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

Abstract

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.

Claims

1-13. (canceled)

14. 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 road user and the at least one further road user being linked to one another via the communication network, the road user including an evaluation unit configured to evaluate communication data received via the communication network and/or sensor data generated by a sensor system for detecting surroundings of the road user, and to transfer maneuver messages via the communication network, the method comprising the following steps: receiving the communication data and/or the sensor data in the evaluation unit; determining at least one 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 at least one 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; and based on determining the at least one possible trajectory is to be included in the maneuver message, generating the maneuver message including the at least one possible trajectory, and sending the maneuver message via the communication network.

15. The method as recited in claim 14, wherein: costs, which indicate a benefit of the at least one possible trajectory for the road user, are determined, the trajectory transfer priority being calculated from the costs; and/or a data volume which is assigned to the at least one possible trajectory, is determined, the trajectory transfer priority being calculated from the data volume; and/or a waiting period since a last time a maneuver message with respect to the at least one possible trajectory was sent is determined, the trajectory transfer priority being calculated from the waiting period; and/or the at least one possible trajectory is assigned to a maneuver class made up of multiple different maneuver classes having different maneuver priorities, the trajectory transfer priority being calculated from the maneuver priority of the maneuver class assigned to the at least one possible trajectory.

16. The method as recited in claim 14, wherein objects in the surroundings of the road user are recognized based on the communication data and/or the sensor data, the at least one possible trajectory being determined as a function of the recognized objects.

17. The method as recited in claim 16, wherein: at least one object trajectory is determined for at least one recognized object; it being determined, based on the object trajectories, whether the at least one possible trajectory is collision-free; and when the at least one possible trajectory is collision-free: (i) determining a minimum trajectory distance between the at least one possible trajectory and the object trajectories, and (ii) calculating the trajectory transfer priority from the minimum trajectory distance; and/or when the at least one possible trajectory is not collision-free: (i) determining a shortest time period until a possible collision of the road user based on the at least one possible trajectory and at least one trajectory with which the at least one possible trajectory collides, and (ii) calculating the trajectory transfer priority from the shortest time period until a possible collision of the road user.

18. The method as recited in claim 17, wherein: a relative velocity and/or a relative acceleration between the at least one possible trajectory and the object trajectories is calculated; the trajectory transfer priority is calculated from the relative velocity and/or the relative acceleration.

19. The method as recited in claim 16, wherein: multiple possible trajectories of the road user are determined as a function of the recognized objects; costs, which indicate a benefit of the possible trajectory for the road user, is determined for each of the possible trajectories; based on the object trajectories, at least one object trajectory is determined for each of the recognized objects; based on the object trajectories, it is determined, whether the possible trajectories are collision-free; based on the costs and based on whether the possible trajectories are collision-free, the possible trajectories are divided into reference trajectories and/or needs trajectories and/or alternative trajectories, the reference trajectories being collision-free, the needs trajectories not being collision-free and having lower costs than the reference trajectories, and the alternative trajectories not being collision-free and having higher costs than the reference trajectories; and higher trajectory transfer priorities are calculated for the reference trajectories than for the needs trajectories and the alternative trajectories.

20. The method as recited in claim 19, wherein: a ratio of a number of the needs trajectories and a number of the alternative trajectories is calculated; the ratio is compared to a comparative value; when the ratio is greater than the comparative value: calculating higher trajectory transfer priorities for the alternative trajectories than for the needs trajectories, and/or when the ratio is smaller than the comparative value: calculating higher trajectory transfer priorities for the needs trajectories than for the alternative trajectories.

21. The method as recited in claim 14, wherein: multiple further trajectories sent from the further road users via the communication network are received in the evaluation unit; based on the further trajectories, a type and/or number of trajectories colliding with the at least one possible trajectory are determined; and the trajectory transfer priority is calculated from the type and/or number of the trajectories colliding with the at least one possible trajectory.

