Method for driverless transfer of a vehicle over a route within a closed area
AssigneeBayerische Motorenwerke Aktiengesellschaft
InventorsSascha Andree, Matthias Maron, Bernhard Geiler
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Abstract
A method of providing trajectory planning for the driverless transfer of a vehicle within a closed area is proposed. In the method, an external data processing system performs trajectory planning for travelling a predetermined route from a starting point to a destination point within the closed area without a driver. Trajectory planning is based on data transmitted from components of a vehicle-external infrastructure to the external data processing system, including object data and at least one exact pose of the vehicle at predetermined points in time. The planned trajectory is then transmitted to the vehicle for execution.
Claims16
A method of providing trajectory planning for a driverless transfer of a vehicle within a closed area,
- wherein an external data processing system
- performs trajectory planning for driving a predetermined route without a driver from a starting point to a destination point within the closed area,
- wherein the trajectory planning is based on data transmitted from the vehicle and based on data transmitted from components of a vehicle-external infrastructure to the external data processing system, comprising object data and at least an exact pose of the vehicle at predetermined points in time, wherein the data transmitted from the vehicle to the external data processing system comprises odometry data from the vehicle that is included into the trajectory planning,
- wherein the transmitted odometry data is included into the trajectory planning such that it is fused with the data transmitted from the vehicle-external infrastructure to the external data processing system by means of a pose estimator provided in the external data processing system,
- wherein the fusion is such that in the event that there are temporal gaps in the transmission from the vehicle-external infrastructure, the temporal gaps are filled with the odometry data at the same time as the data is received from the vehicle-external infrastructure, and
- wherein the external data processing system communicates with the vehicle-external infrastructure via a first communication connection and the vehicle via a second communication connection;
- and
- transmits the planned trajectory to the vehicle for execution,
- wherein the vehicle travels the received trajectory starting from a time instant matching an actual instantaneous pose of the vehicle.
A method of providing trajectory planning for a driverless transfer of a vehicle within a closed area,
- wherein an external data processing system
- performs trajectory planning for driving a predetermined route without a driver from a starting point to a destination point within the closed area,
- wherein the trajectory planning is based on data transmitted from the vehicle and data transmitted from components of a vehicle-external infrastructure to the external data processing system, comprising object data and at least an exact pose of the vehicle at predetermined points in time,
- wherein the data transmitted from the vehicle is fused with the data transmitted from the vehicle-external infrastructure, and
- wherein temporal gaps in the transmission from the vehicle-external infrastructure are filled with the data transmitted from the vehicle at the same time as the data is received from the vehicle-external infrastructure;
- and
- transmits the planned trajectory to the vehicle for execution,
- wherein the vehicle travels the received trajectory starting from a time instant matching an actual instantaneous pose of the vehicle.
Dependencies are inferred from the claim text.