehicle guidance system 2 according to an example. The vehicle guidance system 2 contains an environmental sensor system 3, for example a camera system, a lidar system and/or a radar system, as well as a computing unit 4 connected to the environmental sensor system 3. The computing unit 4 may for example be a computer processor or a computer that includes a processor, which can for example be configured as an electronic control appliance of the motor vehicle 1 or include such one.

[0074] The environmental sensor system 3 generates environmental data to image the surroundings of the motor vehicle 1 and communicates the environmental data to the computing unit 4. In the example situation of FIG. 1, an object 5, for example a building wall, is located in the field of view of the environmental sensor system 3. The environmental data includes corresponding information, which represents the object 5, such that the computing unit 4 can identify a line of sight 10, for example based on a ray model or the like, which separates a region 6 concealed by the object 5 from an unconcealed region 6 of the field of view. In addition, the computing unit 4 is configured to identify a reference point 7 on the line of sight 10, which functions as a center for two or more risk zones 8a, 8b, 8c. The computing unit 4 defines two or more risk zones 8a, 8b, 8c as concentric geometric shapes, for example concentric circles and circular rings, with the reference point 7 as the circle central point or circular ring central point.

[0075] In the present, non-restricting example of FIG. 1, the computing unit 4 for example defines a first risk zone 8a, which corresponds to a circle with the reference point 7 as the circle central point, a second risk zone 8b, which corresponds to a circular ring adjoining to the first risk zone 8a, and a third risk zone 8c, which corresponds to a further circular ring adjoining to the second risk zone 8b. In other words, the first risk zone 8a includes the reference point 7, while the second and third risk zones 8b, 8c each have a minimum distance from the reference point 7, which corresponds to an inner radius of the respective circular ring.

[0076] A corresponding characteristic risk value is assigned to each of the risk zones 8a, 8b, 8c by the computing unit 4. For example, the characteristic risk value 1 can be assigned to the first risk zone 8a, corresponding to a maximum risk of collision with an object 9 possibly located in the concealed region 6. The characteristic risk value 2 can be assigned to the second risk zone 8b, which represents a risk lower compared to the characteristic risk value 1. A characteristic risk value of 3 can be assigned to the third risk zone 8c, which represents a risk further reduced with respect to the characteristic risk value 2.

[0077] In the example of FIG. 1, the reference point 7 can for example correspond to that point on the line of sight 10, which is closest to the motor vehicle 1 and therein still immediately adjoins to the concealed region 6. Here, the reference point 7 is also the location, at which the shortest longitudinal distance of an object from the concealment to the motor vehicle 1 would be if such an object would emerge from the concealment.

[0078] The electronic vehicle guidance system 2, for example, a control unit of the electronic vehicle guidance system 2 or of the computing unit 4, generates one or more control signals for at least partially automatic control of the motor vehicle 1 based on the characteristic risk values of the risk zones 8a, 8b, 8c. The control unit may be a computer processor or a computer that includes a processor.

[0079] Therein, the motor vehicle 1 can for example be fully automatically controlled, wherein a trajectory 12, 12 of the motor vehicle leads through one or more of the risk zones 8a, 8b, 8c. In such embodiments, the motor vehicle 1 can be moved with a respective speed, which differs from each other in the different risk zones 8a, 8b, 8c. The higher the risk for a potential collision in the corresponding risk zone 8a, 8b, 8c, the lower the speed of the motor vehicle 1. Thus, the motor vehicle 1 can for example enter the third risk zone 8c according to the trajectory 12 indicated by an arrow and reduce the speed to a corresponding speed. If the motor vehicle 1 enters the second risk zone 8b, thus, the speed is further reduced, and it is again further reduced upon entering the first risk zone 8a.

[0080] Alternatively or additionally to the speed adaptation, the vehicle could also be guided according to an adapted trajectory 12 such that a larger lateral distance to the concealed region 6 and the reference point 7 can be complied with.

[0081] In FIG. 2, a possibility of defining the corresponding speeds for the individual risk zones 8a, 8b, 8c is schematically outlined. On the abscissa, a distance d is plotted in FIG. 2, on the ordinate the speed v of the motor vehicle 1. Further, three curves are drawn in FIG. 2, wherein the left curve represents the braking distance d1 of the motor vehicle 1 as a function of the speed v. The middle curve is a line through origin and for example represents an estimated value for a path d2, which the concealed object 9 would travel during the braking operation of the vehicle 1. The right curve considers the traveled path d3 of the motor vehicle 1 or of the object 9 due to a delay or reaction time. For a given extension of the risk zones 8a, 8b, 8c, for example for a given outer radius, thus, a possible specification for the speed v for the motor vehicle 1 of the corresponding risk zone 8a, 8b, 8c can be determined based on the third curve. However, the determination according to FIG. 2 is not necessarily required and can be replaced with other suitable definitions of the speed for the motor vehicle 1.