22. The method as recited in claim 21, wherein: multiple possible trajectories of the road user are determined as a function of the recognized objects; costs, which indicate a benefit of the possible trajectory for the road user, is determined for each of the possible trajectories; based on the object trajectories, at least one object trajectory is determined for each of the recognized objects; based on the object trajectories, it is determined, whether the possible trajectories are collision-free; based on the costs and based on whether the possible trajectories are collision-free, the possible trajectories are divided into reference trajectories and/or needs trajectories and/or alternative trajectories, the reference trajectories being collision-free, the needs trajectories not being collision-free and having lower costs than the reference trajectories, and the alternative trajectories not being collision-free and having higher costs than the reference trajectories; higher trajectory transfer priorities are calculated for the reference trajectories than for the needs trajectories and the alternative trajectories; the further trajectories encompass reference trajectories and/or needs trajectories and/or alternative trajectories; and the trajectory transfer priority is calculated from a number of the reference trajectories, and/or a number of the needs trajectories and/or a number of the alternative trajectories.

23. The method as recited in claim 14, wherein: at least one additional possible trajectory of the road user is determined based on the communication data and/or the sensor data; at least one additional trajectory parameter describing a property of the additional possible trajectory is ascertained; an additional trajectory transfer priority is calculated from the additional trajectory parameter, the additional trajectory transfer priority representing a relevance of the additional possible trajectory for the road user and/or the further road user; the trajectory transfer priority and the additional trajectory transfer priority are compared to one another; when the additional trajectory transfer priority is greater than the trajectory transfer priority: determining a minimum deviation between the possible trajectory and the additional possible trajectory, and recalculating the trajectory transfer priority based on the minimum deviation.

24. An evaluation unit, configured to providing a maneuver message for coordinating a maneuver between a road user and at least one further road user in a communication network, the road user and the at least one further road user being linked to one another via the communication network, the road user including the evaluation unit which is configured to evaluate communication data received via the communication network and/or sensor data generated by a sensor system for detecting surroundings of the road user, and to transfer maneuver messages via the communication network, the evaluation unit configured to: receive the communication data and/or the sensor data in the evaluation unit; determine at least one 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 at least one possible trajectory being ascertained; calculate 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; determine, based on the trajectory transfer priority, whether the at least one possible trajectory is to be included in a maneuver message; and based on determining the at least one possible trajectory is to be included in the maneuver message, generate the maneuver message including the at least one possible trajectory, and sending the maneuver message via the communication network.

25. A non-transitory computer-readable medium on which is stored a computer program 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 road user and the at least one further road user being linked to one another via the communication network, the road user including an evaluation unit configured to evaluate communication data received via the communication network and/or sensor data generated by a sensor system for detecting surroundings of the road user, and to transfer maneuver messages via the communication network, the computer program, when executed by a processor, causing the processor to perform the following steps: receiving the communication data and/or the sensor data in the evaluation unit; determining at least one 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 at least one 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; and based on determining the at least one possible trajectory is to be included in the maneuver message, generating the maneuver message including the at least one possible trajectory, and sending the maneuver message via the communication network.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Specific embodiments of the present invention are described hereafter with reference to the figures; neither the figures nor the description should be interpreted as limiting the present invention.

[0039] FIG. 1 schematically shows a vehicle including an evaluation unit according to one exemplary embodiment of the present invention.

[0040] FIG. 2 shows a flowchart of a method according to one exemplary embodiment of the present invention.

[0041] FIG. 3 schematically shows a maneuver coordination based on the method from FIG. 2.

[0042] The figures are only schematic representations and are not true to scale. Identical reference numerals denote identical or equally acting features in the figures.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0043] FIG. 1 shows a vehicle 100 including an evaluation unit 102, which is connected to a sensor system 104 of vehicle 100, to process sensor data 106 generated by sensor system 104. Sensor system 104 is designed to monitor surroundings of vehicle 100. Sensor system 104 is implemented as a camera here by way of example. However, sensor system 104 may also include multiple, different sensor units. In this way, sensor system 104, in addition or as an alternative to a camera, may, for example, include at least one radar sensor, LIDAR sensor or ultrasonic sensor or a V2X communication system.

