The invention relates to controlling a vehicle to have predictable behavior. A computer-implemented method controls a vehicle to have predictable behavior after an unexpected event occurs, even if the event causes no safe trajectory at a particular instant. The method includes, in response to an occurrence of an accident, an automatic driving system (ADS) of the vehicle determining that a safe trajectory does not exist, and also in response to the occurrence of an accident, dynamically reevaluating whether a current trajectory followed by the vehicle satisfies a set of current safety criteria. Then, one or more consequences of event occurrences are deleted from the security criteria used to re-assess the current trajectory, while maintaining all other previous security criteria, making a decision to follow the current re-assessed trajectory path. This allows the vehicle ADS to maintain the path of the current trajectory while possibly changing the behavior of the vehicle along the path to decelerate the vehicle.

    本发明涉及控制车辆以具有可预测行为。一种计算机实施的方法,所述方法控制车辆在意外事件发生之后具有可预测行为,即使该事件致使在特定时刻不存在安全轨迹。该方法包括:响应于意外事件的发生,车辆的自动驾驶系统ADS确定不存在安全轨迹,以及还响应于意外事件的发生,动态地重新评估车辆所遵循的当前轨迹是否满足当前的安全判据的集合。然后,从用于重新评估当前轨迹的安全判据中删除事件发生的一个或多个后果,同时维持所有其他先前的安全判据,可以做出遵循当前重新评估的轨迹路径的决策。这允许车辆ADS维持当前轨迹的路径,同时可能地改变车辆沿该路径的行为以使车辆减速。


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    Titel :

    Controlling vehicle to have predictable behavior


    Weitere Titelangaben:

    控制车辆以具有可预测行为


    Beteiligte:
    SANDBLOM FREDRIK (Autor:in) / HAGVALL LINUS (Autor:in)

    Erscheinungsdatum :

    27.06.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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