The present disclosure relates to a method performed by an MRM planning system (1) for supporting planning of a minimal risk maneuver, MRM, of an Automated Driving System, ADS (21), of a vehicle (2). The MRM planning system determines (1001) while a dynamic driving task, DDT, of the vehicle is performed by an autonomous driving mode of the ADS, a remaining distance (3) to an upcoming operational design domain, ODD, exit (4) at which an ODD defined for the autonomous driving mode is planned to end. The MRM planning system further assesses (1002), when the remaining distance is shorter than a predeterminable distance, data (5) associated with a stretch of road (6) leading up to the ODD exit, which data is indicative of potential temporary and/or emergency stopping areas, shoulder lanes and/or margin space alongside a lane or lanes of the stretch of road, and/or potential occupancy and/or obstruction thereof. Moreover, the MRM planning system identifies (1003) based on the assessment of the data, a favourable region (60) along the stretch of road for potentially bringing the vehicle to a stop deemed safe subsequent a potential MRM being triggered. Furthermore, the MRM planning system determines (1004) a timing (8) at which to initiate an autonomous driving mode DDT termination procedure, for instance at which to provide a handover request prompting an occupant of the vehicle to take over the DDT, which timing is calculated to occur a predeterminable time duration and/or distance before the vehicle reaching the identified favourable region.The disclosure also relates to an MRM planning system in accordance with the foregoing, a vehicle comprising such an MRM planning system, and a respective corresponding computer program product and non-volatile computer readable storage medium.


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    Title :

    PRECAUTIONARY PLANNING OF MINIMAL RISK MANEUVERS


    Additional title:

    VORSORGLICHE PLANUNG VON RISIKOARMEN MANÖVERN
    PLANIFICATION PRÉVENTIVE DE MAN UVRES DE RISQUE MINIMAL


    Contributors:

    Publication date :

    2023-06-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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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