[0044] Furthermore, evaluation unit 102 is connected to an actuator system 108 of vehicle 100. Actuator system 108 may, for example, encompass a steering or brake actuator or an actuator for engine control. Evaluation unit 102 may be designed to generate, based on sensor data 106, a control signal 110 for activating actuator system 108 in order to control, i.e., to steer, to decelerate, to accelerate, vehicle 100 in an automated manner or to navigate it according to a predefined route in a digital map. In addition or as an alternative, evaluation unit 102 may be designed to generate a signal for driver information based on sensor data 106.

[0045] Evaluation unit 102 includes an evaluation module 112 and a communication module 114 which is connected to the evaluation module and configured to transfer data via a communication network. The communication network links vehicle 100 to further vehicles 116, 118, for example via a wireless communication link. Modules 112, 114 may be implemented as hardware and/or software.

[0046] Evaluation module 112 is configured to receive sensor data 106 from sensor system 104, and to process and evaluate these data for recognizing objects in the surroundings of vehicle 100. In this example, evaluation module 112, based on sensor data 106, recognizes further vehicles 116, 118. For example, evaluation module 112 recognizes a respective position, velocity, and object class of further vehicles 116, 118. Taking these positions, velocities, and object classes into consideration, evaluation module 112 furthermore calculates at least one possible trajectory of vehicle 100, at least one trajectory parameter, which describes a property of the possible trajectory in greater detail, being determined. Based on the trajectory parameter, evaluation module 112 calculates a trajectory transfer priority p.sub.t, which indicates how relevant, for example how useful, the possible trajectory is for vehicle 100, or also for further vehicles 116, 118. Depending on the level of the trajectory transfer priority p.sub.t, evaluation module 112 determines whether or not the possible trajectory is to be included in a list of trajectories to be transferred. As an alternative, the list of trajectories including priority values is transferred to communication module 114, and communication module 114 decides, for example based on the channel load, how many and which trajectories are actually sent. From the finished list, communication module 114 finally creates a maneuver message 120 and sends it via the communication network to further vehicles 116, 118. These may be configured similarly to vehicle 100 to recognize their respective surroundings with the aid of sensors and, in turn, to send corresponding maneuver messages 120 via the communication network. With the aid of maneuver messages 120, for example, a maneuver between vehicles 100, 116, 118 may be coordinated, as is illustrated by way of example in FIG. 3 based on vehicles 100, 116.

[0047] FIG. 2 shows a flowchart of a method 200 which may be carried out, for example, by evaluation unit 102 from FIG. 1.

[0048] In the process, in a first step 210, sensor data 106 are received.

[0049] In a second step 220, an object recognition is carried out based on sensor data 106.

[0050] In a third step 230, at least one possible trajectory of vehicle 100 is calculated based on the recognized objects. In the process, at least one of the following trajectory parameters with respect to the calculated trajectory is determined: costs C.sub.t of the possible trajectory, data volume D.sub.t which is required to describe the possible trajectory, waiting period Δt since the last time a maneuver message with respect to the possible trajectory was sent, maneuver priority p.sub.m of a maneuver class assigned to the possible trajectory, shortest time period TTC until a possible collision of the possible trajectory with other trajectories, minimum trajectory distance d.sub.min between the possible trajectory and other trajectories and/or maximum distance of at least one variable {dot over (d)}.sub.max,{umlaut over (d)}.sub.max derived therefrom, type and/or number n of the possible trajectories, type and/or number X of received trajectories, minimum deviation Δ.sub.min of the possible trajectory from other possible trajectories having a higher trajectory transfer priority p.sub.t.

