Autonomous vehicle and guiding method for an autonomous vehicle

The invention relates to an autonomous vehicle and a method for controlling a autonomous vehicle.

For a long time are a multitude of efforts to realize autonomous been made vehicles, under an autonomous vehicle, a vehicle is understood to be self-employed with or without human passengers to a Starting point to a destination point to move. must be distinguished from vehicles by wire or radio are femgesteuert where so a person continues outside the Vehicle is responsible for the movement.

Such autonomous vehicles have been in material transportation such Standard achieved that these diverse industrial applications found. So are autonomous vehicle systems have been proposed in which along the travel path a Guidewire or guidewire is arranged and guided the vehicle through this cable becomes. If a particular signal is transmitted to the guide cable, then the Presence of this signal through an installed on the vehicle pickup coil found and the vehicle moves along the guide wire on the route, the deviation from the planned route with the help of the guide cable is detected. In another known embodiment for an autonomous Vehicle system is on the road surface along the route instead of the Guidewire an optically reflective tape, for example, an aluminum or Polyvinyl band, mounted and on the autonomous vehicle is a projector and a Light receiver arranged. The light emitted by the projector light is transmitted through the belt reflected and collected by the light receiver, and in this manner is the unmanned vehicle guided along the reflective tape. A disadvantage of the known autonomous vehicles is that the desired routes not selectable are, but must be installed in advance.

From DE 39 12 353 an autonomous transport vehicle is known, comprising a Image processing unit which photographs the surroundings in the forward direction of the vehicle and the photographed image processing, a location determination unit based on the by using a wheel speed sensor, a gyroscope and a similar resulting reports the position of the vehicle in an absolute Coordinate system calculated a motor unit to the steering, accelerator, Brakes, turn signals, and the like of the vehicle, as well as actuators for actuating these facilities including the associated actuator drivers include a unit in the site plan or map data on a destination and information on a route stored, a drive control unit that the reference to the image processing unit, Location determination unit and the information storage unit information received, the motor unit controls such that the vehicle runs for a final time, and a user interface for entering information about a target, that is, a plurality of target points that are determined by the drive controller on the route and for displaying the image obtained by the image processing unit and other Informations. These includes the image processing unit two at the front of Vehicle mounted cameras record the stereo image of the environment. The by the two camera systems photographed spatial image in an image processing block converted by a return mutual information in a flat image. Of the Image processing block detects, for example, a pair of painted on the road white lines (guide lines), a road-side edge, a center line, and the like and measures its position in relation to the vehicle. Specifically, by scanning the white lines on the road, the spatial relationship between vehicle and track calculated, ie the distance of the vehicle from the white line on the left and / or right side of the road, the angle between the forward direction of the vehicle and the Roadway and the like, and when a curved road is the Direction of curvature determined at half the distance of the road. In addition, the Distance of the vehicle from an intersection determined by the intersection of the white Lines is measured from crossing. The image processing unit further includes a Ultrasonic sensor, a laser radar and the like for the detection of obstacles that be located on the road ahead of the vehicle and the side of the vehicle, such as for example, a preceding vehicle, a guard rail and the like and Transmission of this information to a position calculation block of Vehicle. The location determination unit comprises two wheel speed sensors on left and right rear of the vehicle are arranged, a processing block, the receives and processes the output signals of the two wheel speed sensors, and a calculation block for calculating the vehicle position in global coordinates The wheel speed sensors detect the rotation of the rear wheels of the vehicle and generate several thousand pulses per revolution of each wheel. When a difference between the numbers of pulses generated for the individual wheels is detected, this means that a difference between the path lengths of the respective wheels exists, and this path length difference is the basis for the determination of the curvature the track section, which is traversed by the vehicle. Also are the Path length of both wheels, the distance traveled by the vehicle distance to. The way of Vehicle can thus based on the supplied from the wheel speed Data series are calculated. Specifically, information relating to the location and Location of the vehicle at a given time, ie information about the place and the direction of travel of the vehicle can be derived in an XY coordinate system. If the vehicle position at the beginning of the journey is already known, the current position of the are continuously monitored vehicle during running by the Wheel speed data are processed sequentially. Since the error in the add up position determination, the measurement errors are all the greater the longer the from Vehicle distance traveled is. For this reason, a gyroscope is provided so that determines the position in an absolute coordinate system with high accuracy can be. Such autonomous vehicle for the transport of goods, however, is in applying only to demarcated areas, such as workshops or Factory premises, where almost the same external conditions prevail suitable.

