CN116788250A - Method for assisting a motor vehicle, method, device and storage medium for guiding a motor vehicle - Google Patents

Method for assisting a motor vehicle, method, device and storage medium for guiding a motor vehicle Download PDF

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Publication number
CN116788250A
CN116788250A CN202310280271.6A CN202310280271A CN116788250A CN 116788250 A CN116788250 A CN 116788250A CN 202310280271 A CN202310280271 A CN 202310280271A CN 116788250 A CN116788250 A CN 116788250A
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China
Prior art keywords
infrastructure
motor vehicle
vehicle
assistance data
track
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CN202310280271.6A
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Chinese (zh)
Inventor
S·诺德布鲁赫
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of CN116788250A publication Critical patent/CN116788250A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00184—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to infrastructure
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a method for providing support for an infrastructure for a motor vehicle guided at least partially automatically within the infrastructure, comprising the following steps: -receiving on the infrastructure side a due trajectory of the motor vehicle within the infrastructure transmitted by the motor vehicle, -sensing the due trajectory on the infrastructure side, -deriving on the infrastructure side infrastructure assistance data for infrastructure-supported assistance of a motor vehicle guided at least partly automatically within the infrastructure based on the sensing of the due trajectory, and-transmitting on the infrastructure side the derived infrastructure assistance data to the motor vehicle. The invention relates to a method for guiding a motor vehicle at least partially automatically in an infrastructure, to a device, to a computer program and to a machine-readable storage medium.

Description

Method for assisting a motor vehicle, method, device and storage medium for guiding a motor vehicle
Technical Field
The invention relates to a method for providing an infrastructure-supported assistance to a motor vehicle guided at least partially automatically in an infrastructure, to a method for guiding a motor vehicle at least partially automatically in an infrastructure, to a device, to a computer program and to a machine-readable storage medium.
Background
Publication DE 10 2013 001326a1 discloses a motor vehicle which is designed to exchange operating data with a traffic object located in the surroundings of the motor vehicle and to coordinate the driving maneuver of the motor vehicle with the traffic object.
Disclosure of Invention
The object on which the invention is based is to provide a solution which enables a motor vehicle to be guided at least partially automatically in an efficient manner within an infrastructure.
This object is achieved by the method, the device and the storage medium according to the invention. Advantageous configurations of the invention are the context of the various preferred embodiments.
According to a first aspect, a method for infrastructure-supported assistance of a motor vehicle guided at least partially automatically within an infrastructure is provided, comprising the steps of:
receiving on the infrastructure side the due track of the motor vehicle which is transmitted by the motor vehicle and which is located in the infrastructure,
the track is sensed at the infrastructure side,
on the basis of the corresponding trajectory sensing, infrastructure assistance data are determined on the infrastructure side for the support of the infrastructure for the at least partially automated guided motor vehicle in the infrastructure, and
the determined infrastructure assistance data is transmitted to the motor vehicle on the infrastructure side.
According to a second aspect, a method for guiding a motor vehicle at least partially automatically within an infrastructure is provided, the method comprising the steps of:
the desired track of the motor vehicle to be driven by and located in the infrastructure is determined at the motor vehicle side,
the due track is sent to the infrastructure on the vehicle side,
after the determined due track is transmitted to the infrastructure on the vehicle side in time, the infrastructure assistance data transmitted by the infrastructure is received on the vehicle side for infrastructure-supported assistance of the vehicle,
based on the received infrastructure assistance data, control signals for at least partially automatically controlling the transverse and/or longitudinal guidance of the motor vehicle are generated on the motor vehicle side, and
the generated control signal is output on the motor vehicle side.
According to a third aspect, there is provided an apparatus arranged to perform all the steps of the method according to the first aspect and/or according to the second aspect.
According to a fourth aspect, there is provided a computer program comprising instructions which, when the computer program is implemented by a computer, for example by an apparatus according to the third aspect, arrange for the computer to implement a method according to the first aspect and/or according to the second aspect.
According to a fifth aspect, there is provided a machine-readable storage medium having stored thereon a computer program according to the fourth aspect.