[0051] In a fourth step 240, trajectory transfer priority p.sub.t with respect to the possible trajectory is determined based on the at least one trajectory parameter.

[0052] In a fifth step 250, it is determined based on trajectory transfer priority p.sub.t whether or not the possible trajectory is to be the subject matter of a maneuver message.

[0053] If so, the possible trajectory is adopted into a list of trajectories to be transferred in a step 260a. Maneuver message 120 is then generated from this list.

[0054] If not, the possible trajectory is excluded from the list of trajectories to be transferred in a step 260b. Maneuver message 120 is then, for example, generated without the trajectory.

[0055] For example, it is possible that a trajectory planner of vehicle 100 provides various possible trajectories including their respective costs C.sub.t. For each trajectory, a trajectory transfer priority p.sub.t is calculated, which depends, among other things, on the following criteria or parameters.

[0056] 1. How High are Costs C.sub.t of the Trajectory?

[0057] Costs C.sub.t for each trajectory are estimated by a maneuver planner, for example. The lower costs C.sub.t, the greater is a benefit of the trajectory, and the greater is its trajectory transfer priority p.sub.t:

[00001]$p_t|\frac{\partial p_t\left(C_t\right)}{\partial C_t}\le 0$

[0058] In other words, trajectory transfer priority p.sub.t is selected in such a way that it decreases, or does not further increase, with increasing costs C.sub.t of the trajectory, with conditions otherwise remaining the same.

[0059] 2. What Type of Trajectory is It?

[0060] Based on their respective costs C.sub.t and based on whether the possible trajectories are collision-free, the trajectories may be divided into reference trajectories, needs trajectories and alternative trajectories, as was already described above.

[0061] Reference trajectories (ref) should always be transferred. As a result, reference trajectories receive the highest trajectory transfer priority p.sub.t. Trajectory transfer priority p.sub.t of alternative trajectories (alt) and needs trajectories (req) are selected according to their ratio with respect to one another:

[00002]$p_t|p_t\left(ref\right)>\{\begin{array}{cc}{p}_t\left(alt\right)\ge p_t\left(req\right)& \frac{n_{req}}{n_{\mathrm{alt}}}\ge \mathrm{equilibrium}\mathrm{constant}\\ p_t\left(req\right)>p_t\left(alt\right)& \frac{n_{req}}{n_{\mathrm{alt}}}<\mathrm{equilibrium}\mathrm{constant}\end{array}$

[0062] In other words, trajectory transfer priority p.sub.t is selected in such a way that reference trajectories have a higher trajectory transfer priority p.sub.t than alternative and needs trajectories, with conditions otherwise remaining the same. In the process, alternative trajectories have a transfer priority which is at least as high as needs trajectories when a ratio between a number n.sub.req of the needs trajectories and a number n.sub.alt of the alternative trajectories is greater than or equal to a certain equilibrium constant. If the ratio is smaller than the equilibrium constant, conversely the needs trajectories have a higher transfer priority than the alternative trajectories.

[0063] 3. What Data Volume is Required for Describing the Trajectory?

[0064] The higher the degree of detail with which a trajectory is described, the higher is, in general, a channel load caused thereby. For example, it is possible that, at a low channel load, all trajectories are transferred, regardless of their respective trajectory transfer priority p.sub.t. In the case of a high channel load, trajectory transfer priority p.sub.t of high-load trajectories may be reduced to reduce the channel load. In other words, the higher a data volume D.sub.t which is required for describing a trajectory, the lower a trajectory transfer priority p.sub.t may be selected:

[00003]$p_t|\frac{\partial p_t\left(D_t\right)}{\partial D_t}\le 0$

[0065] In other words, trajectory transfer priority p.sub.t decreases, or does not further increase, with increasing data volume and with conditions otherwise remaining the same.

[0066] 4. How Much Time has Elapsed Since the Last Transfer of the Trajectory?