[0082] FIG. 3A, FIG. 3B and FIG. 3C each schematically show the motor vehicle 1 in different possible situations, in which the vehicle guidance system 2 according to the described examples and a method according to the described examples, respectively, can be applied. In FIG. 3A, the motor vehicle 1 drives on a road towards a second road joining the road from the right, which is partially concealed by the object 5, and wherein a person 9 is located in the concealed region 6. In FIG. 3B, a similar situation is illustrated, wherein a motor vehicle is located in the concealed region 6, which is about to enter the road, on which the motor vehicle 1 moves. In FIG. 3C, the motor vehicle 1 is on a parking lot, wherein the object 5 is a further motor vehicle, which conceals a region 6 located behind, in which there is for example a person 9.

[0083] In FIG. 4, a situation is illustrated, which largely corresponds to that from FIG. 1, wherein the concealed object 9 in FIG. 1 is for example a person, while the concealed object 9 in FIG. 4 is represented as a further motor vehicle. While in case of a person as the concealed object 9, it cannot be excluded that the person is located immediately behind the concealing object 5, this is improbable for the situation of FIG. 4, in particular in case of right-hand traffic. In particular, a further lane can be located between the further motor vehicle 9 of FIG. 4 and the motor vehicle 1, such that the distance between the concealing object 5 and the concealed further motor vehicle 1 is relatively high. The computing unit 4 can retrieve this information relating to the lane for example based on digital map material. By use of this information, the computing unit 4 can reduce the extension of the risk zones 8a, 8b, 8c for example compared to the risk zones 8a, 8b, 8c of FIG. 1, since enough space is still available for decelerating or evading in case of doubt.

[0084] The computing unit 4 can also dynamically change the reference point 7 depending on the position of the motor vehicle 1, as it is schematically illustrated in FIG. 5A to FIG. 5C. Thereto, the computing unit 4 can for example assume a minimum extension of the concealed object 9. The concealed object 9 can for example be imaged based on a so-called bounding box, as it is usual in context of machine perception. If the angle , which the line of sight 10 includes with the concealing object 5, is known, for example from the map information, thus, a region can be identified, which is concealed, but in which an object with a size, which corresponds to or is larger than the minimum extension, cannot be located without protruding into the unconcealed region 6. Accordingly, the computing unit 4 can shift the position of the reference point 7 along the line of sight 10, as schematically illustrated in FIG. 5B, such that the influence of the risk zones 8a, 8b, 8c on the control of the motor vehicle 1 is minimized without significantly increasing the risk of a collision.

[0085] Alternatively, the position of the reference point 7 cannot be shifted along the line of sight 10, but along a virtual orthogonal 11. Thereto, the computing unit 4 can identify an edge of the concealing object 5 for example based on the environmental data of the environmental sensor system 3. The virtual orthogonal 11 is then in particular orthogonal to the edge.

[0086] Alternatively or additionally to the adaptation of the speed of the motor vehicle 1 in passing the risk zones 8a, 8b, 8c, the computing unit 4 can consider the characteristic risk values of the risk zones 8a, 8b, 8c in the trajectory planning for the motor vehicle 1, in particular in case of a fully autonomous motor vehicle 1. In such examples, the characteristic risk values of the risk zones 8a, 8b, 8c can be taken into account via a cost function, which is optimized for planning the trajectory. Thereby, trajectories, which lead through risk zones 8a, 8b, 8c, become the more improbable, the lower the characteristic risk value is, thus the greater the risk for a collision is.

[0087] As in particular described with reference to the figures, the described examples allow partially or completely automatically guiding motor vehicles in case of a partially concealed viewing range of the environmental sensor system, wherein the influence of the partial concealment of the viewing range on the control of the motor vehicle can be minimized to increase the driving performance with high safety at the same time. Sight concealments are identified by the environmental sensor system of the motor vehicle itself, in particular depending on the respective vehicle site, and considered in the vehicle guidance, for example in the trajectory planning, for increasing the safety.

[0088] By various examples of the improved concept, a particularly high extent of safety may be achieved in that the trajectory for the motor vehicle can be adapted and optionally more distance to the concealed region can be laterally complied with.

[0089] A description has been provided with particular reference to examples, but it will be understood that variations and modifications can be effected within the spirit and scope of the claims, which may include the phrase at least one of A, B and C as an alternative expression that refers to one or more of A, B or C, contrary to the holding in Superguide v. DIRECTV, 358 F3d 870, 69 USPQ2d 1865 (Fed. Cir. 2004).

LIST OF REFERENCE CHARACTERS

[0090] 1 Motor vehicle [0091] 2 electronic vehicle guidance system [0092] 3 environmental sensor system [0093] 4 computing unit [0094] 5 concealing object [0095] 6 concealed region [0096] 6 unconcealed region [0097] 7 reference point [0098] 8a, 8b, 8c risk zones [0099] 9 concealed object [0100] 10 line of sight