The present invention is based on and includes this recognition: the above task can be solved by: planning of the due track within the infrastructure is performed in the motor vehicle itself, i.e. on the motor vehicle side, wherein this information, i.e. the due track, is transmitted to the infrastructure. Thus, the infrastructure is efficiently made aware of: on the infrastructure side, which area of the infrastructure, i.e. the area comprising the due track, should be sensed. The infrastructure can thus sense this region in a targeted manner and determine the infrastructure assistance data based on this sensing. This means that the infrastructure does not sense, i.e. monitor, any area without any motivation, but instead senses, i.e. monitors, only one area, which the motor vehicle is planning to travel through, in relation to its due trajectory. The infrastructure assistance data can thus be determined in an efficient manner, so that the motor vehicle can be guided in an efficient manner at least partially automatically.
The sensing of the corresponding track on the infrastructure side can in particular be performed by using an environment sensing device of the infrastructure, also referred to as infrastructure environment sensing device. This means that the infrastructure monitors the area comprising the due track by using the infrastructure environmental sensing means.
The invention is therefore rooted in the technical field of infrastructure-supported assistance for motor vehicles. The abbreviation "IAD" is used in english, which stands for "infrastructure assisted driving (Infrastructure Assisted Driving)" and can be translated in german to "infractrakturgest u tztes assistiertes Fahren".
Known solutions for performing IAD generally provide that the infrastructure monitors, for example, the roads and traffic routes of the infrastructure with the aid of environmental sensor devices without any motivation. In contrast, according to the solution described here, the infrastructure knows where the motor vehicle is intended to travel, so that the monitoring can be performed in a targeted manner accordingly.
Thus, this technical advantage, among others, arises: the infrastructure can efficiently use its monitoring resources in order to solve the infrastructure assistance data for the motor vehicle.
Thus, this technical advantage, among others, arises: the motor vehicle can be guided at least partially automatically and efficiently within the infrastructure.
By "infrastructure-supported assistance of a motor vehicle" is meant that infrastructure assistance data is provided to the motor vehicle for use. The motor vehicle can derive, for example, a treatment indication based on the infrastructure assistance data. The motor vehicle can decide on its own what to do, for example based on the infrastructure assistance data.
The infrastructure assistance data includes, for example, one or more of the following data elements: control commands for at least partially automatically controlling the transverse and/or longitudinal guidance of the motor vehicle, remote control commands for at least partially automatically remotely controlling the transverse and/or longitudinal guidance of the motor vehicle, approval commands for driving through a due track, ambient data representing the surroundings of the motor vehicle, regulations of what the motor vehicle should do. The specification specifies, for example, whether the motor vehicle is, for example, allowed to travel or must be stopped, for example.
The expression "at least partially automated guidance" includes one or more of the following: assisted guidance, partially automated guidance, highly automated guidance, fully automated guidance. That is, the expression "at least partially automatically" includes one or more of the following expressions: assisted, partially automated, highly automated, fully automated.
By assisted guidance is meant that the driver of the motor vehicle continuously carries out a lateral or longitudinal guidance of the motor vehicle. Control of the longitudinal or transverse guidance of the motor vehicle, which corresponds to another driving task, is automatically performed. Thus, in the assisted guidance of the motor vehicle, the transverse guidance or the longitudinal guidance is automatically controlled.
By partially automatically guided is meant that the longitudinal and transverse guidance of the motor vehicle is automatically controlled in certain situations (e.g. driving on a highway, driving in a parking lot, exceeding objects, driving inside a traffic lane defined by traffic lane markings) and/or for a certain period of time. The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle in person. However, the driver must continuously monitor the automatic control of the longitudinal and transverse guidance in order to be able to intervene manually when required. The driver must be ready to take over the vehicle guidance completely.
By highly automated guidance is meant that in certain situations (e.g. driving on a highway, driving inside a parking lot, exceeding objects, driving inside a traffic lane defined by traffic lane markings), the longitudinal guidance and the transverse guidance of the motor vehicle are automatically controlled over a certain period of time. The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle in person. The driver does not have to constantly monitor the automatic control of the longitudinal and transverse guidance in order to be able to intervene manually when required. If necessary, a take-over request is automatically output to the driver to take over the control of the longitudinal and transverse guidance, in particular with a sufficient time margin. That is, the driver must potentially be able to take over control of the longitudinal and lateral guidance. Automatically identifying automatically controlled limits for lateral guidance and longitudinal guidance. It is not possible to automatically reach a state of least risk in various initial situations when booting highly automatically.
