US 11,988,514 B2
Methods and devices arranged for routing autonomous driving
Stefaan Duym, Munich (DE); and Felix Rempe, Munich (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 16/972,179
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Aug. 9, 2019, PCT No. PCT/EP2019/071473
§ 371(c)(1), (2) Date Dec. 4, 2020,
PCT Pub. No. WO2020/035417, PCT Pub. Date Feb. 20, 2020.
Claims priority of application No. 18188904 (EP), filed on Aug. 14, 2018.
Prior Publication US 2021/0239476 A1, Aug. 5, 2021
Int. Cl. G01C 21/34 (2006.01); G05D 1/00 (2006.01); G06Q 10/047 (2023.01); G05D 1/02 (2020.01); G06Q 10/04 (2023.01)
CPC G01C 21/3453 (2013.01) [G01C 21/3446 (2013.01); G05D 1/0061 (2013.01); G05D 1/0217 (2013.01); G06Q 10/047 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for determining routes for an autonomous driving vehicle, the method comprising:
computing K alternative routes from a route source to a route destination of the autonomous driving vehicle;
evaluating each one of the K alternative routes, wherein the evaluating comprises
determining a Pareto front of the K alternative routes, wherein
the Pareto front of the K alternative routes comprises a set of Pareto-optimized routes that are Pareto-optimized with regard to route constraints comprising a travel time T of the route, a manual driving time TM of the route, and a transition count M that indicates a count of transitions from an autonomous driving mode to a manual driving mode;
when the set of Pareto-optimized routes comprises more than P routes, reducing the Pareto-optimized routes in the set of Pareto-optimized routes to P; and
outputting the Pareto-optimized routes of the set of Pareto-optimized routes as the determined routes for autonomous driving, wherein
the evaluating each one of the K alternative routes further comprises executing the following steps with regard to each one of the K alternative routes:
evaluating each realization of the corresponding alternative route from a plurality of realizations of the corresponding alternative route, wherein
the realizations of the corresponding alternative route in the plurality of realizations of the corresponding alternative route differ with regard to the route constraints, and
the evaluating each realization of the corresponding alternative route from a plurality of realizations of the corresponding alternative route comprises determining a Pareto front of the corresponding alternative route comprising a set of Pareto-optimized route realizations of the corresponding alternative route that are Pareto-optimized with regard to the route constraints; and
inserting into the Pareto front of the K alternative routes Pareto-optimized route realizations of the set of Pareto-optimized route realizations of the corresponding alternative route.