Furthermore, in the German patent application DE 41 24 654 A1 a method for described continuous and automatic vehicle guidance on a roadway, in which to improve transport capacity utilization of roads automatic Vehicle guidance is suggested. For the process, a high as possible above the Road on the vehicle used applied television camera constantly digitized Image sequences in the video clock to a computer system with a program for special Signal processing and interpretation in the vehicle transmits. In the process generic road models and simple generic dynamic models for exploited vehicle movement to roadway previously part and vehicle relative position detection to use for the evaluation of the next image. For this purpose, three Part models combined. Monocular image data only of the last image to be recursive Estimating method for the determination of the road parameters and their own relative state evaluated. This results in the computer a spatial presentation of current Road layout in the preview area.

From EP 0679976 is an autonomous vehicle, particularly for use in Mining, announced the position determining a first positioning system based on GPS (Global Positioning System) and a second positioning system IRU (Inertial Reference Unit) on the basis of a gyroscope whose data in a third positioning system for accurate positioning together will be charged. Furthermore, the autonomous vehicle comprises a navigation system, performed by means of which the vehicle to predetermined or dynamically determined routes becomes. The navigation system controls on the one hand, the current position and the mechanical components such as brakes, steering or engine, and, in appearance serious mistake the vehicle shut down. Next, the navigation system includes a Obstacle detection means located on the planned route objects to detect and optionally driving a dodge rate or stop the vehicle. For this is an infrared laser scanner in the single-line mode on the roof of the vehicle , wherein the scanning width 10 to 30 °. The scanning beam is such aligned so that this does not reach the ground. This ensures that detected Barriers are not based on uneven ground. For detection of uneven ground A second laser scanner in multiple-line mode available, the measures included in an Angle is directed to the ground. The angle is chosen such that obstacles in a braking distances corresponding distance are detected, so that the vehicle can be stopped in good time before the obstacle. This specially designed for surface mining designed autonomous vehicle is very advanced in the field of positioning and the path generation, but leaves essential considerations for the use of a autonomous vehicle on public roads not taken into account. So is For example, a restriction of the field of view to be evaluated in the non-road possible because vehicles must be detected in confluent roads well in advance. Firstly, in order according to the applicable traffic rules drivability tune and secondly preventative of on a unvorschriftsmäßiges behavior to react leading-driver. This is to clarify that, although Basic structures of known autonomous vehicles partially such. As the Positioning system, are generally suitable, while others in the known type are insufficient.

From EP 0,738,946, is an automatic travel guiding device known for an autonomous vehicle, with an automatic traveling section which is provided for a road before the vehicle based on the detected road data-grant and the vehicle heading / rules so that road according to the recognized a preset on a road map target price moves.

The invention is therefore based on the technical problem, an autonomous vehicle that is also suitable for use on public roads, as well as a method for to provide control of one or more autonomous vehicles.

The solution to the technical problem is solved by the features of the claims 1 and 21st

Here are several, individually known already for motor vehicles Sensors synergistically used together, so that the arrangement of sensors in the broadest Meaning in all weather conditions and different traffic situations including road layout sure all surrounding objects and / or obstacles can detect and react accordingly. This also allows the use in public roads or other complex environments. Further advantageous Embodiments of the invention emerge from the subclaims.

The invention is described in detail with reference to a preferred embodiment explained. The figures show:<dl tsize="6"><dt>Fig. 1</dt><dd>a plan view of an array of sensors of an autonomous vehicle,</dd><dt>FIG. 2</dt><dd>a plan view of a Fahrzeugaktorik,</dd><dt>Fig. 3</dt><dd>the emission of a radar sensor,</dd><dt>Fig. 4</dt><dd>the emission of a laser scanner sensor in the front Vehicle range,</dd><dt>Fig. 5</dt><dd>the emission of a laser scanner sensor in the rear Vehicle range,</dd><dt>Fig. 6</dt><dd>the emission of a directed onto the roadway laser scanner sensor in front of the vehicle,</dd><dt>Fig. 7</dt><dd>the scanning characteristic of two laterally arranged cameras,</dd><dt>Fig. 8</dt><dd>a schematic block circuit diagram in the uppermost hierarchical level of the autonomous vehicle and</dd><dt>Fig. 9</dt><dd>and a block diagram of an apparatus for generating a virtual Contact wire.</dd></dl>