Fully automated guidance means that the longitudinal guidance and the transverse guidance of the motor vehicle are automatically controlled in certain situations (e.g. driving on a highway, driving inside a parking lot, exceeding objects, driving inside a traffic lane defined by traffic lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle in person. The driver does not have to monitor the automatic control of the longitudinal and transverse guidance in order to be able to intervene manually when required. Before terminating the automatic control of the transverse and longitudinal guidance, a request to the driver to take over the driving task (control of the transverse and longitudinal guidance of the motor vehicle) is automatically made, in particular with a sufficient time margin. If the driver does not take over the driving task, automatically returning to a state where the risk is minimal. Automatically identifying automatically controlled limits for lateral guidance and longitudinal guidance. In all cases it is possible to automatically return to the system state with the least risk.
The concepts "auxiliary" and "support" may be used synonymously.
The embodiments and examples described in the specification may be combined with each other in any form even if not explicitly described. Thus, for example, embodiments of the method according to the first aspect may be combined with embodiments of the method according to the second aspect. Thus, for example, a method may be provided, comprising the steps of the method according to the first aspect and the steps of the method according to the second aspect.
According to an embodiment, the method according to the first aspect and/or the method according to the second aspect is a computer-implementable method, respectively.
The technical functionality of the method according to the first aspect is similarly derived from the corresponding technical functionality of the method according to the second aspect and/or the device according to the third aspect, and vice versa.
In an embodiment, the method according to the first aspect and/or the second aspect is implemented or performed by means of the apparatus according to the third aspect.
The trajectory may be a partial segment of the planned route of the motor vehicle to the target location.
According to one embodiment of the method according to the first aspect, the method comprises receiving, on the infrastructure side, driving lane data transmitted by the motor vehicle, the driving lane data representing a driving lane comprising the due trajectory, wherein the driving lane is sensed on the infrastructure side, wherein the infrastructure assistance data is determined on the infrastructure side based on the sensed driving lane.
Thus, for example, this technical advantage results: infrastructure assistance data can be efficiently obtained. Thus, the infrastructure knows: the movement of the motor vehicle in which driving lane the monitored area can be correspondingly expanded, so that the motor vehicle can be provided with the information necessary for driving over, i.e. the infrastructure assistance data.
According to one embodiment of the method according to the first aspect, it is provided that, on the basis of the sensing, a free-space detection is performed in order to determine a free-space detection result, which indicates whether the object to be sensed is free or not free for the motor vehicle to travel, wherein, on the basis of the sensing, the infrastructure assistance data are determined in such a way that they comprise the free-space detection result.
Thus, for example, this technical advantage results: infrastructure assistance data can be efficiently obtained. In particular, this results in the technical advantage: particularly important information, namely, the result of the identification of the free space, is provided to the motor vehicle, so that the motor vehicle can be guided accordingly at least partially automatically. If, for example, the free space recognition result indicates that it is not free, the motor vehicle can be parked, for example. If the result of the free space recognition indicates that it is free, the motor vehicle can be driven or can continue to drive, for example.
The expression "sensed object" refers to a sensed travel path and/or a sensed due trajectory.
In one embodiment of the method according to the first aspect, it is provided that the current position of the motor vehicle is received on the infrastructure side, and/or that the current position of the motor vehicle (503) is sensed on the infrastructure side, wherein the infrastructure assistance data is determined on the basis of the current position of the motor vehicle on the infrastructure side.
Thus, for example, this technical advantage results: infrastructure assistance data can be efficiently obtained. Thus, the infrastructure knows: where the motor vehicle is currently or instantaneously located, so that for example sensing or monitoring can be performed efficiently.
According to an embodiment of the method according to the first aspect, the infrastructure assistance data is transmitted as a heartbeat message to the motor vehicle on the infrastructure side.
Thus, for example, this technical advantage results: infrastructure assistance data can be efficiently transmitted. The heartbeat message is expected by the recipient within a predefined time interval. If the corresponding expected heartbeat message is missing, the recipient may consider a failure, for example in the communication connection between the current infrastructure and the vehicle (the recipient being the vehicle). For example, a failure may occur in the infrastructure. Such a failure may result in the vehicle no longer being able to be notified that "infrastructure assistance is no longer available". However, since in such a case no heartbeat message can be sent anymore, the motor vehicle knows that such a heartbeat message is missing: infrastructure assistance is no longer available at all, so that the motor vehicle can plan its further actions accordingly, for example, to be able to perform an emergency stop.
