The invention relates to a computer-implemented method for determining a trajectory (120, 122) for controlling a vehicle (100), wherein the vehicle (100) is equipped with a sensor system (102, 102a, 102b) for capturing an environment of the vehicle (100) and a vehicle computer (112) for processing sensor data (116) and controlling the vehicle (100). The method comprises the following steps: receiving, in a control module (206) of the vehicle computer (112), sensor data (116) generated by the sensor system (102, 102a, 102b); inputting the sensor data (116) into a security algorithm, the security algorithm having been configured to identify a security-related object (104, 106, 109) based on the sensor data (116); inputting the sensor data (116) into a comfort algorithm, the comfort algorithm having been configured to identify a comfort-related object (108, 109) based on the sensor data (116); estimating a future state of the identified object (104, 106, 108, 109) using an environmental model (226) representing an environment of the vehicle (100), in which the identified object (104, 106, 108, 109) is stored and tracked over time; calculating a safety trajectory (120) taking into account a safety specification and a comfort trajectory (122) taking into account a comfort specification based on the estimated future state of the identified object (104, 106, 108, 109); checking whether the comfort trajectory (122) satisfies the safety specification; if the comfort trajectory (122) satisfies the safety specification, using the comfort trajectory (122) to control the vehicle (100); if the comfort trajectory (122) does not meet the safety specification, the safety trajectory (120) is used to control the vehicle (100).
本发明涉及一种用于确定控制车辆(100)的轨迹(120、122)的计算机实现的方法,其中所述车辆(100)配备有用于捕获所述车辆(100)的环境的传感器系统(102、102a、102b)和用于处理传感器数据(116)和控制所述车辆(100)的车辆计算机(112)。所述方法包括以下步骤:在所述车辆计算机(112)的控制模块(206)中接收由所述传感器系统(102、102a、102b)产生的传感器数据(116);将所述传感器数据(116)输入安全算法,所述安全算法已被配置为基于所述传感器数据(116)识别安全相关对象(104、106、109);将所述传感器数据(116)输入舒适算法,所述舒适算法已被配置为基于所述传感器数据(116)识别舒适相关对象(108、109);使用表示所述车辆(100)的环境的环境模型(226)来估计已识别对象(104、106、108、109)的未来状态,在所述环境模型中存储了已识别对象(104、106、108、109)并且随着时间的推移跟踪所述已识别对象;基于已识别对象(104、106、108、109)的估计的未来状态,在考虑安全规范的情况下计算安全轨迹(120)并且在考虑舒适规范的情况下计算舒适轨迹(122);检查所述舒适轨迹(122)是否满足所述安全规范;如果所述舒适轨迹(122)满足所述安全规范,则使用所述舒适轨迹(122)来控制所述车辆(100);如果所述舒适轨迹(122)不满足所述安全规范,则使用所述安全轨迹(120)来控制所述车辆(100)。
Method for determining trajectory for controlling vehicle
确定用于控制车辆的轨迹的方法
2023-05-23
Patent
Electronic Resource
Chinese
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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