In the Fig. 1 is a plan view of an autonomous vehicle with a schematic illustrated arrangement of a plurality of sensors, the respective mode of operation and Function is explained below. is in the front area of ​​the autonomous vehicle at least one radar sensor 1 is arranged. Such radar sensors 1 are z. B. from Devices for measuring the distance (for example ADR) of vehicles known. by means of If the radar sensor 1, for example, the number of prior to the autonomous Vehicle located objects whose distance and relative velocity can be detected. Due to the very limited horizontal detection range of radar sensors 1 they are only intended for object detection ahead of the vehicle. The Emission of the radar sensor 1 is shown in Fig. 3. The advantage of radar over optical sensor means is that even in unfavorable radar Weather conditions (fog, snow, rain, dust) maintains its performance. This circumstance predestined the radar sensor 1 to support laser scanner sensors 2.3, which are also used for object detection, particularly for the Object detection at intersections and crossings. The laser scanner sensors are 2.3 disposed laterally in the front region of the vehicle for example, in fenders. The 2D laser scanner sensors 2 and 3 have a horizontal detection area of at least 270 ° so that in the rear area, only one further laser scanner sensor 4 must be provided with horizontally 180 °. The radiation of the laser scanner sensor 2 is shown in Fig. 4. Along with the laser scanner sensor 3 cover both practically the entire front and side area from the vehicle. As for complete all-round detection therefore only mentioned 180 ° at the rear of the Laser scanner sensor 4 are required, the remaining 180 ° of the scan area of the laser scanner sensor 4 as additional rows within an inner 30 ° -Erfassungsbereiches be employed, so that this laser scanner sensor in the middle Area quasi enables three-dimensional object detection, which illustrated in Fig. 5 is. In case of failure of the laser scanner sensor 4 a restricted driving mode is still possible, but no more maneuvers may be performed.

Furthermore, it is preferably forwardly on the roof or on the windscreen Rearview mirror region, a further laser scanner sensor 5a arranged, whose main task it is to detect holes in the ground or small obstacles on the floor. To this end, rate- this laser scanner sensor and tracked weather permitting, to necessary to be able to stop in front of the hole or the obstacle. In contrast to the prior the art, the tracking is carried out also in dependence of the weather conditions, since these a substantial effect on the length in addition to the speed of Braking distance have. Located at one in the beam path of the laser scanner sensor 5a object driving ahead, this takes over the task of object recognition and - tracking. The laser scanner sensor 5a has a horizontal detection range of 45 ° and vertical of 5 °. Due to the large horizontal detection range can this support sensor and the track and side edge detection.

As will be shown, has to a loss of the laser scanner sensor 5a for immediate perform stopping the autonomous vehicle. Here, in order to increase the availability, will an identical laser scanner sensor 5b used in addition to either a failure of the Laser scanner sensor 5a to take over immediately the object, or both Laser scanner sensors 5a, b operate as a redundant parallel system as a whole.

Due to the limited vertical field of view of the laser scanner 5a and 5b is to Recognition of headroom another laser scanner sensor 6 exists, the the has the same horizontal and vertical coverage, but not tracked becomes. This laser scanner sensor 6, besides the headroom recognition also for Support of object detection are used. However, this requires a shadowing of the laser scanner sensors 5a, b to the laser scanner sensor 6. A failure of the laser scanner sensor 6 can be compensated for in that the at observed clearance heights are taken from the digital map directly, so that no immediate shutdown of the autonomous vehicle is required.

At low speeds and when parking it is not possible, provided the Laser scanner sensors 2, 3 to detect the flanks of the vehicle completely. Therefore each example, four ultrasonic sensors 7a - d, 8a - d on both sides of arranged vehicle, which at low speeds also to support the are roadside detection applications.

In the front area of ​​the vehicle a video camera is arranged on the roof 9, the primarily used for track identification. In addition, however, with this camera the 9 Roadside detection and object recognition are supported. In addition, with the camera 9 also supported the headroom detection of the laser scanner sensor 6 will.

Another arranged in the front area of ​​video camera 10 is used to track, Objektund / or Traffic sign recognition. The cameras 9, 10 can also be a complementary system to be combined with the camera 9 for Far range and the camera 10 is designed for close range.