According to one embodiment of the method according to the second aspect, it is provided that driving lane data representing a driving lane including the intended trajectory are determined on the motor vehicle side, wherein the driving lane data are transmitted to the infrastructure on the motor vehicle side.
Thus, for example, this technical advantage results: the infrastructure can be made to recognize efficiently in which driving lane the motor vehicle is moving when driving through the intended trajectory.
In one embodiment of the method according to the second aspect, it is provided that the infrastructure assistance data comprise a free space recognition result, which indicates whether the track and/or the driving lane is free or not free for the motor vehicle to drive through.
Thus, for example, this technical advantage results: the motor vehicle can be guided at least partially automatically with high efficiency. In the case of "no idle" for example, control signals are generated such that the vehicle is stopped when the transverse and/or longitudinal guidance of the vehicle is controlled at least partially automatically on the vehicle side based on these control signals. In the "idle" situation, for example, it is provided that control signals are generated on the vehicle side in such a way that the vehicle is driven through the intended track when the transverse and/or longitudinal guidance of the vehicle is controlled at least partially automatically on the vehicle side on the basis of these control signals.
In one embodiment of the method according to the second aspect, it is provided that the current position of the motor vehicle is determined on the motor vehicle side and sent to the infrastructure.
Thus, for example, this technical advantage results: the current position of the motor vehicle can be efficiently transmitted to the infrastructure.
According to an embodiment of the method according to the second aspect, the heartbeat message transmitted by the infrastructure comprises infrastructure assistance data, wherein in the event of a lack of an expected heartbeat message on the vehicle side, an emergency control signal for at least partially automatically controlling the transverse and/or longitudinal guidance of the vehicle is generated on the vehicle side in such a way that the vehicle performs an emergency maneuver, for example a parking maneuver, based on the generated emergency control signal when the transverse and/or longitudinal guidance of the vehicle is at least partially automatically controlled, wherein the generated emergency control signal is output on the vehicle side.
Thus, for example, this technical advantage results: it is possible to react efficiently and safely to failures or faults, for example in the infrastructure itself or in the communication connection between the motor vehicle and the infrastructure.
The environment sensing means of the infrastructure comprise, for example, one or more environment sensors, which are arranged, for example, spatially distributed within the infrastructure.
The infrastructure environmental sensing device can also be referred to as an infrastructure environmental sensing device.
The environment sensing device of a motor vehicle can also be referred to as a motor vehicle environment sensing device. In one embodiment, a motor vehicle includes such an environmental sensing device.
The environment sensing device of the motor vehicle comprises one or more environment sensors similar to the environment sensing device of the infrastructure.
An environmental sensor in the sense of the present specification is, for example, one of the following environmental sensors: radar sensors, laser sensors, ultrasonic sensors, magnetic field sensors, infrared sensors, image sensors, in particular image sensors of video cameras.
The environment sensor of the infrastructure thus senses the track, i.e. the region comprising the track and/or the respective driving channel, and outputs the respective environment sensor data based on this sensing. Based on such environmental sensor data, for example, settings, infrastructure assistance data is obtained.
In one embodiment, it can be provided that an environment sensor of an environment sensor device of the motor vehicle senses the environment of the motor vehicle and outputs corresponding environment sensor data based on the sensing. For example, it is provided that the vehicle, i.e. the vehicle side, is evaluated on the basis of these environmental sensor data: the track and/or the driving lane should be free or not free for driving. Based on the result of such a determination, it can be provided, for example, that control signals are generated on the vehicle side in such a way that, when a lateral guidance and/or a longitudinal guidance of the vehicle is controlled based on these control signals, the vehicle is stopped at least partially automatically in a guided manner.
Drawings
Embodiments of the invention are illustrated in the accompanying drawings and described in more detail in the following description. The drawings show:
figure 1 shows a flow chart of a method according to a first aspect,
figure 2 shows a flow chart of a method according to a second aspect,
figure 3 shows an apparatus according to a third aspect,
FIG. 4 shows a machine-readable storage medium according to a fifth aspect, and
fig. 5 shows a motor vehicle during a drive that is guided at least partially automatically within the infrastructure.
