US 12,005,915 B2
Advanced highway assist scenario
Dimitrios Tzempetzis, Bietigheim-Bissingen (DE); Ornella Nath, Bietigheim-Bissingen (DE); and Ivan Surovtcev, Bietigheim-Bissingen (DE)
Assigned to VALEO SCHALTER UND SENSOREN GMBH, Bietigheim-Bissingen (DE)
Appl. No. 17/297,185
Filed by Valeo Schalter und Sensoren GmbH, Bietigheim-Bissingen (DE)
PCT Filed Nov. 29, 2019, PCT No. PCT/EP2019/083078
§ 371(c)(1), (2) Date May 26, 2021,
PCT Pub. No. WO2020/109547, PCT Pub. Date Jun. 4, 2020.
Claims priority of application No. 10 2018 130 243.6 (DE), filed on Nov. 29, 2018.
Prior Publication US 2022/0024475 A1, Jan. 27, 2022
Int. Cl. B60W 50/12 (2012.01); B60W 30/18 (2012.01); B60W 40/107 (2012.01); B60W 40/109 (2012.01)
CPC B60W 50/12 (2013.01) [B60W 30/18109 (2013.01); B60W 40/107 (2013.01); B60W 40/109 (2013.01); B60W 2554/4045 (2020.02); B60W 2554/4049 (2020.02)] 14 Claims
OG exemplary drawing
 
1. A method for providing a multi-lane scenario driving support for an ego vehicle in a traffic situation in which an ego lane is partly or fully obstructed by other traffic participants, the method comprising:
measuring traffic surroundings by an environment sensor system,
wherein the traffic surroundings include data about traffic and free space within the ego lane of the ego vehicle and at least one adjacent lane, and data about front proximity area and rear proximity area of the ego vehicle;
evaluating, by a decision device the measured traffic surroundings together with the speed of the ego vehicle and deciding a driving operation to be executed by the ego vehicle based on at least one strategy,
wherein in the decision device a cost function is used for choosing one of at least six strategies, the cost function being based on at least a core priority, whereby the core priority is to avoid collision of the ego vehicle and not cause collision of the ego vehicle with a third party vehicle, whereby the decision device by the cost function chooses one selected from the group consisting of at least the following six strategies: braking in the ego lane, to combine braking and steering within the ego lane of the ego vehicle, steering within the ego lane of the ego vehicle to avoid an obstacle, to full-brake in the ego lane of the ego vehicle, to combine braking and steering towards or when entering temporarily the adjacent lane and steering towards or when entering temporarily the adjacent lane;
wherein the cost function is used in mathematical optimization and decision theory for mapping an event, finding a real number representing a cost associated with the event, and choosing the one of the at least six strategies with a lowest cost; and
wherein the decision device by the cost function chooses the strategies in the following order:
braking in the ego lane,
to combine braking and steering within the ego lane of the ego vehicle,
steering within the ego lane of the ego vehicle to avoid the obstacle,
to full-brake in the ego lane of the ego vehicle,
to combine braking and steering towards or when entering temporarily the adjacent lane, and
steering towards or when entering temporarily the adjacent lane.