US 11,934,197 B2
Method for operating a higher-level automated vehicle (HAV), in particular a highly automated vehicle
Ali Alawieh, Abstatt (DE); Carsten Hasberg, Ilsfeld-Auenstein (DE); Danny Hiendriana, Ludwigsburg (DE); Fabian Dominik Reister, Bad Liebenzell (DE); Jan-Hendrik Pauls, Grossbottwar (DE); Muhammad Sheraz Khan, Heilbronn (DE); Philipp Rasp, Wannweil (DE); and Valentin Frommherz, Heilbronn (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 16/628,909
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Jun. 4, 2018, PCT No. PCT/EP2018/064615
§ 371(c)(1), (2) Date Jan. 6, 2020,
PCT Pub. No. WO2019/007602, PCT Pub. Date Jan. 10, 2019.
Claims priority of application No. 10 2017 211 632.3 (DE), filed on Jul. 7, 2017.
Prior Publication US 2020/0192400 A1, Jun. 18, 2020
Int. Cl. G05D 1/02 (2020.01); G01C 21/00 (2006.01); G05D 1/00 (2006.01); G08G 1/01 (2006.01)
CPC G05D 1/0274 (2013.01) [G01C 21/3844 (2020.08); G05D 1/0251 (2013.01); G05D 1/0255 (2013.01); G05D 1/0257 (2013.01); G05D 1/0278 (2013.01); G08G 1/0112 (2013.01); G08G 1/0116 (2013.01); G08G 1/0129 (2013.01); G05D 2201/0213 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for operating a vehicle, the method comprising:
a processor obtaining a digital map;
the processor obtaining a sensor-based position of the vehicle;
the processor determining an instantaneous vehicle position in the digital map based on the obtained sensor-based position;
the processor obtaining an expected setpoint traffic density that is assigned to the instantaneous vehicle position in the digital map;
the processor using an environmental sensor to obtain an instantaneous actual traffic density in surroundings of the vehicle;
the processor comparing the obtained instantaneous actual traffic density to the obtained expected setpoint traffic density, thereby obtaining a difference value; and
in response to the difference value being greater than a predefined threshold, the processor, re-determining the instantaneous vehicle position in the digital map to control an automated drive of the vehicle based on the re-determined instantaneous vehicle position.