Detailed Description
Fig. 1 shows a method for infrastructure-supported assistance of a motor vehicle guided at least partially automatically within an infrastructure, comprising the following steps:
on the infrastructure side, the track of the motor vehicle that was transmitted by the motor vehicle and is located in the infrastructure is received 101,
the trace should be sensed 103 at the infrastructure side,
infrastructure assistance data is determined 105 on the infrastructure side for the infrastructure-supported assistance of a motor vehicle guided at least partially automatically in the infrastructure on the basis of the corresponding tracked sensor, and
the determined infrastructure assistance data is transmitted 107 to the motor vehicle on the infrastructure side.
Transmission and reception in the sense of the present description include, for example, transmission and reception via a communication network, for example, transmission and reception via a mobile radio network and/or via a WLAN communication network.
Fig. 2 shows a method for at least partially automatically guiding a motor vehicle in an infrastructure, comprising the following steps:
the desired trajectory in the infrastructure that the vehicle is to travel over is determined 201 on the vehicle side,
the due track is sent 203 to the infrastructure on the vehicle side,
after the determined due track has been transmitted to the infrastructure on the motor vehicle side over time, infrastructure assistance data transmitted by the infrastructure are received 205 on the motor vehicle side for infrastructure-supported assistance of the motor vehicle,
based on the received infrastructure assistance data, control signals for at least partially automatically controlling the transverse and/or longitudinal guidance of the motor vehicle are generated 207 on the motor vehicle side, and
the control signal generated is output 209 on the vehicle side.
According to one embodiment, the method according to the second aspect comprises: based on the output control signal, the transverse and/or longitudinal guidance of the motor vehicle is controlled at least partially automatically on the motor vehicle side.
Fig. 3 shows a device 301 arranged for carrying out all steps of the method according to the first aspect and/or according to the second aspect.
Fig. 4 shows a machine-readable storage medium 401 on which a computer program 403 is stored. The computer program 403 comprises instructions which, when the computer program 403 is implemented by a computer, arrange the computer to implement the method according to the first aspect and/or according to the second aspect.
Fig. 5 shows an infrastructure 501 in which a motor vehicle 503 runs at least partially automatically. The vehicle 503 finds the due track 505 that is within the infrastructure 501 and the vehicle 503 next wants to drive through. Further, the vehicle 503 finds the travel path 507 including the due trajectory 505.
A box with reference numeral 509 is drawn in the motor vehicle 503, which box should symbolically abstract the determined intended trajectory 505 and the driving lane 507.
The due track 505 and the driving channel 507 are transmitted via a wireless communication network to an infrastructure-side IAD system 511, i.e. a system for infrastructure-supported assistance of the motor vehicle during the at least partially automated guided driving in the infrastructure 501. IAD system 511 includes, for example, a first computer system 513 that is implemented within cloud infrastructure 515. Further, the IAD system 511 may include a second computer system 517 that processes environmental sensor data of the video camera 519, including an image sensor (not shown), for example. The infrastructure-side IAD system 511 thus knows along which due track 505 the motor vehicle 503 is to move and in which driving lane 507. Thus, the second computer system is able to monitor the due track 505 and the driving lane 507 in a targeted manner in relation to the motivation by using, for example, the video camera 519. Although only one video camera 519 is depicted in fig. 5, for example, additional environmental sensors as mentioned by way of example in the description can be provided in addition to or instead of video camera 519 for corresponding sensing or monitoring.
For example, it is provided that the motor vehicle 503 only runs through the track 505 according to an explicit approval by the IAD system 511.
By using the infrastructure environment sensor for collision objects, the IAD system monitors, for example, the due trajectory and in particular the driving path. This means, for example, that a check is provided for the track and in particular for the driving lane in the following way: it is checked whether the desired track and in particular the driving lane can be driven by the motor vehicle without collision. The result of this test is transmitted, for example, to the motor vehicle. Such a result is, for example, the above-described free space recognition result.
For example, it is provided that the motor vehicle monitors the intended track and in particular the driving lane by using an environment sensor on the motor vehicle side.
The step of determining in the method according to the first aspect can for example be performed locally, i.e. by a computer system within the infrastructure. Additionally or alternatively, these retrieval steps can also be performed within the cloud infrastructure.

