The invention relates to a method of operating a vehicle (F) in an autonomous driving mode. According to the invention, a respective range (R) of an environmental sensing sensor (S) of the vehicle (F) is estimated by evaluating a sensor signal from the sensor (S). A check is performed to determine whether the sensors (S) each have an estimation range (R) that is qualified for the automatic driving mode. If an estimated range (R) for only one of the sensors (S) is not qualified, or an estimated range (R) for only a predetermined subset of the sensors (S) is not qualified, the vehicle (F) continues to be moved in the autonomous driving mode, the speed of the vehicle (F) being kept unchanged or slightly reduced in a predetermined manner, and the estimated range (R) for only one of the sensors (S) being not qualified, or the estimated range (R) for only a predetermined subset of the sensors (S) being not qualified. And outputting a request to take over the driving task to the driver of the vehicle immediately or after a predetermined time delay. If it is determined that all sensors (S) or sensors (S) that are more than or different from a preset sub-group do not each have a qualified estimated range (R), the vehicle (F) continues to be moved in the autonomous driving mode, the speed of the vehicle (F) being greatly reduced in a preset manner, and immediately outputting a request to the driver of the vehicle to take over the driving task of the vehicle (F).
本发明涉及一种在自动驾驶模式中操作车辆(F)的方法。根据本发明,通过评估来自传感器(S)的传感器信号来估计所述车辆(F)的环境感测传感器(S)的相应范围(R)。执行检查以确定传感器(S)是否各自具有对于自动驾驶模式而言合格的估计范围(R)。如果确定所述传感器(S)中的仅一者没有合格的估计范围(R),或者所述传感器(S)中的仅预设子组各自没有合格的估计范围(R),则继续使所述车辆(F)在自动驾驶模式中移动,所述车辆(F)的速度保持不变或以预设方式略微降低,并且立即或在预设时间延迟之后向车辆驾驶员输出接管驾驶任务的请求。如果确定所有传感器(S)或比预设子组更多或与预设子组不同的传感器(S)各自没有合格的估计范围(R),则继续使所述车辆(F)在自动驾驶模式中移动,所述车辆(F)的速度以预设方式更大幅度地降低,并且立即向车辆驾驶员输出接管所述车辆(F)的驾驶任务的请求。
Method of operating vehicle in autonomous driving mode
在自动驾驶模式中操作车辆的方法
2024-04-26
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung |
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