[0067] The longer the neighboring vehicles 116, 118 are not informed about a relevant trajectory, the higher trajectory transfer priority p.sub.t in this regard should be:

[00004]$p_t|\frac{\partial p_t\left(\Delta t\right)}{\partial \Delta t}\ge 0$

[0068] In other words, trajectory transfer priority p.sub.t increases with increasing temporal distance Δt with respect to the last transfer, with conditions otherwise remaining the same.

[0069] 5. How Relevant is the Trajectory for Other Vehicles when the Trajectory is Collision-Free?

[0070] Trajectory transfer priority p.sub.t may be calculated as a function of states of other vehicles 116, 118 relative to the trajectory. Trajectories which extend at a smaller distance d.sub.min(t) with respect to other vehicles 116, 118 receive an accordingly higher trajectory transfer priority p.sub.t. Distance d.sub.min(t) may be defined as the minimum distance between future positions of objects in the surroundings model of vehicle 100 and of the considered trajectory for each time step of a relevant time period in the future. First and higher order derivatives of d.sub.min(t), which influence the risk of a collision of the vehicle with other objects, are also taken into consideration, such as, for example, a relative velocity d.sub.min or a relative acceleration d.sub.min:

[00005]$p_t|\frac{\partial p_t\left(d_{\min }\left(t\right)\right)}{\partial d_{\min }}\ge 0\wedge \frac{\partial p_t\left({\stackrel{.}{d}}_{\min }\left(t\right)\right)}{\partial {\stackrel{.}{d}}_{\min }}\ge 0\wedge \frac{\partial p_t\left({\stackrel{.Math.}{d}}_{\min }\left(t\right)\right)}{\partial {\stackrel{.Math.}{d}}_{\min }}\ge 0\wedge .Math.$

[0071] In other words, the smaller an (expected) minimum distance between ego-vehicle 100 which follows the trajectory and all other road users, the higher trajectory transfer priority P.sub.t, with conditions otherwise remaining the same. Furthermore, trajectory transfer priority p.sub.t is selected in such a way that, with conditions otherwise remaining the same, it increases, or does not decrease with increasing maximum relative velocity and/or increasing variables derived therefrom.

[0072] 6. How Much Time is Available for a Maneuver Coordination when the Trajectory Collides with at Least One Trajectory of Another Vehicle?

[0073] For this purpose, the shortest time until a collision, also referred to as time to collision or TTC, between the trajectory and all other colliding trajectories is ascertained. The shorter the time until the collision, the higher trajectory transfer priority p.sub.t:

[00006]$p_t|\frac{\partial p_t\left(TTC\right)}{\partial TTC}\le 0$

[0074] In other words, trajectory transfer priority p.sub.t decreases, or does not increase, with increasing time until the collision, with conditions otherwise remaining the same.

[0075] 7. How Many Trajectories of which Trajectory Type Collide with the Trajectory?

[0076] Trajectory transfer priority p.sub.r of the considered trajectory is not only dependent on its own trajectory type, but also on a number and type of trajectories colliding therewith. If the trajectory, for example, collides with one reference trajectory (x.sub.ref=1), two needs trajectories (x.sub.reg=2) and one alternative trajectory (x.sub.alt=1), which are transferred from other vehicles 116, 118 to vehicle 100, the trajectory receives a higher trajectory transfer priority p.sub.t than if it only collided with one alternative trajectory (x.sub.alt=1). In general, collisions with reference trajectories have a greater impact, or at least the same impact, on trajectory transfer priority p.sub.t than collisions with alternative and needs trajectories. Furthermore, the greater the number of collisions with trajectories of a certain trajectory type, the higher is trajectory transfer priority p.sub.t:

[00007]$p_t|\frac{\partial p_t\left(x_{\mathrm{ref}}\right)}{\partial x_{\mathrm{ref}}}\ge \left\{\begin{array}{c}\frac{\partial p_t\left(x_{\mathrm{req}}\right)}{\partial x_{\mathrm{req}}}\\ \frac{\partial p_t\left(x_{\mathrm{alt}}\right)}{\partial x_{\mathrm{alt}}}\end{array}\right\}\ge 0$

[0077] In other words, trajectory transfer priority p.sub.t increases with an increasing number of collisions with alternative or needs trajectories. Trajectory transfer priority p.sub.t also increases with the increasing number of collisions with reference trajectories, the influence of the reference trajectories on trajectory transfer priority p.sub.t being at least as great as the influence of the alternative or needs trajectories.

