The invention relates to a method for operating a highly automated vehicle, comprising the steps of: reading sensor data of the vehicle from at least one acceleration sensor, at least one position sensor and at least one speed sensor; infrastructure data from at least one environment sensor of an infrastructure element in a predefined environment of the vehicle, and object data from an environment sensor of an identified traffic object in the predefined environment. An environment model is determined for behavior planning and maneuver planning of the vehicle in the environment. The environmental model is determined by synchronized location determination and mapping using sensor data and a factor graph integrated with the sensor data as factors. The environmental model is output to an interface to a planning device for the planning of the vehicle.
用于运行高度自动化行驶车辆的方法包括步骤:读入传感器数据——该车辆的来自至少一个加速度传感器、至少一个位置传感器和至少一个速度传感器的行驶数据、在该车辆的预定义的环境中的基础结构元件的来自至少一个环境传感器的基础结构数据,和在该预定义的环境中的所识别的交通对象的来自环境传感器的对象数据。确定用于该车辆的在该环境中的行为规划和机动动作规划的环境模型。使用传感器数据和集成有所述传感器数据作为因子的因子图通过同步的位置确定和地图创建确定该环境模型。将该环境模型输出到至用于该车辆的这些规划的规划装置的接口。
Method and device for operating vehicle for highly automated driving, and vehicle for highly automated driving
运行用于高度自动化行驶的车辆的方法和设备和用于高度自动化行驶的车辆
2024-03-01
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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