US 12,441,361 B2
Method and apparatus for operating a vehicle for highly automated driving, and vehicle for highly automated driving
Maxim Dolgov, Renningen (DE); Raquel Tirach, Llupia (FR); and Thomas Michalke, Weil der Stadt (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Aug. 15, 2023, as Appl. No. 18/450,244.
Claims priority of application No. 10 2022 208 742.9 (DE), filed on Aug. 24, 2022.
Prior Publication US 2024/0067211 A1, Feb. 29, 2024
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 2420/00 (2013.01); B60W 2552/00 (2020.02); B60W 2554/00 (2020.02)] 8 Claims
OG exemplary drawing
 
1. A method for operating a vehicle for highly automated driving, the method comprising the following steps:
reading sensor data from an interface to a plurality of vehicle sensors of the vehicle, wherein the sensor data include trip data of the vehicle from at least one acceleration sensor, at least one position sensor, and at least one velocity sensor, infrastructure data of infrastructure elements in a predefined environment of the vehicle from at least one environmental sensor, and object data of recognized traffic objects in the predefined environment from the at least one environmental sensor;
determining an environmental model for behavior planning and maneuver planning of the vehicle within the predefined environment of the vehicle, wherein the environmental model is determined by simultaneous localization and mapping using the sensor data and a factor graph, wherein the sensor data are integrated as factors in the factor graph; and
outputting the environmental model to an interface to a planning device for behavior planning and maneuver planning of the vehicle, wherein the planning device is configured to operate the vehicle, using the environmental model;
wherein, in the determining step, sensor data integrated as factors in the factor graph are continuously marginalized when the sensor data satisfy a predefined irrelevance criterion regarding a temporal and/or local validity of the sensor data.