Claims (13)

1. A method for infrastructure-supported assistance of a motor vehicle (503) guided at least partially automatically within an infrastructure (501), the method comprising the steps of:
receiving (101) on the infrastructure side an intended track (505) of the motor vehicle (503) which is transmitted by the motor vehicle (503) and is located in the infrastructure (501),
sensing (103) the due track (505) on the infrastructure side,
infrastructure-side determination (105) of infrastructure assistance data based on the sensing of the due track (505) for infrastructure-supported assistance of a motor vehicle (503) guided at least partially automatically in the infrastructure (501), and
the determined infrastructure assistance data is transmitted (107) to the motor vehicle (503) on the infrastructure side.
2. The method according to claim 1, comprising receiving on an infrastructure side driving channel data transmitted by the motor vehicle (503), the driving channel data representing a driving channel (507) comprising the due track (505), wherein the driving channel (507) is sensed on the infrastructure side, wherein the infrastructure assistance data is derived on the infrastructure side based on the sensed driving channel section (507).
3. The method according to claim 1 or 2, wherein a free space recognition is performed on the basis of the sensing on the infrastructure side in order to determine a free space recognition result, which indicates whether the sensed object is free or not free for being driven by the motor vehicle (503), wherein the infrastructure assistance data is determined on the infrastructure side in such a way that the infrastructure assistance data comprises the free space recognition result.
4. The method according to any one of the preceding claims, wherein a current position of the motor vehicle (503) is received at an infrastructure side, and/or wherein a current position of the motor vehicle (503) is sensed at an infrastructure side, wherein the infrastructure assistance data is derived at an infrastructure side based on the current position of the motor vehicle (503).
5. The method according to any one of the preceding claims, wherein the infrastructure assistance data is transmitted to the motor vehicle (503) as a heartbeat message on the infrastructure side.
6. A method for guiding a motor vehicle (503) at least partially automatically within an infrastructure (501), the method comprising the steps of:
on the vehicle side, determining (201) the desired trajectory (505) of the vehicle (503) to be driven over and located in the infrastructure (501),
-transmitting (203) the due track (505) to the infrastructure (501) on the vehicle side,
after the determined due trajectory (505) is transmitted to the infrastructure (501) on the vehicle side in time, infrastructure assistance data transmitted by the infrastructure (501) is received (205) on the vehicle side for infrastructure-supported assistance of the vehicle (503),
based on the received infrastructure assistance data, control signals are generated (207) on the vehicle side for at least partially automatically controlling the transverse and/or longitudinal guidance of the vehicle (503), and
the control signal generated is output (209) on the motor vehicle side.
7. The method according to claim 6, wherein driving lane data representing a driving lane (507) comprising the due trajectory (505) is determined on the vehicle side, wherein the driving lane data is transmitted to the infrastructure (501) on the vehicle side.
8. The method according to claim 6 or 7, dependent on claim 7 in respect of the driving lane (507), wherein the infrastructure assistance data comprises a free space recognition result indicating whether the due track (505) and/or the driving lane (507) is free or not free for being driven by the motor vehicle (503).
9. The method according to any one of claims 6 to 8, wherein a current position of the motor vehicle (503) is determined on the motor vehicle side and sent to the infrastructure (501).
10. Method according to any one of claims 6 to 9, wherein the heartbeat message sent by the infrastructure (501) comprises the infrastructure assistance data, wherein, when a heartbeat message that should be expected on the vehicle side is missing, an emergency control signal for at least partially automatically controlling the lateral guidance and/or the longitudinal guidance of the vehicle (503) is generated on the vehicle side such that, on the basis of the generated emergency control signal, the vehicle (503) performs an emergency maneuver, such as a parking maneuver, wherein the generated emergency control signal is output on the vehicle side.
11. An apparatus (301) arranged for carrying out all the steps of the method according to any of the preceding claims.
12. A computer program (403), the computer program comprising instructions which, when the computer program (403) is implemented by a computer, arrange the computer to implement the method according to any of claims 1 to 10.
13. A machine readable storage medium (401) on which a computer program according to claim 12 is stored.
CN202310280271.6A 2022-03-21 2023-03-21 Method for assisting a motor vehicle, method, device and storage medium for guiding a motor vehicle Pending CN116788250A (en)

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DE102022202742.6 2022-03-21
DE102022202742.6A DE102022202742A1 (en) 2022-03-21 2022-03-21 Method for infrastructure-supported assistance of a motor vehicle

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