[0078] 8. Which Maneuver Class is Described by the Trajectory?

[0079] A maneuver which is based on the trajectory may be assigned to a certain maneuver class having a maneuver priority p.sub.m. With conditions otherwise remaining the same, trajectory transfer priority p.sub.t increases with increasing maneuver priority p.sub.m:

[00008]$p_t|\frac{\partial p_t\left(p_m\right)}{\partial p_m}\ge 0$

[0080] 9. How does the Trajectory Differ from Trajectories Having Higher Trajectory Transfer Priorities p.sub.t?

[0081] In the context of a cooperation between multiple vehicles, it is generally not very useful when a trajectory is transferred which approximately describes the same future states as other trajectories having a higher trajectory transfer priority p.sub.t than when an unambiguous trajectory is transferred. When multiple trajectories are similar, the trajectory having the greatest trajectory transfer priority T.sub.max among them is identified. Trajectory transfer priority p.sub.t is then reduced for all similar trajectories, except for T.sub.max The smaller difference Δ.sub.min of the trajectory to T.sub.max, the lower is trajectory transfer priority p.sub.t.

[00009]$p_t|\frac{\partial p_t\left({\Delta }_{\min }\right)}{\partial {\Delta }_{\min }}\ge 0$

[0082] In other words, with increasing deviation from all other trajectories to be transferred, trajectory transfer priority p.sub.t increases, with conditions otherwise remaining the same.

[0083] The list of trajectories including their respective trajectory transfer priorities p.sub.t is transferred, for example periodically, to a priority-based DCC protocol in communication module 114, which, as a function of trajectory transfer priorities p.sub.t and a current channel utilization, selects which trajectories are to be transferred in maneuver message 120.

[0084] If, due to high channel utilization, for example, it should only be possible to transfer one reference trajectory, the other vehicles 116, 118 may be informed about this. For example, other vehicles 116, 118 may then receive a piece of information that vehicle 100 is planning a maneuver and that, even though needs trajectories are available, these cannot be transferred due to high channel utilization.

[0085] FIG. 3, by way of example, shows a maneuver coordination between the two vehicles 100, 116 from FIG. 1. Each of the vehicles is equipped with sensor system 104 and evaluation unit 102. Possible trajectories of the vehicles are denoted by solid lines. The respective costs of the possible trajectories are represented as a positive or negative decimal number.

[0086] At a point in time A, vehicle 100 sends a reference trajectory 300 and two alternative trajectories 301, 302. Further vehicle 116 is in the process of entering an expressway on which vehicle 100 is situated. The entering vehicle 116 sends a reference trajectory 303.

[0087] At a point in time B, the entering vehicle 116 recognizes a cooperation need and accordingly calculates and sends two needs trajectories 304, 305, which are collision-free with respect to alternative trajectories 301, 302 send by vehicle 100.

[0088] At a point in time C, vehicle 100 accepts needs trajectory 305 having the lowest costs and accordingly adapts its reference trajectory 300. The entering vehicle 116 selects needs trajectory 305 as its new reference trajectory.

[0089] The described trajectories are, for example, transferred in maneuver messages 120, as they may be generated with the aid of the method from FIG. 2.

[0090] In closing, it shall be pointed out that terms such as “including,” “having,” etc. do not exclude other elements or steps, and that terms such as “a” or “an” do not exclude a plurality.