METHOD FOR OPERATING AN AUTONOMOUS DRIVING FUNCTION OF A VEHICLE

Abstract

A method for operating an autonomous driving function of a vehicle. The vehicle includes a computer unit and sensors for detecting surroundings data. The computer unit is configured to determine a setpoint trajectory for the vehicle, based on the detected surroundings data. In step a), an actual trajectory, and distances from objects in the surroundings, are detected. In step b), an ascertainment of the quality of the autonomous driving function takes place by comparing the actual trajectory to the setpoint trajectory and monitoring the detected distances from objects in the surroundings. In step c), a control of the quality to a predefined target value takes place by selecting sensors to be used for the autonomous driving function from the plurality of sensors and/or by changing a measuring rate, at which measurements are carried out, of at least one sensor from the plurality of sensors.

Claims

1-10. (canceled)

11. A method for operating an autonomous driving function of a vehicle, the vehicle including a computer unit and a plurality of sensors configured to detect surroundings data, and the computer unit being configured to determine a setpoint trajectory, along which the vehicle is guided, based on the detected surroundings data, the method comprising the following steps: a) detecting an actual trajectory which depicts a path actually covered by the vehicle, and detecting distances from objects in the surroundings of the vehicle; b) ascertaining a quality of the autonomous driving function by comparing the actual trajectory to the setpoint trajectory and monitoring the detected distances from objects in the surroundings; and c) controlling the quality to a predefined target value by selecting sensors to be used for the autonomous driving function from the plurality of sensors and/or by changing a measuring rate, at which measurements are carried out, of at least one sensor of the plurality of sensors.

12. The method as recited in claim 11, wherein, taking at least one further parameter into consideration, at least one assessment factor is determined and taken into consideration during the selection of the sensors to be used and/or during the change of the measuring rate, the at least one further parameter being selected from: (i) a capacity utilization of the computer unit, and/or (ii) a traffic situation in which the vehicle is situated, (iii) a scenario in which the vehicle situated, and/or (iv) information about weather at the location of the vehicle.

13. The method as recited in claim 12, wherein the assessment factor is individually determined for each individual sensor of the plurality of sensors.

14. The method as recited in claim 11, wherein sensors which are not selected are switched off or transferred into a stand-by mode.

15. The method as recited in claim 11, wherein a processing rate of the computer unit for the surroundings data corresponds to the measuring rate and is adapted accordingly, or a processing rate of the surroundings data is constant and a multiple transfer of individual measured values is carried out during a reduction of the measuring rate.

16. The method as recited in claim 11, wherein the determination of the setpoint trajectory takes place using a first artificial intelligence model, which was obtained by machine learning.

17. The method as recited in claim 11, wherein the selection of sensors to be used and/or the change of a measuring rate takes place using a second artificial intelligence model, which was obtained by machine learning.

18. The method as recited in claim 11, wherein: (i) the determination of the setpoint trajectory, and (ii) the selection of sensors to be used and/or the change of a measuring rate, take place using a shared artificial intelligence model, which was obtained by machine learning.

19. A non-transitory computer-readable medium on which is stored a computer program for operating an autonomous driving function of a vehicle, the vehicle including a computer unit and a plurality of sensors configured to detect surroundings data, and the computer unit being configured to determine a setpoint trajectory, along which the vehicle is guided, based on the detected surroundings data, the computer program, when executed by a computer, causing the computer to perform the following steps: a) detecting an actual trajectory which depicts a path actually covered by the vehicle, and detecting distances from objects in the surroundings of the vehicle; b) ascertaining a quality of the autonomous driving function by comparing the actual trajectory to the setpoint trajectory and monitoring the detected distances from objects in the surroundings; and c) controlling the quality to a predefined target value by selecting sensors to be used for the autonomous driving function from the plurality of sensors and/or by changing a measuring rate, at which measurements are carried out, of at least one sensor of the plurality of sensors.