For the recognition of neighboring tracks (and thus also to detect the same lane) and the roadside is always another video camera 11, 12 laterally on the roof disposed of the autonomous vehicle, the scanning characteristic is shown in Fig. 7. By applying a further video camera 13 in the rear region of the autonomic Vehicle is also supporting the track and roadside detection possible. However, primary task of the video camera 13 is to support the quasi three-dimensional laser scanner sensor 4 for the object detection.

For highly accurate position determination is on the roof of a DGPS sensor 14a (Differential Global Positioning System), the world coordinates, the absolute position of the autonomous vehicle determined in conjunction with a digital map. Such digital Cards are for. Example of known navigation systems of modern motor vehicles well known. Also, a failure of the DGPS sensor leads 14a, as will be shown, to halt immediately the autonomous vehicle. In order here to increase the availability, an identical DGPS sensor is also used 14b to a failure of the DGPS sensor 14a immediately to take over operations or the two DGPS sensors 14a, b to operate in parallel to produce a redundancy. In addition, a gyroscope are used to even when harmful shielding for example in a tunnel always be able to accurately determine the position of the autonomous vehicle.

Furthermore, the individual wheels of the autonomous vehicle in each case a wheel sensor 15 associated, by means of which a coefficient of friction is carried out.

On the roof of the autonomous vehicle is also an air-pressure sensor 16, a Humidity sensor 17 and a temperature sensor 18 is arranged. From the data of Sensors 16 - 18 is on the present and expected weather conditions back closed. These results are used for example for verifying the Results of the individual sensor systems to z. B. the expected visibility to determine and with the laser scanner sensors 2 - 6 determined visibilities vote.

Furthermore, the autonomous vehicle four directional microphones 19 and pending Speaker 19. With the microphones 19, the detection of acoustic to realize signals (z. B. Martin Horn, railroad crossing). The speakers are 19 to z. B. the control center with any passersby verbal and communicative in connection to kick. For verbal commands, which are not aimed at communication, may the speaker also be used directly by the autonomous vehicle.

Further forward, a thermal imaging camera 20 located on the roof, to the to support object recognition by means of a temperature profile, and thus, for example, immobile persons roadside of inanimate objects to differ. Furthermore, the thermal imaging camera 20 is limited suited to a track and perform roadside detection. Preferably, the individual cameras 9-13, 20 associated with a cooling device, for example, direct sunlight to compensate. Further shielding measures can be taken to a Glare of cameras 9-13, 20 by direct sunlight or on the basis of to avoid reflections of the wet road.

In FIG. 2 is a plan view of the autonomous vehicle with a schematic Arrangement shown of possible actuators. includes The autonomous vehicle at least one electronic throttle 21, an electric brake 22 and an E-23 If the vehicle steering not equipped with an automatic transmission, so an additional E-clutch 24 needed. Such electrically controlled devices are the basic principle of the Automotive technology known as x-by-wire systems. There is a mechanical converted actuating movement into an electric control signal, so that the actuator z. B. a pedal is mechanically decoupled from the means to be influenced. As in the autonomous Vehicle no pedals or steering wheel actuatable man exists, has the mechanical movement of the actuators to be replaced, for which in principle two offer alternative solutions. On the one hand, the mechanical movement by a Driving robot are generated, so that the known devices are not modified need, or on a mechanical movement is completely dispensed with and the Vehicle control means generating directly electrical control signals to the control units of individual actuators. Analog is also the use of additional components such as For example, the lighting system of the autonomous vehicle.

In FIG. 8 is a block diagram of the autonomous vehicle in the uppermost Hierarchical level shown. The array of sensors 1 - 20 detects information of the environment 28 and the autonomous vehicle itself and passes it to a Vehicle computer 25 and a collision avoidance device 26. The vehicle computer, in which they are actual control of the autonomous vehicle, and Collision avoidance device 26 operate in parallel for security reasons, said Collision avoidance device 26 only for avoiding a collision hazard to the Actuators 21-24 acts. In normal operation, the activation of the actuators 21 is performed - 24 25 exclusively by the vehicle computer, the data transmission from the sensors 1 - 20 to the vehicle computer 25 and the collision avoidance device 26 and to the Actuators 21-24 via a CAN bus 27 (Controlled Area Network). Here are preferably the data spread across multiple CAN buses 27 to make the resulting To transfer data. Since a real-time processing of the data necessary is that CAN buses should not run 27 at the top of the transmission capacity will. The pre-processed data of the individual sensors are thus separated transmitting from each other and in the subsequent evaluation due to their temporal coding reassemble into a complete picture. This is possible a hierarchical principle with appropriate filter algorithms for information compression to use in order not to overload the evaluation equipment.

