Title:
METHOD FOR COORDINATING THE OPERATION OF MOTOR VEHICLES THAT DRIVE IN FULLY AUTOMATED MODE
Document Type and Number:
WIPO Patent Application WO/2014/067638
Kind Code:
A3
Abstract:
The invention relates to a method for coordinating the operation of motor vehicles that drive in fully automated mode, consisting of the steps of: determining a trajectory described by at least one driving intervention for each motor vehicle from EGO information which describes the status of the motor vehicle including a target position, and surroundings information which describes the surroundings of the motor vehicle, by a vehicle system of the motor vehicle, ascertaining whether at least one coordination condition exists which indicates a necessary coordination, by the vehicle system of the motor vehicle. If the coordination condition or at least one of the coordination conditions exists, carrying out the following steps: exchanging trajectory data which describe the trajectory, via a communication link through an on-board communication device of each motor vehicle, examining the trajectory of the motor vehicle for conflicts which occur because of a spatial and temporal overlap of the trajectories of at least two of the motor vehicles and/or because the target position of at least one of the motor vehicles is not reached. If a conflict exists: adapting the trajectory of at least one motor vehicle participating in the conflict on the basis of at least one arbitration rule which is evaluated by an arbitration device, and carrying out the driving interventions described by the particular trajectory by each motor vehicle.
Inventors:
REICHEL MICHAEL (DE)
SIEGEL ANDREAS (DE)
SIEGEL ANDREAS (DE)
Application Number:
PCT/EP2013/003200
Publication Date:
September 04, 2014
Filing Date:
October 24, 2013
Export Citation:
Assignee:
AUDI AG (DE)
International Classes:
B60W30/08; B60W30/00; G05D1/00; G08G1/0965; G08G1/16
Domestic Patent References:
| WO2002082195A2 | 2002-10-17 |
Foreign References:
| US20090118875A1 | 2009-05-07 |
Other References:
O'DONNELL P A ET AL: "DEADLOCK-FREE AND COLLISION-FREE COORDINATION OF TWO ROBOT MANIPULATORS", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. SCOTTSDALE, MAY 15 - 19, 1989; [PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION], WASHINGTON, IEEE COMP. SOC. PRESS, US, vol. VOL. 1, no. 1989, 15 May 1989 (1989-05-15), pages 484 - 489, XP000041486, ISBN: 978-0-8186-1938-0, DOI: 10.1109/ROBOT.1989.100033
JAGER M ET AL: "Decentralized collision avoidance, deadlock detection, and deadlock resolution for multiple mobile robots", PROCEEDINGS OF THE 2001 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. (IROS 2001). MAUI, HAWAII, OCT. 29 - NOV. 3, 2001; [IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS], NEW YORK, NY : IEEE, US, vol. 3, 29 October 2001 (2001-10-29), pages 1213 - 1219, XP010573741, ISBN: 978-0-7803-6612-1, DOI: 10.1109/IROS.2001.977148
JAGER M ET AL: "Decentralized collision avoidance, deadlock detection, and deadlock resolution for multiple mobile robots", PROCEEDINGS OF THE 2001 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. (IROS 2001). MAUI, HAWAII, OCT. 29 - NOV. 3, 2001; [IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS], NEW YORK, NY : IEEE, US, vol. 3, 29 October 2001 (2001-10-29), pages 1213 - 1219, XP010573741, ISBN: 978-0-7803-6612-1, DOI: 10.1109/IROS.2001.977148
Download PDF:
Previous Patent: FAT SYSTEM FOR USE IN FOODS, COSMETICS OR PHARMACEUTICALS
Next Patent: TRANSMISSION DEVICE FOR A MOTOR VEHICLE
Next Patent: TRANSMISSION DEVICE FOR A MOTOR VEHICLE