20. A vehicle, comprising: a computer unit; and a plurality of sensors configured to detect surroundings data; wherein the computer unit is configured to provide an autonomous driving function of the vehicle, the computer unit being configured to determine a setpoint trajectory, along which the vehicle is guided, based on the detected surroundings data, the computer unit being configured to: a) detect an actual trajectory which depicts s path actually covered by the vehicle, and detecting distances from objects in the surroundings of the vehicle; b) ascertain a quality of the autonomous driving function by comparing the actual trajectory to the setpoint trajectory and monitoring the detected distances from objects in the surroundings; and c) control the quality to a predefined target value by selecting sensors to be used for the autonomous driving function from the plurality of sensors and/or by changing a measuring rate, at which measurements are carried out, of at least one sensor of the plurality of sensors.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Exemplary embodiments of the present invention are described in greater detail based on the figures and the following description.

[0047] FIG. 1 schematically shows a vehicle including an autonomous driving function, in accordance with an example embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0048] The FIGURE only schematically represents the subject matter of the present invention.

[0049] FIG. 1 shows a vehicle 1 which includes a plurality of sensors 10 and a computer unit 30 for the provision of an autonomous driving function. The plurality of sensors 10 is connected to computer unit 30. Computer unit 30 is moreover connected to further systems of vehicle 1 to take over both a longitudinal guidance of vehicle 1, i.e., the acceleration and deceleration, and a lateral guidance of vehicle 1, i.e., the steering. In FIG. 1, this is laid out with the aid of a connection to a steering wheel 7 and to a pedal 8.

[0050] Vehicle 1 laid out in FIG. 1 includes various types of sensors 10. In the exemplary embodiment, two ultrasonic sensors 11 and a video camera 12 are situated at the front of vehicle 1. In addition, a LIDAR sensor 13 is situated on the roof of vehicle 1. Of course, more or fewer or also other sensors 10 may be provided.

[0051] To ascertain the present position of vehicle 1, a receiver 20 for a satellite navigation system is additionally provided, which is connected to computer unit 30. To support the position determination, preferably further data sources are also resorted to. For example, images of video camera 12 may be evaluated to identify landmarks in the surroundings of vehicle 1, and to determine the vehicle position even more precisely.

[0052] For providing an autonomous driving function, during which vehicle 1 is guided from a starting position to a target position without the intervention of a driver, computer unit 30 determines a setpoint trajectory 2. During the determination of setpoint trajectory 2, in particular, surroundings data of sensors 10 and the vehicle position determined, among other things, with the aid of receiver 20 are used.

[0053] Vehicle 1 is guided along the determined setpoint trajectory 2, the present vehicle position being relative to setpoint trajectory 2, based on a reference point 6 which is situated in the center of the rear axle of vehicle 1 in the illustrated example. In addition, actual trajectory 4 is plotted in FIG. 1, which indicates which path vehicle 1 has actually driven, based on reference point 6. Actual trajectory 4 is also determined with the aid of the satellite navigation system and/or with the aid of the recognition of landmarks in the surroundings sensor data and/or with the aid of radio signals and/or in a combination thereof.

[0054] It is provided, among other things, in the method according to the present invention to compare the actually driven actual trajectory 4 to setpoint trajectory 2, and to determine a quality of the autonomous driving function from the deviation. The lower the deviation, the higher is the quality. Preferably, distances from objects in the surroundings are additionally monitored and incorporated during the determination of the quality.

[0055] After the ascertainment of the quality, it is provided, for example, to compare this quality to a predefined target value for the quality, including a permitted tolerance, and to subsequently select which sensors 10 are to be used for the provision of the autonomous driving function. If the quality is higher than the target value, individual sensors 10 may be switched off to save energy, and to reduce the capacity utilization of computer unit 30. If the quality is lower than the target value, further sensors 10 are switched on, and their surroundings data are processed by computer unit 30.

[0056] In further specific embodiments of the present invention, it may be provided, additionally or alternatively, to adapt a measuring rate of one or multiple sensor(s) 10, as a function of the quality. In the case of a quality above the target value (including tolerance), the measuring rate may be decreased, and thus the processing load of the computer unit reduced.

[0057] The present invention is not limited to the exemplary embodiments described here and the aspects highlighted therein. Rather, a plurality of modifications is possible within the scope of the present invention, which are within the capabilities of those skilled in the art, in view of the disclosure herein.