In FIG. 9 is a block diagram of the device for generating the virtual contact wire shown. The apparatus comprises an input unit 29 for one or more Transport Orders, both via an internal connection 30 as well as via an external Communication link 31 z. B. can be supplied in the form of a mobile phone. Depending on Using the autonomous vehicle can travel orders, besides the actual Target additional information included. If the autonomous vehicle, for example in local public transport are used, such as the additional information Number of persons to be transported necessary to this with the capacity of the vehicle match. Furthermore, the urgency of the motion task can be considered. Such algorithms are, for example, for planning programs in public Transport already in use and be used in principle. When the autonomous vehicle on the other hand used as an individual vehicle, then the external communication link 31 unnecessary for the input unit 29, since only the vehicle owner himself the transport orders awards. The registered or motion tasks the input unit 29 are then transferred to a Means 32 passing for route planning. Furthermore, given the means 32 the exact current location of the vehicle and of the DGPS sensors 14a, b Traffic information on the external communication link 31. The Traffic information can z. B. traffic jams, construction sites, notes Major events such as concerts, demonstrations, football matches or the like. By means of a digital map 33, which is the device 32 assigned to the route planning, determined this optimal route from the present position to the current desired destination taking into account the traffic information of the external Communication link 31 With regard to the optimum route can between the optimum Route be selected with regard to the travel time or the lowest consumption. The digital Card 33 includes not only the road layout also additional information such as For example, clearance heights of bridges, the number of lanes of a road, Traffic signs and the like. Such digital map 33 are already on Navigation aid equipment known in motor vehicles. The best route is the Means 32 for route planning in the form of a sum of track sections in front, wherein the respective current route section and optionally the subsequent Stretch means 34 are passed to generate the path. The 34 for generating the path determines an optimal route for the passed route segment. By the way as such contains the optimal way Information about the maximum authorized speed for individual parts of the route, which lane should be chosen radii occurring curves, traffic lights, Way signs, stop signs, intersections and where and how to be bent. These very precise specifications are necessary as the autonomous vehicle is not like a Man can act intuitively. A human driver drives, for example, although he soon left must turn, as long as possible on the right or, where appropriate mean Lane in order not to Disabled by turning left at intersections preceding and then switches to a function of the traffic situation on the Left-turn lane. The other information is necessary to enable the autonomic Vehicle can adapt his driving time. This is particularly in view of other road users important that irritate a very abrupt handling and could lead misjudgments. Because not all information on the infrastructure contain preliminary information in the digital map 33, for example, if new Road signs were erected, the means 34 are beyond the detected Sensor signals of the sensors 1 - 20 supplied from which additional are infrastructure information removed, for example, by the video camera 10 detected traffic signs or the by the sensors 16 - 18 detected Weather conditions, one of which, for example, again, the permissible Maximum speed may be dependent. For all these static information is the optimal path determined could be described as a virtual ideal guidewire. Of the generated ideal way is together with the current visual sensor information of Sensors 9-13, 20 passed to a vehicle control device 35th

The detected sensor signals from the sensors 1 - 20 are also connected to a device 36 passed for object recognition. The device 36 for object recognition evaluates the Information according to whether one or more objects is detected, what kinds of objects is (z. B. movable or immovable) and generates optionally Control signals for tracking of individual sensors, such as the camera 9. due to the sensor information on exactly way the objects or obstacles To close, the prevailing weather conditions must be known. This can essentially of the information from the sensors 16 - derived 18 will. Since the device 34 for generating a path that Weather conditions required, they can also centrally determined and the corresponding components are passed. Furthermore evaluates the device 36 the sensor information after how much free traffic area (outside the actual road) exist around the vehicle. This information is particularly to perform any necessary evasive maneuvers important. The principle Procedure for the evaluation of the sensor information to those skilled in this case for example, of ADR systems known (automatic distance control). Come in addition still here, that the various sensor information from various sensors (Z. B. radar sensor 1 to the laser scanner sensors 2, 3) to each other in dependence on the Weather conditions weighted and must be matched. The device 36 for Object recognition over to the vehicle control device 34, the determined free Traffic area who recognized tracked and classified objects with their State vectors (place relative speed, etc.) as well as the prevailing Weather conditions.

Apart from the above sensors 1 - 20, the autonomous vehicle yet more number of sensors 37, for using the information in a device 38 the status data detection the official state data and the state vector of the Vehicle itself are compiled and produced. It is in kind and arrangement to sensors as well known in modern motor vehicles are, so that a further explanation is not required. In particular, the Engine speed, airspeed, ABS sensor information, friction, steering angle and the like into consideration, including information from the sensors 1 - 20, for example, the wheel sensors 15 having used. In addition, the sensors can 37 for each Subsystem create a status report. The state reports and the state vector also be transferred to the vehicle control device.

The vehicle control device 35 generates from now from all the given information a real control vector of one part of a device 39 for the actuators 21-24 as and passive vehicle components such as the indicators, the Vehicle lights, the windshield wiper device and the like to be performed. in the Unlike the optimal path of the 34 considered this control vector also dynamic changes such as the detected and moving objects or each traffic light. The control vector thus contains for each part a set Control commands for the actuators to be controlled 21-24 and vehicle components, wherein the rate of change of the control vector of the infrastructure and surrounding circulation. In the vehicle control device 35 to be observed traffic rules (eg. as right before left at an equal intersection) Terms of algorithms stored. Because especially in city traffic, the number of occurring traffic signs accompanied by frequent changes of way situations is very large, as much as possible to either traffic signs in the digital map 33 be integrated, or a parallel processing is recommended, otherwise the Vehicle speed to the processing speed of the Fahrzeugkontolleinrichtung 35 must be adjusted, which may of could be perceived human automotive leaders as ärgemiserregend. To the Acceptance of the autonomous vehicle in both passengers as well as other to increase road users, the vehicle control device 35 may be an additional human driving strategy are allocated, for example, the slow progress of Driving at a red light.

LIST OF REFERENCE NUMBERS

<dl tsize="7" compact="compact"><dt>1</dt><dd>Distance sensor, radar sensor</dd><dt>2</dt><dd>Distance sensor, laser scanner sensor</dd><dt>3</dt><dd>Distance sensor, laser scanner sensor</dd><dt>4</dt><dd>Distance sensor, laser scanner sensor</dd><dt>5a, b</dt><dd>Distance sensor, laser scanner sensor</dd><dt>6</dt><dd>Distance sensor, laser scanner sensor</dd><dt>7a - d</dt><dd>Ultrasonic sensor, microwave radar sensor</dd><dt>8a - d</dt><dd>Ultrasonic sensor, microwave radar sensor</dd><dt>9</dt><dd>camera</dd><dt>10</dt><dd>camera</dd><dt>11</dt><dd>camera</dd><dt>12</dt><dd>camera</dd><dt>13</dt><dd>camera</dd><dt>14a, b</dt><dd>Position detection device, DGPS sensor</dd><dt>15a - d</dt><dd>Wheel Sensor</dd><dt>16</dt><dd>Air pressure sensor</dd><dt>17</dt><dd>Humidity Sensor</dd><dt>18</dt><dd>Temperature Sensor</dd><dt>19</dt><dd>Microphone, speaker</dd><dt>20</dt><dd>Thermal imaging camera</dd><dt>21</dt><dd>Fahrzeugaktorik, E-Gas</dd><dt>22</dt><dd>Fahrzeugaktorik, e-brake</dd><dt>23</dt><dd>Fahrzeugaktorik, E-Steering </dd><dt>24</dt><dd>Fahrzeugaktorik, e-clutch</dd><dt>25</dt><dd>vehicle computer</dd><dt>26</dt><dd>Collision avoidance device</dd><dt>27</dt><dd>Data bus, CAN bus</dd><dt>28</dt><dd>Environment</dd><dt>29</dt><dd>input unit</dd><dt>30</dt><dd>internal connection</dd><dt>31</dt><dd>communication link</dd><dt>32</dt><dd>Means for route planning</dd><dt>33</dt><dd>digital map</dd><dt>34</dt><dd>Means for generating the path</dd><dt>35</dt><dd>Vehicle control device</dd><dt>36</dt><dd>Means for object recognition</dd><dt>37</dt><dd>sensor</dd><dt>38</dt><dd>Means for the state data recognition</dd><dt>39</dt><dd>facility</dd></dl>